From 9cb66a24260ae299e3ae25a7723a8716de72f4d0 Mon Sep 17 00:00:00 2001
From: Konstantinos Chatzilygeroudis <costashatz@gmail.com>
Date: Wed, 25 Sep 2024 09:25:12 +0300
Subject: [PATCH] Update docs

---
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diff --git a/.clang-format b/.clang-format
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diff --git a/docs/404.html b/docs/404.html
index 39ef1568..8c027a35 100644
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@@ -34,14 +34,14 @@
     
   
   
-  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6zm80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3z"/></svg>');}</style>
+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
-  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4V7Z"/></svg>');}</style>
+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -58,7 +58,7 @@
       
     
     
-    <script>__md_scope=new URL("/",location),__md_hash=e=>[...e].reduce((e,_)=>(e<<5)-e+_.charCodeAt(0),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
+    <script>__md_scope=new URL("/",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -98,12 +98,12 @@
     <a href="/." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -131,7 +131,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
       </label>
     
   
@@ -141,7 +141,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
       </label>
     
   
@@ -149,13 +149,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -164,15 +164,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -195,7 +195,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -362,7 +362,7 @@
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     Documentation of RobotDART
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     NOSALRO/robot_dart
@@ -1072,14 +1072,14 @@ <h1>404 - Not found</h1>
             </div>
           
           
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   Back to top
 </button>
         
@@ -1113,10 +1113,10 @@ <h1>404 - Not found</h1>
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "/", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "/assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "/", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "/assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="/assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="/assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/a1_8cpp/index.html b/docs/api/a1_8cpp/index.html
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1141,14 +1141,14 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
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@@ -1182,10 +1182,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/a1_8cpp_source/index.html b/docs/api/a1_8cpp_source/index.html
index 554c29cf..40d4c6ef 100644
--- a/docs/api/a1_8cpp_source/index.html
+++ b/docs/api/a1_8cpp_source/index.html
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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     NOSALRO/robot_dart
@@ -1136,14 +1136,14 @@ <h1 id="file-a1cpp">File a1.cpp<a class="headerlink" href="#file-a1cpp" title="P
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   Back to top
 </button>
         
@@ -1177,10 +1177,10 @@ <h1 id="file-a1cpp">File a1.cpp<a class="headerlink" href="#file-a1cpp" title="P
     </div>
     
     
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+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/a1_8hpp/index.html b/docs/api/a1_8hpp/index.html
index 08ec7d84..bbd9daa6 100644
--- a/docs/api/a1_8hpp/index.html
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1165,14 +1165,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1206,10 +1206,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/a1_8hpp_source/index.html b/docs/api/a1_8hpp_source/index.html
index 5b91a323..a3da9a77 100644
--- a/docs/api/a1_8hpp_source/index.html
+++ b/docs/api/a1_8hpp_source/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -58,7 +58,7 @@
       
     
     
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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     NOSALRO/robot_dart
@@ -1122,14 +1122,14 @@ <h1 id="file-a1hpp">File a1.hpp<a class="headerlink" href="#file-a1hpp" title="P
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   Back to top
 </button>
         
@@ -1163,10 +1163,10 @@ <h1 id="file-a1hpp">File a1.hpp<a class="headerlink" href="#file-a1hpp" title="P
     </div>
     
     
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+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/annotated/index.html b/docs/api/annotated/index.html
index 8dd5bc72..c38554f5 100644
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -26,7 +26,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -173,15 +173,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -204,7 +204,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -373,7 +373,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -383,7 +383,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1236,14 +1236,14 @@ <h1 id="class-list">Class List<a class="headerlink" href="#class-list" title="Pe
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1277,10 +1277,10 @@ <h1 id="class-list">Class List<a class="headerlink" href="#class-list" title="Pe
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/arm_8hpp/index.html b/docs/api/arm_8hpp/index.html
index e272432a..221e336a 100644
--- a/docs/api/arm_8hpp/index.html
+++ b/docs/api/arm_8hpp/index.html
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
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         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
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     NOSALRO/robot_dart
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     Documentation of RobotDART
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   Back to top
 </button>
         
@@ -1205,10 +1205,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/arm_8hpp_source/index.html b/docs/api/arm_8hpp_source/index.html
index f8d20f53..43be99db 100644
--- a/docs/api/arm_8hpp_source/index.html
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1118,14 +1118,14 @@ <h1 id="file-armhpp">File arm.hpp<a class="headerlink" href="#file-armhpp" title
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1159,10 +1159,10 @@ <h1 id="file-armhpp">File arm.hpp<a class="headerlink" href="#file-armhpp" title
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/base_8hpp/index.html b/docs/api/base_8hpp/index.html
index 58a44448..782cb9d4 100644
--- a/docs/api/base_8hpp/index.html
+++ b/docs/api/base_8hpp/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -58,7 +58,7 @@
       
     
     
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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   <div class="md-source__repository">
     NOSALRO/robot_dart
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1205,10 +1205,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/base_8hpp_source/index.html b/docs/api/base_8hpp_source/index.html
index 9050bb15..a10ee697 100644
--- a/docs/api/base_8hpp_source/index.html
+++ b/docs/api/base_8hpp_source/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1142,14 +1142,14 @@ <h1 id="file-basehpp">File base.hpp<a class="headerlink" href="#file-basehpp" ti
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1183,10 +1183,10 @@ <h1 id="file-basehpp">File base.hpp<a class="headerlink" href="#file-basehpp" ti
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/base__application_8cpp/index.html b/docs/api/base__application_8cpp/index.html
index 46a51fcb..e61fdfd4 100644
--- a/docs/api/base__application_8cpp/index.html
+++ b/docs/api/base__application_8cpp/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
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     Documentation of RobotDART
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     NOSALRO/robot_dart
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   Back to top
 </button>
         
@@ -1203,10 +1203,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/base__application_8cpp_source/index.html b/docs/api/base__application_8cpp_source/index.html
index 024b4630..c4719931 100644
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+++ b/docs/api/base__application_8cpp_source/index.html
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1101,14 +1101,14 @@ <h1 id="macro-syntax-error"><em>Macro Syntax Error</em><a class="headerlink" hre
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1142,10 +1142,10 @@ <h1 id="macro-syntax-error"><em>Macro Syntax Error</em><a class="headerlink" hre
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/base__application_8hpp/index.html b/docs/api/base__application_8hpp/index.html
index d9d20477..563d66a6 100644
--- a/docs/api/base__application_8hpp/index.html
+++ b/docs/api/base__application_8hpp/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
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@@ -58,7 +58,7 @@
       
     
     
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+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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     <label class="md-header__button md-icon" for="__drawer">
       
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1314,14 +1314,14 @@ <h3 id="define-release_gl_context">define release_gl_context<a class="headerlink
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1355,10 +1355,10 @@ <h3 id="define-release_gl_context">define release_gl_context<a class="headerlink
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/base__application_8hpp_source/index.html b/docs/api/base__application_8hpp_source/index.html
index 98be4f6e..590b430e 100644
--- a/docs/api/base__application_8hpp_source/index.html
+++ b/docs/api/base__application_8hpp_source/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
-  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6zm80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3z"/></svg>');}</style>
+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
-  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4V7Z"/></svg>');}</style>
+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -58,7 +58,7 @@
       
     
     
-    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce((e,_)=>(e<<5)-e+_.charCodeAt(0),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
       </label>
     
   
@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
       </label>
     
   
@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1178,172 +1178,178 @@ <h1 id="file-base_applicationhpp">File base_application.hpp<a class="headerlink"
 <a id="__codelineno-0-94" name="__codelineno-0-94" href="#__codelineno-0-94"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">string</span><span class="w"> </span><span class="n">title</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="s">&quot;DART&quot;</span><span class="p">;</span>
 <a id="__codelineno-0-95" name="__codelineno-0-95" href="#__codelineno-0-95"></a>
 <a id="__codelineno-0-96" name="__codelineno-0-96" href="#__codelineno-0-96"></a><span class="w">                </span><span class="c1">// Shadows</span>
-<a id="__codelineno-0-97" name="__codelineno-0-97" href="#__codelineno-0-97"></a><span class="w">                </span><span class="kt">bool</span><span class="w"> </span><span class="n">shadowed</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nb">true</span><span class="p">;</span>
-<a id="__codelineno-0-98" name="__codelineno-0-98" href="#__codelineno-0-98"></a><span class="w">                </span><span class="kt">bool</span><span class="w"> </span><span class="n">transparent_shadows</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nb">true</span><span class="p">;</span>
-<a id="__codelineno-0-99" name="__codelineno-0-99" href="#__codelineno-0-99"></a><span class="w">                </span><span class="kt">size_t</span><span class="w"> </span><span class="n">shadow_map_size</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">1024</span><span class="p">;</span>
-<a id="__codelineno-0-100" name="__codelineno-0-100" href="#__codelineno-0-100"></a>
-<a id="__codelineno-0-101" name="__codelineno-0-101" href="#__codelineno-0-101"></a><span class="w">                </span><span class="c1">// Lights</span>
-<a id="__codelineno-0-102" name="__codelineno-0-102" href="#__codelineno-0-102"></a><span class="w">                </span><span class="kt">size_t</span><span class="w"> </span><span class="n">max_lights</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">3</span><span class="p">;</span>
-<a id="__codelineno-0-103" name="__codelineno-0-103" href="#__codelineno-0-103"></a><span class="w">                </span><span class="kt">double</span><span class="w"> </span><span class="n">specular_strength</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mf">0.25</span><span class="p">;</span><span class="w"> </span><span class="c1">// strength of the specular component</span>
-<a id="__codelineno-0-104" name="__codelineno-0-104" href="#__codelineno-0-104"></a>
-<a id="__codelineno-0-105" name="__codelineno-0-105" href="#__codelineno-0-105"></a><span class="w">                </span><span class="c1">// These options are only for the main camera</span>
-<a id="__codelineno-0-106" name="__codelineno-0-106" href="#__codelineno-0-106"></a><span class="w">                </span><span class="kt">bool</span><span class="w"> </span><span class="n">draw_main_camera</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nb">true</span><span class="p">;</span>
-<a id="__codelineno-0-107" name="__codelineno-0-107" href="#__codelineno-0-107"></a><span class="w">                </span><span class="kt">bool</span><span class="w"> </span><span class="n">draw_debug</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nb">true</span><span class="p">;</span>
-<a id="__codelineno-0-108" name="__codelineno-0-108" href="#__codelineno-0-108"></a><span class="w">                </span><span class="kt">bool</span><span class="w"> </span><span class="n">draw_text</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nb">true</span><span class="p">;</span>
-<a id="__codelineno-0-109" name="__codelineno-0-109" href="#__codelineno-0-109"></a>
-<a id="__codelineno-0-110" name="__codelineno-0-110" href="#__codelineno-0-110"></a><span class="w">                </span><span class="c1">// Background (default = black)</span>
-<a id="__codelineno-0-111" name="__codelineno-0-111" href="#__codelineno-0-111"></a><span class="w">                </span><span class="n">Eigen</span><span class="o">::</span><span class="n">Vector4d</span><span class="w"> </span><span class="n">bg_color</span><span class="p">{</span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="mf">1.0</span><span class="p">};</span>
-<a id="__codelineno-0-112" name="__codelineno-0-112" href="#__codelineno-0-112"></a><span class="w">            </span><span class="p">};</span>
-<a id="__codelineno-0-113" name="__codelineno-0-113" href="#__codelineno-0-113"></a>
-<a id="__codelineno-0-114" name="__codelineno-0-114" href="#__codelineno-0-114"></a><span class="w">            </span><span class="k">struct</span><span class="w"> </span><span class="nc">DebugDrawData</span><span class="w"> </span><span class="p">{</span>
-<a id="__codelineno-0-115" name="__codelineno-0-115" href="#__codelineno-0-115"></a><span class="w">                </span><span class="n">Magnum</span><span class="o">::</span><span class="n">Shaders</span><span class="o">::</span><span class="n">VertexColorGL3D</span><span class="o">*</span><span class="w"> </span><span class="n">axes_shader</span><span class="p">;</span>
-<a id="__codelineno-0-116" name="__codelineno-0-116" href="#__codelineno-0-116"></a><span class="w">                </span><span class="n">Magnum</span><span class="o">::</span><span class="n">GL</span><span class="o">::</span><span class="n">Mesh</span><span class="o">*</span><span class="w"> </span><span class="n">axes_mesh</span><span class="p">;</span>
-<a id="__codelineno-0-117" name="__codelineno-0-117" href="#__codelineno-0-117"></a><span class="w">                </span><span class="n">Magnum</span><span class="o">::</span><span class="n">Shaders</span><span class="o">::</span><span class="n">FlatGL2D</span><span class="o">*</span><span class="w"> </span><span class="n">background_shader</span><span class="p">;</span>
-<a id="__codelineno-0-118" name="__codelineno-0-118" href="#__codelineno-0-118"></a><span class="w">                </span><span class="n">Magnum</span><span class="o">::</span><span class="n">GL</span><span class="o">::</span><span class="n">Mesh</span><span class="o">*</span><span class="w"> </span><span class="n">background_mesh</span><span class="p">;</span>
+<a id="__codelineno-0-97" name="__codelineno-0-97" href="#__codelineno-0-97"></a><span class="cp">#ifndef MAGNUM_MAC_OSX</span>
+<a id="__codelineno-0-98" name="__codelineno-0-98" href="#__codelineno-0-98"></a><span class="w">                </span><span class="kt">bool</span><span class="w"> </span><span class="n">shadowed</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nb">true</span><span class="p">;</span>
+<a id="__codelineno-0-99" name="__codelineno-0-99" href="#__codelineno-0-99"></a><span class="w">                </span><span class="kt">bool</span><span class="w"> </span><span class="n">transparent_shadows</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nb">true</span><span class="p">;</span>
+<a id="__codelineno-0-100" name="__codelineno-0-100" href="#__codelineno-0-100"></a><span class="cp">#else</span>
+<a id="__codelineno-0-101" name="__codelineno-0-101" href="#__codelineno-0-101"></a><span class="w">                </span><span class="c1">// Disabling shadows by default on OSX</span>
+<a id="__codelineno-0-102" name="__codelineno-0-102" href="#__codelineno-0-102"></a><span class="w">                </span><span class="kt">bool</span><span class="w"> </span><span class="n">shadowed</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nb">false</span><span class="p">;</span>
+<a id="__codelineno-0-103" name="__codelineno-0-103" href="#__codelineno-0-103"></a><span class="w">                </span><span class="kt">bool</span><span class="w"> </span><span class="n">transparent_shadows</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nb">false</span><span class="p">;</span>
+<a id="__codelineno-0-104" name="__codelineno-0-104" href="#__codelineno-0-104"></a><span class="cp">#endif</span>
+<a id="__codelineno-0-105" name="__codelineno-0-105" href="#__codelineno-0-105"></a><span class="w">                </span><span class="kt">size_t</span><span class="w"> </span><span class="n">shadow_map_size</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">1024</span><span class="p">;</span>
+<a id="__codelineno-0-106" name="__codelineno-0-106" href="#__codelineno-0-106"></a>
+<a id="__codelineno-0-107" name="__codelineno-0-107" href="#__codelineno-0-107"></a><span class="w">                </span><span class="c1">// Lights</span>
+<a id="__codelineno-0-108" name="__codelineno-0-108" href="#__codelineno-0-108"></a><span class="w">                </span><span class="kt">size_t</span><span class="w"> </span><span class="n">max_lights</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">3</span><span class="p">;</span>
+<a id="__codelineno-0-109" name="__codelineno-0-109" href="#__codelineno-0-109"></a><span class="w">                </span><span class="kt">double</span><span class="w"> </span><span class="n">specular_strength</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mf">0.25</span><span class="p">;</span><span class="w"> </span><span class="c1">// strength of the specular component</span>
+<a id="__codelineno-0-110" name="__codelineno-0-110" href="#__codelineno-0-110"></a>
+<a id="__codelineno-0-111" name="__codelineno-0-111" href="#__codelineno-0-111"></a><span class="w">                </span><span class="c1">// These options are only for the main camera</span>
+<a id="__codelineno-0-112" name="__codelineno-0-112" href="#__codelineno-0-112"></a><span class="w">                </span><span class="kt">bool</span><span class="w"> </span><span class="n">draw_main_camera</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nb">true</span><span class="p">;</span>
+<a id="__codelineno-0-113" name="__codelineno-0-113" href="#__codelineno-0-113"></a><span class="w">                </span><span class="kt">bool</span><span class="w"> </span><span class="n">draw_debug</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nb">true</span><span class="p">;</span>
+<a id="__codelineno-0-114" name="__codelineno-0-114" href="#__codelineno-0-114"></a><span class="w">                </span><span class="kt">bool</span><span class="w"> </span><span class="n">draw_text</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nb">true</span><span class="p">;</span>
+<a id="__codelineno-0-115" name="__codelineno-0-115" href="#__codelineno-0-115"></a>
+<a id="__codelineno-0-116" name="__codelineno-0-116" href="#__codelineno-0-116"></a><span class="w">                </span><span class="c1">// Background (default = black)</span>
+<a id="__codelineno-0-117" name="__codelineno-0-117" href="#__codelineno-0-117"></a><span class="w">                </span><span class="n">Eigen</span><span class="o">::</span><span class="n">Vector4d</span><span class="w"> </span><span class="n">bg_color</span><span class="p">{</span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="mf">1.0</span><span class="p">};</span>
+<a id="__codelineno-0-118" name="__codelineno-0-118" href="#__codelineno-0-118"></a><span class="w">            </span><span class="p">};</span>
 <a id="__codelineno-0-119" name="__codelineno-0-119" href="#__codelineno-0-119"></a>
-<a id="__codelineno-0-120" name="__codelineno-0-120" href="#__codelineno-0-120"></a><span class="w">                </span><span class="n">Magnum</span><span class="o">::</span><span class="n">Shaders</span><span class="o">::</span><span class="n">DistanceFieldVectorGL2D</span><span class="o">*</span><span class="w"> </span><span class="n">text_shader</span><span class="p">;</span>
-<a id="__codelineno-0-121" name="__codelineno-0-121" href="#__codelineno-0-121"></a><span class="w">                </span><span class="n">Magnum</span><span class="o">::</span><span class="n">GL</span><span class="o">::</span><span class="n">Buffer</span><span class="o">*</span><span class="w"> </span><span class="n">text_vertices</span><span class="p">;</span>
-<a id="__codelineno-0-122" name="__codelineno-0-122" href="#__codelineno-0-122"></a><span class="w">                </span><span class="n">Magnum</span><span class="o">::</span><span class="n">GL</span><span class="o">::</span><span class="n">Buffer</span><span class="o">*</span><span class="w"> </span><span class="n">text_indices</span><span class="p">;</span>
-<a id="__codelineno-0-123" name="__codelineno-0-123" href="#__codelineno-0-123"></a><span class="w">                </span><span class="n">Magnum</span><span class="o">::</span><span class="n">Text</span><span class="o">::</span><span class="n">AbstractFont</span><span class="o">*</span><span class="w"> </span><span class="n">font</span><span class="p">;</span>
-<a id="__codelineno-0-124" name="__codelineno-0-124" href="#__codelineno-0-124"></a><span class="w">                </span><span class="n">Magnum</span><span class="o">::</span><span class="n">Text</span><span class="o">::</span><span class="n">DistanceFieldGlyphCache</span><span class="o">*</span><span class="w"> </span><span class="n">cache</span><span class="p">;</span>
-<a id="__codelineno-0-125" name="__codelineno-0-125" href="#__codelineno-0-125"></a><span class="w">            </span><span class="p">};</span>
-<a id="__codelineno-0-126" name="__codelineno-0-126" href="#__codelineno-0-126"></a>
-<a id="__codelineno-0-127" name="__codelineno-0-127" href="#__codelineno-0-127"></a><span class="w">            </span><span class="k">class</span><span class="w"> </span><span class="nc">BaseApplication</span><span class="w"> </span><span class="p">{</span>
-<a id="__codelineno-0-128" name="__codelineno-0-128" href="#__codelineno-0-128"></a><span class="w">            </span><span class="k">public</span><span class="o">:</span>
-<a id="__codelineno-0-129" name="__codelineno-0-129" href="#__codelineno-0-129"></a><span class="w">                </span><span class="n">BaseApplication</span><span class="p">(</span><span class="k">const</span><span class="w"> </span><span class="n">GraphicsConfiguration</span><span class="o">&amp;</span><span class="w"> </span><span class="n">configuration</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">GraphicsConfiguration</span><span class="p">());</span>
-<a id="__codelineno-0-130" name="__codelineno-0-130" href="#__codelineno-0-130"></a><span class="w">                </span><span class="k">virtual</span><span class="w"> </span><span class="o">~</span><span class="n">BaseApplication</span><span class="p">()</span><span class="w"> </span><span class="p">{}</span>
-<a id="__codelineno-0-131" name="__codelineno-0-131" href="#__codelineno-0-131"></a>
-<a id="__codelineno-0-132" name="__codelineno-0-132" href="#__codelineno-0-132"></a><span class="w">                </span><span class="kt">void</span><span class="w"> </span><span class="n">init</span><span class="p">(</span><span class="n">RobotDARTSimu</span><span class="o">*</span><span class="w"> </span><span class="n">simu</span><span class="p">,</span><span class="w"> </span><span class="k">const</span><span class="w"> </span><span class="n">GraphicsConfiguration</span><span class="o">&amp;</span><span class="w"> </span><span class="n">configuration</span><span class="p">);</span>
-<a id="__codelineno-0-133" name="__codelineno-0-133" href="#__codelineno-0-133"></a>
-<a id="__codelineno-0-134" name="__codelineno-0-134" href="#__codelineno-0-134"></a><span class="w">                </span><span class="kt">void</span><span class="w"> </span><span class="nf">clear_lights</span><span class="p">();</span>
-<a id="__codelineno-0-135" name="__codelineno-0-135" href="#__codelineno-0-135"></a><span class="w">                </span><span class="kt">void</span><span class="w"> </span><span class="nf">add_light</span><span class="p">(</span><span class="k">const</span><span class="w"> </span><span class="n">gs</span><span class="o">::</span><span class="n">Light</span><span class="o">&amp;</span><span class="w"> </span><span class="n">light</span><span class="p">);</span>
-<a id="__codelineno-0-136" name="__codelineno-0-136" href="#__codelineno-0-136"></a><span class="w">                </span><span class="n">gs</span><span class="o">::</span><span class="n">Light</span><span class="o">&amp;</span><span class="w"> </span><span class="nf">light</span><span class="p">(</span><span class="kt">size_t</span><span class="w"> </span><span class="n">i</span><span class="p">);</span>
-<a id="__codelineno-0-137" name="__codelineno-0-137" href="#__codelineno-0-137"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">vector</span><span class="o">&lt;</span><span class="n">gs</span><span class="o">::</span><span class="n">Light</span><span class="o">&gt;&amp;</span><span class="w"> </span><span class="n">lights</span><span class="p">();</span>
-<a id="__codelineno-0-138" name="__codelineno-0-138" href="#__codelineno-0-138"></a><span class="w">                </span><span class="kt">size_t</span><span class="w"> </span><span class="nf">num_lights</span><span class="p">()</span><span class="w"> </span><span class="k">const</span><span class="p">;</span>
+<a id="__codelineno-0-120" name="__codelineno-0-120" href="#__codelineno-0-120"></a><span class="w">            </span><span class="k">struct</span><span class="w"> </span><span class="nc">DebugDrawData</span><span class="w"> </span><span class="p">{</span>
+<a id="__codelineno-0-121" name="__codelineno-0-121" href="#__codelineno-0-121"></a><span class="w">                </span><span class="n">Magnum</span><span class="o">::</span><span class="n">Shaders</span><span class="o">::</span><span class="n">VertexColorGL3D</span><span class="o">*</span><span class="w"> </span><span class="n">axes_shader</span><span class="p">;</span>
+<a id="__codelineno-0-122" name="__codelineno-0-122" href="#__codelineno-0-122"></a><span class="w">                </span><span class="n">Magnum</span><span class="o">::</span><span class="n">GL</span><span class="o">::</span><span class="n">Mesh</span><span class="o">*</span><span class="w"> </span><span class="n">axes_mesh</span><span class="p">;</span>
+<a id="__codelineno-0-123" name="__codelineno-0-123" href="#__codelineno-0-123"></a><span class="w">                </span><span class="n">Magnum</span><span class="o">::</span><span class="n">Shaders</span><span class="o">::</span><span class="n">FlatGL2D</span><span class="o">*</span><span class="w"> </span><span class="n">background_shader</span><span class="p">;</span>
+<a id="__codelineno-0-124" name="__codelineno-0-124" href="#__codelineno-0-124"></a><span class="w">                </span><span class="n">Magnum</span><span class="o">::</span><span class="n">GL</span><span class="o">::</span><span class="n">Mesh</span><span class="o">*</span><span class="w"> </span><span class="n">background_mesh</span><span class="p">;</span>
+<a id="__codelineno-0-125" name="__codelineno-0-125" href="#__codelineno-0-125"></a>
+<a id="__codelineno-0-126" name="__codelineno-0-126" href="#__codelineno-0-126"></a><span class="w">                </span><span class="n">Magnum</span><span class="o">::</span><span class="n">Shaders</span><span class="o">::</span><span class="n">DistanceFieldVectorGL2D</span><span class="o">*</span><span class="w"> </span><span class="n">text_shader</span><span class="p">;</span>
+<a id="__codelineno-0-127" name="__codelineno-0-127" href="#__codelineno-0-127"></a><span class="w">                </span><span class="n">Magnum</span><span class="o">::</span><span class="n">GL</span><span class="o">::</span><span class="n">Buffer</span><span class="o">*</span><span class="w"> </span><span class="n">text_vertices</span><span class="p">;</span>
+<a id="__codelineno-0-128" name="__codelineno-0-128" href="#__codelineno-0-128"></a><span class="w">                </span><span class="n">Magnum</span><span class="o">::</span><span class="n">GL</span><span class="o">::</span><span class="n">Buffer</span><span class="o">*</span><span class="w"> </span><span class="n">text_indices</span><span class="p">;</span>
+<a id="__codelineno-0-129" name="__codelineno-0-129" href="#__codelineno-0-129"></a><span class="w">                </span><span class="n">Magnum</span><span class="o">::</span><span class="n">Text</span><span class="o">::</span><span class="n">AbstractFont</span><span class="o">*</span><span class="w"> </span><span class="n">font</span><span class="p">;</span>
+<a id="__codelineno-0-130" name="__codelineno-0-130" href="#__codelineno-0-130"></a><span class="w">                </span><span class="n">Magnum</span><span class="o">::</span><span class="n">Text</span><span class="o">::</span><span class="n">DistanceFieldGlyphCache</span><span class="o">*</span><span class="w"> </span><span class="n">cache</span><span class="p">;</span>
+<a id="__codelineno-0-131" name="__codelineno-0-131" href="#__codelineno-0-131"></a><span class="w">            </span><span class="p">};</span>
+<a id="__codelineno-0-132" name="__codelineno-0-132" href="#__codelineno-0-132"></a>
+<a id="__codelineno-0-133" name="__codelineno-0-133" href="#__codelineno-0-133"></a><span class="w">            </span><span class="k">class</span><span class="w"> </span><span class="nc">BaseApplication</span><span class="w"> </span><span class="p">{</span>
+<a id="__codelineno-0-134" name="__codelineno-0-134" href="#__codelineno-0-134"></a><span class="w">            </span><span class="k">public</span><span class="o">:</span>
+<a id="__codelineno-0-135" name="__codelineno-0-135" href="#__codelineno-0-135"></a><span class="w">                </span><span class="n">BaseApplication</span><span class="p">(</span><span class="k">const</span><span class="w"> </span><span class="n">GraphicsConfiguration</span><span class="o">&amp;</span><span class="w"> </span><span class="n">configuration</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">GraphicsConfiguration</span><span class="p">());</span>
+<a id="__codelineno-0-136" name="__codelineno-0-136" href="#__codelineno-0-136"></a><span class="w">                </span><span class="k">virtual</span><span class="w"> </span><span class="o">~</span><span class="n">BaseApplication</span><span class="p">()</span><span class="w"> </span><span class="p">{}</span>
+<a id="__codelineno-0-137" name="__codelineno-0-137" href="#__codelineno-0-137"></a>
+<a id="__codelineno-0-138" name="__codelineno-0-138" href="#__codelineno-0-138"></a><span class="w">                </span><span class="kt">void</span><span class="w"> </span><span class="n">init</span><span class="p">(</span><span class="n">RobotDARTSimu</span><span class="o">*</span><span class="w"> </span><span class="n">simu</span><span class="p">,</span><span class="w"> </span><span class="k">const</span><span class="w"> </span><span class="n">GraphicsConfiguration</span><span class="o">&amp;</span><span class="w"> </span><span class="n">configuration</span><span class="p">);</span>
 <a id="__codelineno-0-139" name="__codelineno-0-139" href="#__codelineno-0-139"></a>
-<a id="__codelineno-0-140" name="__codelineno-0-140" href="#__codelineno-0-140"></a><span class="w">                </span><span class="n">Magnum</span><span class="o">::</span><span class="n">SceneGraph</span><span class="o">::</span><span class="n">DrawableGroup3D</span><span class="o">&amp;</span><span class="w"> </span><span class="nf">drawables</span><span class="p">()</span><span class="w"> </span><span class="p">{</span><span class="w"> </span><span class="k">return</span><span class="w"> </span><span class="n">_drawables</span><span class="p">;</span><span class="w"> </span><span class="p">}</span>
-<a id="__codelineno-0-141" name="__codelineno-0-141" href="#__codelineno-0-141"></a><span class="w">                </span><span class="n">Scene3D</span><span class="o">&amp;</span><span class="w"> </span><span class="nf">scene</span><span class="p">()</span><span class="w"> </span><span class="p">{</span><span class="w"> </span><span class="k">return</span><span class="w"> </span><span class="n">_scene</span><span class="p">;</span><span class="w"> </span><span class="p">}</span>
-<a id="__codelineno-0-142" name="__codelineno-0-142" href="#__codelineno-0-142"></a><span class="w">                </span><span class="n">gs</span><span class="o">::</span><span class="n">Camera</span><span class="o">&amp;</span><span class="w"> </span><span class="nf">camera</span><span class="p">()</span><span class="w"> </span><span class="p">{</span><span class="w"> </span><span class="k">return</span><span class="w"> </span><span class="o">*</span><span class="n">_camera</span><span class="p">;</span><span class="w"> </span><span class="p">}</span>
-<a id="__codelineno-0-143" name="__codelineno-0-143" href="#__codelineno-0-143"></a><span class="w">                </span><span class="k">const</span><span class="w"> </span><span class="n">gs</span><span class="o">::</span><span class="n">Camera</span><span class="o">&amp;</span><span class="w"> </span><span class="nf">camera</span><span class="p">()</span><span class="w"> </span><span class="k">const</span><span class="w"> </span><span class="p">{</span><span class="w"> </span><span class="k">return</span><span class="w"> </span><span class="o">*</span><span class="n">_camera</span><span class="p">;</span><span class="w"> </span><span class="p">}</span>
-<a id="__codelineno-0-144" name="__codelineno-0-144" href="#__codelineno-0-144"></a>
-<a id="__codelineno-0-145" name="__codelineno-0-145" href="#__codelineno-0-145"></a><span class="w">                </span><span class="kt">bool</span><span class="w"> </span><span class="nf">done</span><span class="p">()</span><span class="w"> </span><span class="k">const</span><span class="p">;</span>
-<a id="__codelineno-0-146" name="__codelineno-0-146" href="#__codelineno-0-146"></a>
-<a id="__codelineno-0-147" name="__codelineno-0-147" href="#__codelineno-0-147"></a><span class="w">                </span><span class="kt">void</span><span class="w"> </span><span class="nf">look_at</span><span class="p">(</span><span class="k">const</span><span class="w"> </span><span class="n">Eigen</span><span class="o">::</span><span class="n">Vector3d</span><span class="o">&amp;</span><span class="w"> </span><span class="n">camera_pos</span><span class="p">,</span>
-<a id="__codelineno-0-148" name="__codelineno-0-148" href="#__codelineno-0-148"></a><span class="w">                    </span><span class="k">const</span><span class="w"> </span><span class="n">Eigen</span><span class="o">::</span><span class="n">Vector3d</span><span class="o">&amp;</span><span class="w"> </span><span class="n">look_at</span><span class="p">,</span>
-<a id="__codelineno-0-149" name="__codelineno-0-149" href="#__codelineno-0-149"></a><span class="w">                    </span><span class="k">const</span><span class="w"> </span><span class="n">Eigen</span><span class="o">::</span><span class="n">Vector3d</span><span class="o">&amp;</span><span class="w"> </span><span class="n">up</span><span class="p">);</span>
+<a id="__codelineno-0-140" name="__codelineno-0-140" href="#__codelineno-0-140"></a><span class="w">                </span><span class="kt">void</span><span class="w"> </span><span class="nf">clear_lights</span><span class="p">();</span>
+<a id="__codelineno-0-141" name="__codelineno-0-141" href="#__codelineno-0-141"></a><span class="w">                </span><span class="kt">void</span><span class="w"> </span><span class="nf">add_light</span><span class="p">(</span><span class="k">const</span><span class="w"> </span><span class="n">gs</span><span class="o">::</span><span class="n">Light</span><span class="o">&amp;</span><span class="w"> </span><span class="n">light</span><span class="p">);</span>
+<a id="__codelineno-0-142" name="__codelineno-0-142" href="#__codelineno-0-142"></a><span class="w">                </span><span class="n">gs</span><span class="o">::</span><span class="n">Light</span><span class="o">&amp;</span><span class="w"> </span><span class="nf">light</span><span class="p">(</span><span class="kt">size_t</span><span class="w"> </span><span class="n">i</span><span class="p">);</span>
+<a id="__codelineno-0-143" name="__codelineno-0-143" href="#__codelineno-0-143"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">vector</span><span class="o">&lt;</span><span class="n">gs</span><span class="o">::</span><span class="n">Light</span><span class="o">&gt;&amp;</span><span class="w"> </span><span class="n">lights</span><span class="p">();</span>
+<a id="__codelineno-0-144" name="__codelineno-0-144" href="#__codelineno-0-144"></a><span class="w">                </span><span class="kt">size_t</span><span class="w"> </span><span class="nf">num_lights</span><span class="p">()</span><span class="w"> </span><span class="k">const</span><span class="p">;</span>
+<a id="__codelineno-0-145" name="__codelineno-0-145" href="#__codelineno-0-145"></a>
+<a id="__codelineno-0-146" name="__codelineno-0-146" href="#__codelineno-0-146"></a><span class="w">                </span><span class="n">Magnum</span><span class="o">::</span><span class="n">SceneGraph</span><span class="o">::</span><span class="n">DrawableGroup3D</span><span class="o">&amp;</span><span class="w"> </span><span class="nf">drawables</span><span class="p">()</span><span class="w"> </span><span class="p">{</span><span class="w"> </span><span class="k">return</span><span class="w"> </span><span class="n">_drawables</span><span class="p">;</span><span class="w"> </span><span class="p">}</span>
+<a id="__codelineno-0-147" name="__codelineno-0-147" href="#__codelineno-0-147"></a><span class="w">                </span><span class="n">Scene3D</span><span class="o">&amp;</span><span class="w"> </span><span class="nf">scene</span><span class="p">()</span><span class="w"> </span><span class="p">{</span><span class="w"> </span><span class="k">return</span><span class="w"> </span><span class="n">_scene</span><span class="p">;</span><span class="w"> </span><span class="p">}</span>
+<a id="__codelineno-0-148" name="__codelineno-0-148" href="#__codelineno-0-148"></a><span class="w">                </span><span class="n">gs</span><span class="o">::</span><span class="n">Camera</span><span class="o">&amp;</span><span class="w"> </span><span class="nf">camera</span><span class="p">()</span><span class="w"> </span><span class="p">{</span><span class="w"> </span><span class="k">return</span><span class="w"> </span><span class="o">*</span><span class="n">_camera</span><span class="p">;</span><span class="w"> </span><span class="p">}</span>
+<a id="__codelineno-0-149" name="__codelineno-0-149" href="#__codelineno-0-149"></a><span class="w">                </span><span class="k">const</span><span class="w"> </span><span class="n">gs</span><span class="o">::</span><span class="n">Camera</span><span class="o">&amp;</span><span class="w"> </span><span class="nf">camera</span><span class="p">()</span><span class="w"> </span><span class="k">const</span><span class="w"> </span><span class="p">{</span><span class="w"> </span><span class="k">return</span><span class="w"> </span><span class="o">*</span><span class="n">_camera</span><span class="p">;</span><span class="w"> </span><span class="p">}</span>
 <a id="__codelineno-0-150" name="__codelineno-0-150" href="#__codelineno-0-150"></a>
-<a id="__codelineno-0-151" name="__codelineno-0-151" href="#__codelineno-0-151"></a><span class="w">                </span><span class="k">virtual</span><span class="w"> </span><span class="kt">void</span><span class="w"> </span><span class="nf">render</span><span class="p">()</span><span class="w"> </span><span class="p">{}</span>
+<a id="__codelineno-0-151" name="__codelineno-0-151" href="#__codelineno-0-151"></a><span class="w">                </span><span class="kt">bool</span><span class="w"> </span><span class="nf">done</span><span class="p">()</span><span class="w"> </span><span class="k">const</span><span class="p">;</span>
 <a id="__codelineno-0-152" name="__codelineno-0-152" href="#__codelineno-0-152"></a>
-<a id="__codelineno-0-153" name="__codelineno-0-153" href="#__codelineno-0-153"></a><span class="w">                </span><span class="kt">void</span><span class="w"> </span><span class="nf">update_lights</span><span class="p">(</span><span class="k">const</span><span class="w"> </span><span class="n">gs</span><span class="o">::</span><span class="n">Camera</span><span class="o">&amp;</span><span class="w"> </span><span class="n">camera</span><span class="p">);</span>
-<a id="__codelineno-0-154" name="__codelineno-0-154" href="#__codelineno-0-154"></a><span class="w">                </span><span class="kt">void</span><span class="w"> </span><span class="nf">update_graphics</span><span class="p">();</span>
-<a id="__codelineno-0-155" name="__codelineno-0-155" href="#__codelineno-0-155"></a><span class="w">                </span><span class="kt">void</span><span class="w"> </span><span class="nf">render_shadows</span><span class="p">();</span>
+<a id="__codelineno-0-153" name="__codelineno-0-153" href="#__codelineno-0-153"></a><span class="w">                </span><span class="kt">void</span><span class="w"> </span><span class="nf">look_at</span><span class="p">(</span><span class="k">const</span><span class="w"> </span><span class="n">Eigen</span><span class="o">::</span><span class="n">Vector3d</span><span class="o">&amp;</span><span class="w"> </span><span class="n">camera_pos</span><span class="p">,</span>
+<a id="__codelineno-0-154" name="__codelineno-0-154" href="#__codelineno-0-154"></a><span class="w">                    </span><span class="k">const</span><span class="w"> </span><span class="n">Eigen</span><span class="o">::</span><span class="n">Vector3d</span><span class="o">&amp;</span><span class="w"> </span><span class="n">look_at</span><span class="p">,</span>
+<a id="__codelineno-0-155" name="__codelineno-0-155" href="#__codelineno-0-155"></a><span class="w">                    </span><span class="k">const</span><span class="w"> </span><span class="n">Eigen</span><span class="o">::</span><span class="n">Vector3d</span><span class="o">&amp;</span><span class="w"> </span><span class="n">up</span><span class="p">);</span>
 <a id="__codelineno-0-156" name="__codelineno-0-156" href="#__codelineno-0-156"></a>
-<a id="__codelineno-0-157" name="__codelineno-0-157" href="#__codelineno-0-157"></a><span class="w">                </span><span class="kt">bool</span><span class="w"> </span><span class="nf">attach_camera</span><span class="p">(</span><span class="n">gs</span><span class="o">::</span><span class="n">Camera</span><span class="o">&amp;</span><span class="w"> </span><span class="n">camera</span><span class="p">,</span><span class="w"> </span><span class="n">dart</span><span class="o">::</span><span class="n">dynamics</span><span class="o">::</span><span class="n">BodyNode</span><span class="o">*</span><span class="w"> </span><span class="n">body</span><span class="p">);</span>
+<a id="__codelineno-0-157" name="__codelineno-0-157" href="#__codelineno-0-157"></a><span class="w">                </span><span class="k">virtual</span><span class="w"> </span><span class="kt">void</span><span class="w"> </span><span class="nf">render</span><span class="p">()</span><span class="w"> </span><span class="p">{}</span>
 <a id="__codelineno-0-158" name="__codelineno-0-158" href="#__codelineno-0-158"></a>
-<a id="__codelineno-0-159" name="__codelineno-0-159" href="#__codelineno-0-159"></a><span class="w">                </span><span class="c1">// video (FPS is mandatory here, see the Graphics class for automatic computation)</span>
-<a id="__codelineno-0-160" name="__codelineno-0-160" href="#__codelineno-0-160"></a><span class="w">                </span><span class="kt">void</span><span class="w"> </span><span class="nf">record_video</span><span class="p">(</span><span class="k">const</span><span class="w"> </span><span class="n">std</span><span class="o">::</span><span class="n">string</span><span class="o">&amp;</span><span class="w"> </span><span class="n">video_fname</span><span class="p">,</span><span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">fps</span><span class="p">)</span><span class="w"> </span><span class="p">{</span><span class="w"> </span><span class="n">_camera</span><span class="o">-&gt;</span><span class="n">record_video</span><span class="p">(</span><span class="n">video_fname</span><span class="p">,</span><span class="w"> </span><span class="n">fps</span><span class="p">);</span><span class="w"> </span><span class="p">}</span>
-<a id="__codelineno-0-161" name="__codelineno-0-161" href="#__codelineno-0-161"></a>
-<a id="__codelineno-0-162" name="__codelineno-0-162" href="#__codelineno-0-162"></a><span class="w">                </span><span class="kt">bool</span><span class="w"> </span><span class="nf">shadowed</span><span class="p">()</span><span class="w"> </span><span class="k">const</span><span class="w"> </span><span class="p">{</span><span class="w"> </span><span class="k">return</span><span class="w"> </span><span class="n">_shadowed</span><span class="p">;</span><span class="w"> </span><span class="p">}</span>
-<a id="__codelineno-0-163" name="__codelineno-0-163" href="#__codelineno-0-163"></a><span class="w">                </span><span class="kt">bool</span><span class="w"> </span><span class="nf">transparent_shadows</span><span class="p">()</span><span class="w"> </span><span class="k">const</span><span class="w"> </span><span class="p">{</span><span class="w"> </span><span class="k">return</span><span class="w"> </span><span class="n">_transparent_shadows</span><span class="p">;</span><span class="w"> </span><span class="p">}</span>
-<a id="__codelineno-0-164" name="__codelineno-0-164" href="#__codelineno-0-164"></a><span class="w">                </span><span class="kt">void</span><span class="w"> </span><span class="nf">enable_shadows</span><span class="p">(</span><span class="kt">bool</span><span class="w"> </span><span class="n">enable</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nb">true</span><span class="p">,</span><span class="w"> </span><span class="kt">bool</span><span class="w"> </span><span class="n">drawTransparentShadows</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nb">false</span><span class="p">);</span>
-<a id="__codelineno-0-165" name="__codelineno-0-165" href="#__codelineno-0-165"></a>
-<a id="__codelineno-0-166" name="__codelineno-0-166" href="#__codelineno-0-166"></a><span class="w">                </span><span class="n">Corrade</span><span class="o">::</span><span class="n">Containers</span><span class="o">::</span><span class="n">Optional</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">Image2D</span><span class="o">&gt;&amp;</span><span class="w"> </span><span class="n">image</span><span class="p">()</span><span class="w"> </span><span class="p">{</span><span class="w"> </span><span class="k">return</span><span class="w"> </span><span class="n">_camera</span><span class="o">-&gt;</span><span class="n">image</span><span class="p">();</span><span class="w"> </span><span class="p">}</span>
+<a id="__codelineno-0-159" name="__codelineno-0-159" href="#__codelineno-0-159"></a><span class="w">                </span><span class="kt">void</span><span class="w"> </span><span class="nf">update_lights</span><span class="p">(</span><span class="k">const</span><span class="w"> </span><span class="n">gs</span><span class="o">::</span><span class="n">Camera</span><span class="o">&amp;</span><span class="w"> </span><span class="n">camera</span><span class="p">);</span>
+<a id="__codelineno-0-160" name="__codelineno-0-160" href="#__codelineno-0-160"></a><span class="w">                </span><span class="kt">void</span><span class="w"> </span><span class="nf">update_graphics</span><span class="p">();</span>
+<a id="__codelineno-0-161" name="__codelineno-0-161" href="#__codelineno-0-161"></a><span class="w">                </span><span class="kt">void</span><span class="w"> </span><span class="nf">render_shadows</span><span class="p">();</span>
+<a id="__codelineno-0-162" name="__codelineno-0-162" href="#__codelineno-0-162"></a>
+<a id="__codelineno-0-163" name="__codelineno-0-163" href="#__codelineno-0-163"></a><span class="w">                </span><span class="kt">bool</span><span class="w"> </span><span class="nf">attach_camera</span><span class="p">(</span><span class="n">gs</span><span class="o">::</span><span class="n">Camera</span><span class="o">&amp;</span><span class="w"> </span><span class="n">camera</span><span class="p">,</span><span class="w"> </span><span class="n">dart</span><span class="o">::</span><span class="n">dynamics</span><span class="o">::</span><span class="n">BodyNode</span><span class="o">*</span><span class="w"> </span><span class="n">body</span><span class="p">);</span>
+<a id="__codelineno-0-164" name="__codelineno-0-164" href="#__codelineno-0-164"></a>
+<a id="__codelineno-0-165" name="__codelineno-0-165" href="#__codelineno-0-165"></a><span class="w">                </span><span class="c1">// video (FPS is mandatory here, see the Graphics class for automatic computation)</span>
+<a id="__codelineno-0-166" name="__codelineno-0-166" href="#__codelineno-0-166"></a><span class="w">                </span><span class="kt">void</span><span class="w"> </span><span class="nf">record_video</span><span class="p">(</span><span class="k">const</span><span class="w"> </span><span class="n">std</span><span class="o">::</span><span class="n">string</span><span class="o">&amp;</span><span class="w"> </span><span class="n">video_fname</span><span class="p">,</span><span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">fps</span><span class="p">)</span><span class="w"> </span><span class="p">{</span><span class="w"> </span><span class="n">_camera</span><span class="o">-&gt;</span><span class="n">record_video</span><span class="p">(</span><span class="n">video_fname</span><span class="p">,</span><span class="w"> </span><span class="n">fps</span><span class="p">);</span><span class="w"> </span><span class="p">}</span>
 <a id="__codelineno-0-167" name="__codelineno-0-167" href="#__codelineno-0-167"></a>
-<a id="__codelineno-0-168" name="__codelineno-0-168" href="#__codelineno-0-168"></a><span class="w">                </span><span class="c1">// This is for visualization purposes</span>
-<a id="__codelineno-0-169" name="__codelineno-0-169" href="#__codelineno-0-169"></a><span class="w">                </span><span class="n">GrayscaleImage</span><span class="w"> </span><span class="n">depth_image</span><span class="p">();</span>
-<a id="__codelineno-0-170" name="__codelineno-0-170" href="#__codelineno-0-170"></a>
-<a id="__codelineno-0-171" name="__codelineno-0-171" href="#__codelineno-0-171"></a><span class="w">                </span><span class="c1">// Image filled with depth buffer values</span>
-<a id="__codelineno-0-172" name="__codelineno-0-172" href="#__codelineno-0-172"></a><span class="w">                </span><span class="n">GrayscaleImage</span><span class="w"> </span><span class="nf">raw_depth_image</span><span class="p">();</span>
+<a id="__codelineno-0-168" name="__codelineno-0-168" href="#__codelineno-0-168"></a><span class="w">                </span><span class="kt">bool</span><span class="w"> </span><span class="nf">shadowed</span><span class="p">()</span><span class="w"> </span><span class="k">const</span><span class="w"> </span><span class="p">{</span><span class="w"> </span><span class="k">return</span><span class="w"> </span><span class="n">_shadowed</span><span class="p">;</span><span class="w"> </span><span class="p">}</span>
+<a id="__codelineno-0-169" name="__codelineno-0-169" href="#__codelineno-0-169"></a><span class="w">                </span><span class="kt">bool</span><span class="w"> </span><span class="nf">transparent_shadows</span><span class="p">()</span><span class="w"> </span><span class="k">const</span><span class="w"> </span><span class="p">{</span><span class="w"> </span><span class="k">return</span><span class="w"> </span><span class="n">_transparent_shadows</span><span class="p">;</span><span class="w"> </span><span class="p">}</span>
+<a id="__codelineno-0-170" name="__codelineno-0-170" href="#__codelineno-0-170"></a><span class="w">                </span><span class="kt">void</span><span class="w"> </span><span class="nf">enable_shadows</span><span class="p">(</span><span class="kt">bool</span><span class="w"> </span><span class="n">enable</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nb">true</span><span class="p">,</span><span class="w"> </span><span class="kt">bool</span><span class="w"> </span><span class="n">drawTransparentShadows</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nb">false</span><span class="p">);</span>
+<a id="__codelineno-0-171" name="__codelineno-0-171" href="#__codelineno-0-171"></a>
+<a id="__codelineno-0-172" name="__codelineno-0-172" href="#__codelineno-0-172"></a><span class="w">                </span><span class="n">Corrade</span><span class="o">::</span><span class="n">Containers</span><span class="o">::</span><span class="n">Optional</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">Image2D</span><span class="o">&gt;&amp;</span><span class="w"> </span><span class="n">image</span><span class="p">()</span><span class="w"> </span><span class="p">{</span><span class="w"> </span><span class="k">return</span><span class="w"> </span><span class="n">_camera</span><span class="o">-&gt;</span><span class="n">image</span><span class="p">();</span><span class="w"> </span><span class="p">}</span>
 <a id="__codelineno-0-173" name="__codelineno-0-173" href="#__codelineno-0-173"></a>
-<a id="__codelineno-0-174" name="__codelineno-0-174" href="#__codelineno-0-174"></a><span class="w">                </span><span class="c1">// &quot;Image&quot; filled with depth buffer values (this returns an array of doubles)</span>
-<a id="__codelineno-0-175" name="__codelineno-0-175" href="#__codelineno-0-175"></a><span class="w">                </span><span class="n">DepthImage</span><span class="w"> </span><span class="nf">depth_array</span><span class="p">();</span>
+<a id="__codelineno-0-174" name="__codelineno-0-174" href="#__codelineno-0-174"></a><span class="w">                </span><span class="c1">// This is for visualization purposes</span>
+<a id="__codelineno-0-175" name="__codelineno-0-175" href="#__codelineno-0-175"></a><span class="w">                </span><span class="n">GrayscaleImage</span><span class="w"> </span><span class="n">depth_image</span><span class="p">();</span>
 <a id="__codelineno-0-176" name="__codelineno-0-176" href="#__codelineno-0-176"></a>
-<a id="__codelineno-0-177" name="__codelineno-0-177" href="#__codelineno-0-177"></a><span class="w">                </span><span class="c1">// Access to debug data</span>
-<a id="__codelineno-0-178" name="__codelineno-0-178" href="#__codelineno-0-178"></a><span class="w">                </span><span class="n">DebugDrawData</span><span class="w"> </span><span class="nf">debug_draw_data</span><span class="p">()</span>
-<a id="__codelineno-0-179" name="__codelineno-0-179" href="#__codelineno-0-179"></a><span class="w">                </span><span class="p">{</span>
-<a id="__codelineno-0-180" name="__codelineno-0-180" href="#__codelineno-0-180"></a><span class="w">                    </span><span class="n">DebugDrawData</span><span class="w"> </span><span class="n">data</span><span class="p">;</span>
-<a id="__codelineno-0-181" name="__codelineno-0-181" href="#__codelineno-0-181"></a><span class="w">                    </span><span class="n">data</span><span class="p">.</span><span class="n">axes_shader</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">_3D_axis_shader</span><span class="p">.</span><span class="n">get</span><span class="p">();</span>
-<a id="__codelineno-0-182" name="__codelineno-0-182" href="#__codelineno-0-182"></a><span class="w">                    </span><span class="n">data</span><span class="p">.</span><span class="n">background_shader</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">_background_shader</span><span class="p">.</span><span class="n">get</span><span class="p">();</span>
-<a id="__codelineno-0-183" name="__codelineno-0-183" href="#__codelineno-0-183"></a><span class="w">                    </span><span class="n">data</span><span class="p">.</span><span class="n">axes_mesh</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">_3D_axis_mesh</span><span class="p">.</span><span class="n">get</span><span class="p">();</span>
-<a id="__codelineno-0-184" name="__codelineno-0-184" href="#__codelineno-0-184"></a><span class="w">                    </span><span class="n">data</span><span class="p">.</span><span class="n">background_mesh</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">_background_mesh</span><span class="p">.</span><span class="n">get</span><span class="p">();</span>
-<a id="__codelineno-0-185" name="__codelineno-0-185" href="#__codelineno-0-185"></a><span class="w">                    </span><span class="n">data</span><span class="p">.</span><span class="n">text_shader</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">_text_shader</span><span class="p">.</span><span class="n">get</span><span class="p">();</span>
-<a id="__codelineno-0-186" name="__codelineno-0-186" href="#__codelineno-0-186"></a><span class="w">                    </span><span class="n">data</span><span class="p">.</span><span class="n">text_vertices</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">_text_vertices</span><span class="p">.</span><span class="n">get</span><span class="p">();</span>
-<a id="__codelineno-0-187" name="__codelineno-0-187" href="#__codelineno-0-187"></a><span class="w">                    </span><span class="n">data</span><span class="p">.</span><span class="n">text_indices</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">_text_indices</span><span class="p">.</span><span class="n">get</span><span class="p">();</span>
-<a id="__codelineno-0-188" name="__codelineno-0-188" href="#__codelineno-0-188"></a><span class="w">                    </span><span class="n">data</span><span class="p">.</span><span class="n">font</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">_font</span><span class="p">.</span><span class="n">get</span><span class="p">();</span>
-<a id="__codelineno-0-189" name="__codelineno-0-189" href="#__codelineno-0-189"></a><span class="w">                    </span><span class="n">data</span><span class="p">.</span><span class="n">cache</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">_glyph_cache</span><span class="p">.</span><span class="n">get</span><span class="p">();</span>
-<a id="__codelineno-0-190" name="__codelineno-0-190" href="#__codelineno-0-190"></a>
-<a id="__codelineno-0-191" name="__codelineno-0-191" href="#__codelineno-0-191"></a><span class="w">                    </span><span class="k">return</span><span class="w"> </span><span class="n">data</span><span class="p">;</span>
-<a id="__codelineno-0-192" name="__codelineno-0-192" href="#__codelineno-0-192"></a><span class="w">                </span><span class="p">}</span>
-<a id="__codelineno-0-193" name="__codelineno-0-193" href="#__codelineno-0-193"></a>
-<a id="__codelineno-0-194" name="__codelineno-0-194" href="#__codelineno-0-194"></a><span class="w">            </span><span class="k">protected</span><span class="o">:</span>
-<a id="__codelineno-0-195" name="__codelineno-0-195" href="#__codelineno-0-195"></a><span class="w">                </span><span class="cm">/* Magnum */</span>
-<a id="__codelineno-0-196" name="__codelineno-0-196" href="#__codelineno-0-196"></a><span class="w">                </span><span class="n">Scene3D</span><span class="w"> </span><span class="n">_scene</span><span class="p">;</span>
-<a id="__codelineno-0-197" name="__codelineno-0-197" href="#__codelineno-0-197"></a><span class="w">                </span><span class="n">Magnum</span><span class="o">::</span><span class="n">SceneGraph</span><span class="o">::</span><span class="n">DrawableGroup3D</span><span class="w"> </span><span class="n">_drawables</span><span class="p">,</span><span class="w"> </span><span class="n">_shadowed_drawables</span><span class="p">,</span><span class="w"> </span><span class="n">_shadowed_color_drawables</span><span class="p">,</span><span class="w"> </span><span class="n">_cubemap_drawables</span><span class="p">,</span><span class="w"> </span><span class="n">_cubemap_color_drawables</span><span class="p">;</span>
-<a id="__codelineno-0-198" name="__codelineno-0-198" href="#__codelineno-0-198"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">gs</span><span class="o">::</span><span class="n">PhongMultiLight</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_color_shader</span><span class="p">,</span><span class="w"> </span><span class="n">_texture_shader</span><span class="p">;</span>
+<a id="__codelineno-0-177" name="__codelineno-0-177" href="#__codelineno-0-177"></a><span class="w">                </span><span class="c1">// Image filled with depth buffer values</span>
+<a id="__codelineno-0-178" name="__codelineno-0-178" href="#__codelineno-0-178"></a><span class="w">                </span><span class="n">GrayscaleImage</span><span class="w"> </span><span class="nf">raw_depth_image</span><span class="p">();</span>
+<a id="__codelineno-0-179" name="__codelineno-0-179" href="#__codelineno-0-179"></a>
+<a id="__codelineno-0-180" name="__codelineno-0-180" href="#__codelineno-0-180"></a><span class="w">                </span><span class="c1">// &quot;Image&quot; filled with depth buffer values (this returns an array of doubles)</span>
+<a id="__codelineno-0-181" name="__codelineno-0-181" href="#__codelineno-0-181"></a><span class="w">                </span><span class="n">DepthImage</span><span class="w"> </span><span class="nf">depth_array</span><span class="p">();</span>
+<a id="__codelineno-0-182" name="__codelineno-0-182" href="#__codelineno-0-182"></a>
+<a id="__codelineno-0-183" name="__codelineno-0-183" href="#__codelineno-0-183"></a><span class="w">                </span><span class="c1">// Access to debug data</span>
+<a id="__codelineno-0-184" name="__codelineno-0-184" href="#__codelineno-0-184"></a><span class="w">                </span><span class="n">DebugDrawData</span><span class="w"> </span><span class="nf">debug_draw_data</span><span class="p">()</span>
+<a id="__codelineno-0-185" name="__codelineno-0-185" href="#__codelineno-0-185"></a><span class="w">                </span><span class="p">{</span>
+<a id="__codelineno-0-186" name="__codelineno-0-186" href="#__codelineno-0-186"></a><span class="w">                    </span><span class="n">DebugDrawData</span><span class="w"> </span><span class="n">data</span><span class="p">;</span>
+<a id="__codelineno-0-187" name="__codelineno-0-187" href="#__codelineno-0-187"></a><span class="w">                    </span><span class="n">data</span><span class="p">.</span><span class="n">axes_shader</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">_3D_axis_shader</span><span class="p">.</span><span class="n">get</span><span class="p">();</span>
+<a id="__codelineno-0-188" name="__codelineno-0-188" href="#__codelineno-0-188"></a><span class="w">                    </span><span class="n">data</span><span class="p">.</span><span class="n">background_shader</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">_background_shader</span><span class="p">.</span><span class="n">get</span><span class="p">();</span>
+<a id="__codelineno-0-189" name="__codelineno-0-189" href="#__codelineno-0-189"></a><span class="w">                    </span><span class="n">data</span><span class="p">.</span><span class="n">axes_mesh</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">_3D_axis_mesh</span><span class="p">.</span><span class="n">get</span><span class="p">();</span>
+<a id="__codelineno-0-190" name="__codelineno-0-190" href="#__codelineno-0-190"></a><span class="w">                    </span><span class="n">data</span><span class="p">.</span><span class="n">background_mesh</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">_background_mesh</span><span class="p">.</span><span class="n">get</span><span class="p">();</span>
+<a id="__codelineno-0-191" name="__codelineno-0-191" href="#__codelineno-0-191"></a><span class="w">                    </span><span class="n">data</span><span class="p">.</span><span class="n">text_shader</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">_text_shader</span><span class="p">.</span><span class="n">get</span><span class="p">();</span>
+<a id="__codelineno-0-192" name="__codelineno-0-192" href="#__codelineno-0-192"></a><span class="w">                    </span><span class="n">data</span><span class="p">.</span><span class="n">text_vertices</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">_text_vertices</span><span class="p">.</span><span class="n">get</span><span class="p">();</span>
+<a id="__codelineno-0-193" name="__codelineno-0-193" href="#__codelineno-0-193"></a><span class="w">                    </span><span class="n">data</span><span class="p">.</span><span class="n">text_indices</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">_text_indices</span><span class="p">.</span><span class="n">get</span><span class="p">();</span>
+<a id="__codelineno-0-194" name="__codelineno-0-194" href="#__codelineno-0-194"></a><span class="w">                    </span><span class="n">data</span><span class="p">.</span><span class="n">font</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">_font</span><span class="p">.</span><span class="n">get</span><span class="p">();</span>
+<a id="__codelineno-0-195" name="__codelineno-0-195" href="#__codelineno-0-195"></a><span class="w">                    </span><span class="n">data</span><span class="p">.</span><span class="n">cache</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">_glyph_cache</span><span class="p">.</span><span class="n">get</span><span class="p">();</span>
+<a id="__codelineno-0-196" name="__codelineno-0-196" href="#__codelineno-0-196"></a>
+<a id="__codelineno-0-197" name="__codelineno-0-197" href="#__codelineno-0-197"></a><span class="w">                    </span><span class="k">return</span><span class="w"> </span><span class="n">data</span><span class="p">;</span>
+<a id="__codelineno-0-198" name="__codelineno-0-198" href="#__codelineno-0-198"></a><span class="w">                </span><span class="p">}</span>
 <a id="__codelineno-0-199" name="__codelineno-0-199" href="#__codelineno-0-199"></a>
-<a id="__codelineno-0-200" name="__codelineno-0-200" href="#__codelineno-0-200"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">gs</span><span class="o">::</span><span class="n">Camera</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_camera</span><span class="p">;</span>
-<a id="__codelineno-0-201" name="__codelineno-0-201" href="#__codelineno-0-201"></a>
-<a id="__codelineno-0-202" name="__codelineno-0-202" href="#__codelineno-0-202"></a><span class="w">                </span><span class="kt">bool</span><span class="w"> </span><span class="n">_done</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nb">false</span><span class="p">;</span>
-<a id="__codelineno-0-203" name="__codelineno-0-203" href="#__codelineno-0-203"></a>
-<a id="__codelineno-0-204" name="__codelineno-0-204" href="#__codelineno-0-204"></a><span class="w">                </span><span class="cm">/* GUI Config */</span>
-<a id="__codelineno-0-205" name="__codelineno-0-205" href="#__codelineno-0-205"></a><span class="w">                </span><span class="n">GraphicsConfiguration</span><span class="w"> </span><span class="n">_configuration</span><span class="p">;</span>
-<a id="__codelineno-0-206" name="__codelineno-0-206" href="#__codelineno-0-206"></a>
-<a id="__codelineno-0-207" name="__codelineno-0-207" href="#__codelineno-0-207"></a><span class="w">                </span><span class="cm">/* DART */</span>
-<a id="__codelineno-0-208" name="__codelineno-0-208" href="#__codelineno-0-208"></a><span class="w">                </span><span class="n">RobotDARTSimu</span><span class="o">*</span><span class="w"> </span><span class="n">_simu</span><span class="p">;</span>
-<a id="__codelineno-0-209" name="__codelineno-0-209" href="#__codelineno-0-209"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">DartIntegration</span><span class="o">::</span><span class="n">World</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_dart_world</span><span class="p">;</span>
-<a id="__codelineno-0-210" name="__codelineno-0-210" href="#__codelineno-0-210"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unordered_map</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">DartIntegration</span><span class="o">::</span><span class="n">Object</span><span class="o">*</span><span class="p">,</span><span class="w"> </span><span class="n">ObjectStruct</span><span class="o">*&gt;</span><span class="w"> </span><span class="n">_drawable_objects</span><span class="p">;</span>
-<a id="__codelineno-0-211" name="__codelineno-0-211" href="#__codelineno-0-211"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">vector</span><span class="o">&lt;</span><span class="n">gs</span><span class="o">::</span><span class="n">Light</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_lights</span><span class="p">;</span>
+<a id="__codelineno-0-200" name="__codelineno-0-200" href="#__codelineno-0-200"></a><span class="w">            </span><span class="k">protected</span><span class="o">:</span>
+<a id="__codelineno-0-201" name="__codelineno-0-201" href="#__codelineno-0-201"></a><span class="w">                </span><span class="cm">/* Magnum */</span>
+<a id="__codelineno-0-202" name="__codelineno-0-202" href="#__codelineno-0-202"></a><span class="w">                </span><span class="n">Scene3D</span><span class="w"> </span><span class="n">_scene</span><span class="p">;</span>
+<a id="__codelineno-0-203" name="__codelineno-0-203" href="#__codelineno-0-203"></a><span class="w">                </span><span class="n">Magnum</span><span class="o">::</span><span class="n">SceneGraph</span><span class="o">::</span><span class="n">DrawableGroup3D</span><span class="w"> </span><span class="n">_drawables</span><span class="p">,</span><span class="w"> </span><span class="n">_shadowed_drawables</span><span class="p">,</span><span class="w"> </span><span class="n">_shadowed_color_drawables</span><span class="p">,</span><span class="w"> </span><span class="n">_cubemap_drawables</span><span class="p">,</span><span class="w"> </span><span class="n">_cubemap_color_drawables</span><span class="p">;</span>
+<a id="__codelineno-0-204" name="__codelineno-0-204" href="#__codelineno-0-204"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">gs</span><span class="o">::</span><span class="n">PhongMultiLight</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_color_shader</span><span class="p">,</span><span class="w"> </span><span class="n">_texture_shader</span><span class="p">;</span>
+<a id="__codelineno-0-205" name="__codelineno-0-205" href="#__codelineno-0-205"></a>
+<a id="__codelineno-0-206" name="__codelineno-0-206" href="#__codelineno-0-206"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">gs</span><span class="o">::</span><span class="n">Camera</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_camera</span><span class="p">;</span>
+<a id="__codelineno-0-207" name="__codelineno-0-207" href="#__codelineno-0-207"></a>
+<a id="__codelineno-0-208" name="__codelineno-0-208" href="#__codelineno-0-208"></a><span class="w">                </span><span class="kt">bool</span><span class="w"> </span><span class="n">_done</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nb">false</span><span class="p">;</span>
+<a id="__codelineno-0-209" name="__codelineno-0-209" href="#__codelineno-0-209"></a>
+<a id="__codelineno-0-210" name="__codelineno-0-210" href="#__codelineno-0-210"></a><span class="w">                </span><span class="cm">/* GUI Config */</span>
+<a id="__codelineno-0-211" name="__codelineno-0-211" href="#__codelineno-0-211"></a><span class="w">                </span><span class="n">GraphicsConfiguration</span><span class="w"> </span><span class="n">_configuration</span><span class="p">;</span>
 <a id="__codelineno-0-212" name="__codelineno-0-212" href="#__codelineno-0-212"></a>
-<a id="__codelineno-0-213" name="__codelineno-0-213" href="#__codelineno-0-213"></a><span class="w">                </span><span class="cm">/* Shadows */</span>
-<a id="__codelineno-0-214" name="__codelineno-0-214" href="#__codelineno-0-214"></a><span class="w">                </span><span class="kt">bool</span><span class="w"> </span><span class="n">_shadowed</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nb">true</span><span class="p">,</span><span class="w"> </span><span class="n">_transparent_shadows</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nb">false</span><span class="p">;</span>
-<a id="__codelineno-0-215" name="__codelineno-0-215" href="#__codelineno-0-215"></a><span class="w">                </span><span class="kt">int</span><span class="w"> </span><span class="n">_transparentSize</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">0</span><span class="p">;</span>
-<a id="__codelineno-0-216" name="__codelineno-0-216" href="#__codelineno-0-216"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">gs</span><span class="o">::</span><span class="n">ShadowMap</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_shadow_shader</span><span class="p">,</span><span class="w"> </span><span class="n">_shadow_texture_shader</span><span class="p">;</span>
-<a id="__codelineno-0-217" name="__codelineno-0-217" href="#__codelineno-0-217"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">gs</span><span class="o">::</span><span class="n">ShadowMapColor</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_shadow_color_shader</span><span class="p">,</span><span class="w"> </span><span class="n">_shadow_texture_color_shader</span><span class="p">;</span>
-<a id="__codelineno-0-218" name="__codelineno-0-218" href="#__codelineno-0-218"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">gs</span><span class="o">::</span><span class="n">CubeMap</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_cubemap_shader</span><span class="p">,</span><span class="w"> </span><span class="n">_cubemap_texture_shader</span><span class="p">;</span>
-<a id="__codelineno-0-219" name="__codelineno-0-219" href="#__codelineno-0-219"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">gs</span><span class="o">::</span><span class="n">CubeMapColor</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_cubemap_color_shader</span><span class="p">,</span><span class="w"> </span><span class="n">_cubemap_texture_color_shader</span><span class="p">;</span>
-<a id="__codelineno-0-220" name="__codelineno-0-220" href="#__codelineno-0-220"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">vector</span><span class="o">&lt;</span><span class="n">ShadowData</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_shadow_data</span><span class="p">;</span>
-<a id="__codelineno-0-221" name="__codelineno-0-221" href="#__codelineno-0-221"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">GL</span><span class="o">::</span><span class="n">Texture2DArray</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_shadow_texture</span><span class="p">,</span><span class="w"> </span><span class="n">_shadow_color_texture</span><span class="p">;</span>
-<a id="__codelineno-0-222" name="__codelineno-0-222" href="#__codelineno-0-222"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">GL</span><span class="o">::</span><span class="n">CubeMapTextureArray</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_shadow_cube_map</span><span class="p">,</span><span class="w"> </span><span class="n">_shadow_color_cube_map</span><span class="p">;</span>
-<a id="__codelineno-0-223" name="__codelineno-0-223" href="#__codelineno-0-223"></a><span class="w">                </span><span class="kt">int</span><span class="w"> </span><span class="n">_max_lights</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">5</span><span class="p">;</span>
-<a id="__codelineno-0-224" name="__codelineno-0-224" href="#__codelineno-0-224"></a><span class="w">                </span><span class="kt">int</span><span class="w"> </span><span class="n">_shadow_map_size</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">512</span><span class="p">;</span>
-<a id="__codelineno-0-225" name="__codelineno-0-225" href="#__codelineno-0-225"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">Camera3D</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_shadow_camera</span><span class="p">;</span>
-<a id="__codelineno-0-226" name="__codelineno-0-226" href="#__codelineno-0-226"></a><span class="w">                </span><span class="n">Object3D</span><span class="o">*</span><span class="w"> </span><span class="n">_shadow_camera_object</span><span class="p">;</span>
-<a id="__codelineno-0-227" name="__codelineno-0-227" href="#__codelineno-0-227"></a>
-<a id="__codelineno-0-228" name="__codelineno-0-228" href="#__codelineno-0-228"></a><span class="w">                </span><span class="cm">/* Debug visualization */</span>
-<a id="__codelineno-0-229" name="__codelineno-0-229" href="#__codelineno-0-229"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">GL</span><span class="o">::</span><span class="n">Mesh</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_3D_axis_mesh</span><span class="p">;</span>
-<a id="__codelineno-0-230" name="__codelineno-0-230" href="#__codelineno-0-230"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">Shaders</span><span class="o">::</span><span class="n">VertexColorGL3D</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_3D_axis_shader</span><span class="p">;</span>
-<a id="__codelineno-0-231" name="__codelineno-0-231" href="#__codelineno-0-231"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">GL</span><span class="o">::</span><span class="n">Mesh</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_background_mesh</span><span class="p">;</span>
-<a id="__codelineno-0-232" name="__codelineno-0-232" href="#__codelineno-0-232"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">Shaders</span><span class="o">::</span><span class="n">FlatGL2D</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_background_shader</span><span class="p">;</span>
+<a id="__codelineno-0-213" name="__codelineno-0-213" href="#__codelineno-0-213"></a><span class="w">                </span><span class="cm">/* DART */</span>
+<a id="__codelineno-0-214" name="__codelineno-0-214" href="#__codelineno-0-214"></a><span class="w">                </span><span class="n">RobotDARTSimu</span><span class="o">*</span><span class="w"> </span><span class="n">_simu</span><span class="p">;</span>
+<a id="__codelineno-0-215" name="__codelineno-0-215" href="#__codelineno-0-215"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">DartIntegration</span><span class="o">::</span><span class="n">World</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_dart_world</span><span class="p">;</span>
+<a id="__codelineno-0-216" name="__codelineno-0-216" href="#__codelineno-0-216"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unordered_map</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">DartIntegration</span><span class="o">::</span><span class="n">Object</span><span class="o">*</span><span class="p">,</span><span class="w"> </span><span class="n">ObjectStruct</span><span class="o">*&gt;</span><span class="w"> </span><span class="n">_drawable_objects</span><span class="p">;</span>
+<a id="__codelineno-0-217" name="__codelineno-0-217" href="#__codelineno-0-217"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">vector</span><span class="o">&lt;</span><span class="n">gs</span><span class="o">::</span><span class="n">Light</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_lights</span><span class="p">;</span>
+<a id="__codelineno-0-218" name="__codelineno-0-218" href="#__codelineno-0-218"></a>
+<a id="__codelineno-0-219" name="__codelineno-0-219" href="#__codelineno-0-219"></a><span class="w">                </span><span class="cm">/* Shadows */</span>
+<a id="__codelineno-0-220" name="__codelineno-0-220" href="#__codelineno-0-220"></a><span class="w">                </span><span class="kt">bool</span><span class="w"> </span><span class="n">_shadowed</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nb">true</span><span class="p">,</span><span class="w"> </span><span class="n">_transparent_shadows</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nb">false</span><span class="p">;</span>
+<a id="__codelineno-0-221" name="__codelineno-0-221" href="#__codelineno-0-221"></a><span class="w">                </span><span class="kt">int</span><span class="w"> </span><span class="n">_transparentSize</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">0</span><span class="p">;</span>
+<a id="__codelineno-0-222" name="__codelineno-0-222" href="#__codelineno-0-222"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">gs</span><span class="o">::</span><span class="n">ShadowMap</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_shadow_shader</span><span class="p">,</span><span class="w"> </span><span class="n">_shadow_texture_shader</span><span class="p">;</span>
+<a id="__codelineno-0-223" name="__codelineno-0-223" href="#__codelineno-0-223"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">gs</span><span class="o">::</span><span class="n">ShadowMapColor</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_shadow_color_shader</span><span class="p">,</span><span class="w"> </span><span class="n">_shadow_texture_color_shader</span><span class="p">;</span>
+<a id="__codelineno-0-224" name="__codelineno-0-224" href="#__codelineno-0-224"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">gs</span><span class="o">::</span><span class="n">CubeMap</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_cubemap_shader</span><span class="p">,</span><span class="w"> </span><span class="n">_cubemap_texture_shader</span><span class="p">;</span>
+<a id="__codelineno-0-225" name="__codelineno-0-225" href="#__codelineno-0-225"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">gs</span><span class="o">::</span><span class="n">CubeMapColor</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_cubemap_color_shader</span><span class="p">,</span><span class="w"> </span><span class="n">_cubemap_texture_color_shader</span><span class="p">;</span>
+<a id="__codelineno-0-226" name="__codelineno-0-226" href="#__codelineno-0-226"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">vector</span><span class="o">&lt;</span><span class="n">ShadowData</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_shadow_data</span><span class="p">;</span>
+<a id="__codelineno-0-227" name="__codelineno-0-227" href="#__codelineno-0-227"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">GL</span><span class="o">::</span><span class="n">Texture2DArray</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_shadow_texture</span><span class="p">,</span><span class="w"> </span><span class="n">_shadow_color_texture</span><span class="p">;</span>
+<a id="__codelineno-0-228" name="__codelineno-0-228" href="#__codelineno-0-228"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">GL</span><span class="o">::</span><span class="n">CubeMapTextureArray</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_shadow_cube_map</span><span class="p">,</span><span class="w"> </span><span class="n">_shadow_color_cube_map</span><span class="p">;</span>
+<a id="__codelineno-0-229" name="__codelineno-0-229" href="#__codelineno-0-229"></a><span class="w">                </span><span class="kt">int</span><span class="w"> </span><span class="n">_max_lights</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">5</span><span class="p">;</span>
+<a id="__codelineno-0-230" name="__codelineno-0-230" href="#__codelineno-0-230"></a><span class="w">                </span><span class="kt">int</span><span class="w"> </span><span class="n">_shadow_map_size</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">512</span><span class="p">;</span>
+<a id="__codelineno-0-231" name="__codelineno-0-231" href="#__codelineno-0-231"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">Camera3D</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_shadow_camera</span><span class="p">;</span>
+<a id="__codelineno-0-232" name="__codelineno-0-232" href="#__codelineno-0-232"></a><span class="w">                </span><span class="n">Object3D</span><span class="o">*</span><span class="w"> </span><span class="n">_shadow_camera_object</span><span class="p">;</span>
 <a id="__codelineno-0-233" name="__codelineno-0-233" href="#__codelineno-0-233"></a>
-<a id="__codelineno-0-234" name="__codelineno-0-234" href="#__codelineno-0-234"></a><span class="w">                </span><span class="cm">/* Text visualization */</span>
-<a id="__codelineno-0-235" name="__codelineno-0-235" href="#__codelineno-0-235"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">Shaders</span><span class="o">::</span><span class="n">DistanceFieldVectorGL2D</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_text_shader</span><span class="p">;</span>
-<a id="__codelineno-0-236" name="__codelineno-0-236" href="#__codelineno-0-236"></a><span class="w">                </span><span class="n">Corrade</span><span class="o">::</span><span class="n">PluginManager</span><span class="o">::</span><span class="n">Manager</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">Text</span><span class="o">::</span><span class="n">AbstractFont</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_font_manager</span><span class="p">;</span>
-<a id="__codelineno-0-237" name="__codelineno-0-237" href="#__codelineno-0-237"></a><span class="w">                </span><span class="n">Corrade</span><span class="o">::</span><span class="n">Containers</span><span class="o">::</span><span class="n">Pointer</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">Text</span><span class="o">::</span><span class="n">DistanceFieldGlyphCache</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_glyph_cache</span><span class="p">;</span>
-<a id="__codelineno-0-238" name="__codelineno-0-238" href="#__codelineno-0-238"></a><span class="w">                </span><span class="n">Corrade</span><span class="o">::</span><span class="n">Containers</span><span class="o">::</span><span class="n">Pointer</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">Text</span><span class="o">::</span><span class="n">AbstractFont</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_font</span><span class="p">;</span>
-<a id="__codelineno-0-239" name="__codelineno-0-239" href="#__codelineno-0-239"></a><span class="w">                </span><span class="n">Corrade</span><span class="o">::</span><span class="n">Containers</span><span class="o">::</span><span class="n">Pointer</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">GL</span><span class="o">::</span><span class="n">Buffer</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_text_vertices</span><span class="p">;</span>
-<a id="__codelineno-0-240" name="__codelineno-0-240" href="#__codelineno-0-240"></a><span class="w">                </span><span class="n">Corrade</span><span class="o">::</span><span class="n">Containers</span><span class="o">::</span><span class="n">Pointer</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">GL</span><span class="o">::</span><span class="n">Buffer</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_text_indices</span><span class="p">;</span>
-<a id="__codelineno-0-241" name="__codelineno-0-241" href="#__codelineno-0-241"></a>
-<a id="__codelineno-0-242" name="__codelineno-0-242" href="#__codelineno-0-242"></a><span class="w">                </span><span class="cm">/* Importer */</span>
-<a id="__codelineno-0-243" name="__codelineno-0-243" href="#__codelineno-0-243"></a><span class="w">                </span><span class="n">Corrade</span><span class="o">::</span><span class="n">PluginManager</span><span class="o">::</span><span class="n">Manager</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">Trade</span><span class="o">::</span><span class="n">AbstractImporter</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_importer_manager</span><span class="p">;</span>
-<a id="__codelineno-0-244" name="__codelineno-0-244" href="#__codelineno-0-244"></a>
-<a id="__codelineno-0-245" name="__codelineno-0-245" href="#__codelineno-0-245"></a><span class="w">                </span><span class="kt">void</span><span class="w"> </span><span class="nf">_gl_clean_up</span><span class="p">();</span>
-<a id="__codelineno-0-246" name="__codelineno-0-246" href="#__codelineno-0-246"></a><span class="w">                </span><span class="kt">void</span><span class="w"> </span><span class="nf">_prepare_shadows</span><span class="p">();</span>
-<a id="__codelineno-0-247" name="__codelineno-0-247" href="#__codelineno-0-247"></a><span class="w">            </span><span class="p">};</span>
-<a id="__codelineno-0-248" name="__codelineno-0-248" href="#__codelineno-0-248"></a>
-<a id="__codelineno-0-249" name="__codelineno-0-249" href="#__codelineno-0-249"></a><span class="w">            </span><span class="k">template</span><span class="w"> </span><span class="o">&lt;</span><span class="k">typename</span><span class="w"> </span><span class="nc">T</span><span class="o">&gt;</span>
-<a id="__codelineno-0-250" name="__codelineno-0-250" href="#__codelineno-0-250"></a><span class="w">            </span><span class="kr">inline</span><span class="w"> </span><span class="n">BaseApplication</span><span class="o">*</span><span class="w"> </span><span class="n">make_application</span><span class="p">(</span><span class="n">RobotDARTSimu</span><span class="o">*</span><span class="w"> </span><span class="n">simu</span><span class="p">,</span><span class="w"> </span><span class="k">const</span><span class="w"> </span><span class="n">GraphicsConfiguration</span><span class="o">&amp;</span><span class="w"> </span><span class="n">configuration</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">GraphicsConfiguration</span><span class="p">())</span>
-<a id="__codelineno-0-251" name="__codelineno-0-251" href="#__codelineno-0-251"></a><span class="w">            </span><span class="p">{</span>
-<a id="__codelineno-0-252" name="__codelineno-0-252" href="#__codelineno-0-252"></a><span class="w">                </span><span class="kt">int</span><span class="w"> </span><span class="n">argc</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">0</span><span class="p">;</span>
-<a id="__codelineno-0-253" name="__codelineno-0-253" href="#__codelineno-0-253"></a><span class="w">                </span><span class="kt">char</span><span class="o">**</span><span class="w"> </span><span class="n">argv</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nb">NULL</span><span class="p">;</span>
+<a id="__codelineno-0-234" name="__codelineno-0-234" href="#__codelineno-0-234"></a><span class="w">                </span><span class="cm">/* Debug visualization */</span>
+<a id="__codelineno-0-235" name="__codelineno-0-235" href="#__codelineno-0-235"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">GL</span><span class="o">::</span><span class="n">Mesh</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_3D_axis_mesh</span><span class="p">;</span>
+<a id="__codelineno-0-236" name="__codelineno-0-236" href="#__codelineno-0-236"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">Shaders</span><span class="o">::</span><span class="n">VertexColorGL3D</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_3D_axis_shader</span><span class="p">;</span>
+<a id="__codelineno-0-237" name="__codelineno-0-237" href="#__codelineno-0-237"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">GL</span><span class="o">::</span><span class="n">Mesh</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_background_mesh</span><span class="p">;</span>
+<a id="__codelineno-0-238" name="__codelineno-0-238" href="#__codelineno-0-238"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">Shaders</span><span class="o">::</span><span class="n">FlatGL2D</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_background_shader</span><span class="p">;</span>
+<a id="__codelineno-0-239" name="__codelineno-0-239" href="#__codelineno-0-239"></a>
+<a id="__codelineno-0-240" name="__codelineno-0-240" href="#__codelineno-0-240"></a><span class="w">                </span><span class="cm">/* Text visualization */</span>
+<a id="__codelineno-0-241" name="__codelineno-0-241" href="#__codelineno-0-241"></a><span class="w">                </span><span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">Shaders</span><span class="o">::</span><span class="n">DistanceFieldVectorGL2D</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_text_shader</span><span class="p">;</span>
+<a id="__codelineno-0-242" name="__codelineno-0-242" href="#__codelineno-0-242"></a><span class="w">                </span><span class="n">Corrade</span><span class="o">::</span><span class="n">PluginManager</span><span class="o">::</span><span class="n">Manager</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">Text</span><span class="o">::</span><span class="n">AbstractFont</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_font_manager</span><span class="p">;</span>
+<a id="__codelineno-0-243" name="__codelineno-0-243" href="#__codelineno-0-243"></a><span class="w">                </span><span class="n">Corrade</span><span class="o">::</span><span class="n">Containers</span><span class="o">::</span><span class="n">Pointer</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">Text</span><span class="o">::</span><span class="n">DistanceFieldGlyphCache</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_glyph_cache</span><span class="p">;</span>
+<a id="__codelineno-0-244" name="__codelineno-0-244" href="#__codelineno-0-244"></a><span class="w">                </span><span class="n">Corrade</span><span class="o">::</span><span class="n">Containers</span><span class="o">::</span><span class="n">Pointer</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">Text</span><span class="o">::</span><span class="n">AbstractFont</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_font</span><span class="p">;</span>
+<a id="__codelineno-0-245" name="__codelineno-0-245" href="#__codelineno-0-245"></a><span class="w">                </span><span class="n">Corrade</span><span class="o">::</span><span class="n">Containers</span><span class="o">::</span><span class="n">Pointer</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">GL</span><span class="o">::</span><span class="n">Buffer</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_text_vertices</span><span class="p">;</span>
+<a id="__codelineno-0-246" name="__codelineno-0-246" href="#__codelineno-0-246"></a><span class="w">                </span><span class="n">Corrade</span><span class="o">::</span><span class="n">Containers</span><span class="o">::</span><span class="n">Pointer</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">GL</span><span class="o">::</span><span class="n">Buffer</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_text_indices</span><span class="p">;</span>
+<a id="__codelineno-0-247" name="__codelineno-0-247" href="#__codelineno-0-247"></a>
+<a id="__codelineno-0-248" name="__codelineno-0-248" href="#__codelineno-0-248"></a><span class="w">                </span><span class="cm">/* Importer */</span>
+<a id="__codelineno-0-249" name="__codelineno-0-249" href="#__codelineno-0-249"></a><span class="w">                </span><span class="n">Corrade</span><span class="o">::</span><span class="n">PluginManager</span><span class="o">::</span><span class="n">Manager</span><span class="o">&lt;</span><span class="n">Magnum</span><span class="o">::</span><span class="n">Trade</span><span class="o">::</span><span class="n">AbstractImporter</span><span class="o">&gt;</span><span class="w"> </span><span class="n">_importer_manager</span><span class="p">;</span>
+<a id="__codelineno-0-250" name="__codelineno-0-250" href="#__codelineno-0-250"></a>
+<a id="__codelineno-0-251" name="__codelineno-0-251" href="#__codelineno-0-251"></a><span class="w">                </span><span class="kt">void</span><span class="w"> </span><span class="nf">_gl_clean_up</span><span class="p">();</span>
+<a id="__codelineno-0-252" name="__codelineno-0-252" href="#__codelineno-0-252"></a><span class="w">                </span><span class="kt">void</span><span class="w"> </span><span class="nf">_prepare_shadows</span><span class="p">();</span>
+<a id="__codelineno-0-253" name="__codelineno-0-253" href="#__codelineno-0-253"></a><span class="w">            </span><span class="p">};</span>
 <a id="__codelineno-0-254" name="__codelineno-0-254" href="#__codelineno-0-254"></a>
-<a id="__codelineno-0-255" name="__codelineno-0-255" href="#__codelineno-0-255"></a><span class="w">                </span><span class="k">return</span><span class="w"> </span><span class="k">new</span><span class="w"> </span><span class="n">T</span><span class="p">(</span><span class="n">argc</span><span class="p">,</span><span class="w"> </span><span class="n">argv</span><span class="p">,</span><span class="w"> </span><span class="n">simu</span><span class="p">,</span><span class="w"> </span><span class="n">configuration</span><span class="p">);</span>
-<a id="__codelineno-0-256" name="__codelineno-0-256" href="#__codelineno-0-256"></a><span class="w">                </span><span class="c1">// configuration.width, configuration.height, configuration.shadowed, configuration.transparent_shadows, configuration.max_lights, configuration.shadow_map_size);</span>
-<a id="__codelineno-0-257" name="__codelineno-0-257" href="#__codelineno-0-257"></a><span class="w">            </span><span class="p">}</span>
-<a id="__codelineno-0-258" name="__codelineno-0-258" href="#__codelineno-0-258"></a><span class="w">        </span><span class="p">}</span><span class="w"> </span><span class="c1">// namespace magnum</span>
-<a id="__codelineno-0-259" name="__codelineno-0-259" href="#__codelineno-0-259"></a><span class="w">    </span><span class="p">}</span><span class="w"> </span><span class="c1">// namespace gui</span>
-<a id="__codelineno-0-260" name="__codelineno-0-260" href="#__codelineno-0-260"></a><span class="p">}</span><span class="w"> </span><span class="c1">// namespace robot_dart</span>
-<a id="__codelineno-0-261" name="__codelineno-0-261" href="#__codelineno-0-261"></a>
-<a id="__codelineno-0-262" name="__codelineno-0-262" href="#__codelineno-0-262"></a><span class="cp">#endif</span>
+<a id="__codelineno-0-255" name="__codelineno-0-255" href="#__codelineno-0-255"></a><span class="w">            </span><span class="k">template</span><span class="w"> </span><span class="o">&lt;</span><span class="k">typename</span><span class="w"> </span><span class="nc">T</span><span class="o">&gt;</span>
+<a id="__codelineno-0-256" name="__codelineno-0-256" href="#__codelineno-0-256"></a><span class="w">            </span><span class="kr">inline</span><span class="w"> </span><span class="n">BaseApplication</span><span class="o">*</span><span class="w"> </span><span class="n">make_application</span><span class="p">(</span><span class="n">RobotDARTSimu</span><span class="o">*</span><span class="w"> </span><span class="n">simu</span><span class="p">,</span><span class="w"> </span><span class="k">const</span><span class="w"> </span><span class="n">GraphicsConfiguration</span><span class="o">&amp;</span><span class="w"> </span><span class="n">configuration</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">GraphicsConfiguration</span><span class="p">())</span>
+<a id="__codelineno-0-257" name="__codelineno-0-257" href="#__codelineno-0-257"></a><span class="w">            </span><span class="p">{</span>
+<a id="__codelineno-0-258" name="__codelineno-0-258" href="#__codelineno-0-258"></a><span class="w">                </span><span class="kt">int</span><span class="w"> </span><span class="n">argc</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">0</span><span class="p">;</span>
+<a id="__codelineno-0-259" name="__codelineno-0-259" href="#__codelineno-0-259"></a><span class="w">                </span><span class="kt">char</span><span class="o">**</span><span class="w"> </span><span class="n">argv</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nb">NULL</span><span class="p">;</span>
+<a id="__codelineno-0-260" name="__codelineno-0-260" href="#__codelineno-0-260"></a>
+<a id="__codelineno-0-261" name="__codelineno-0-261" href="#__codelineno-0-261"></a><span class="w">                </span><span class="k">return</span><span class="w"> </span><span class="k">new</span><span class="w"> </span><span class="n">T</span><span class="p">(</span><span class="n">argc</span><span class="p">,</span><span class="w"> </span><span class="n">argv</span><span class="p">,</span><span class="w"> </span><span class="n">simu</span><span class="p">,</span><span class="w"> </span><span class="n">configuration</span><span class="p">);</span>
+<a id="__codelineno-0-262" name="__codelineno-0-262" href="#__codelineno-0-262"></a><span class="w">                </span><span class="c1">// configuration.width, configuration.height, configuration.shadowed, configuration.transparent_shadows, configuration.max_lights, configuration.shadow_map_size);</span>
+<a id="__codelineno-0-263" name="__codelineno-0-263" href="#__codelineno-0-263"></a><span class="w">            </span><span class="p">}</span>
+<a id="__codelineno-0-264" name="__codelineno-0-264" href="#__codelineno-0-264"></a><span class="w">        </span><span class="p">}</span><span class="w"> </span><span class="c1">// namespace magnum</span>
+<a id="__codelineno-0-265" name="__codelineno-0-265" href="#__codelineno-0-265"></a><span class="w">    </span><span class="p">}</span><span class="w"> </span><span class="c1">// namespace gui</span>
+<a id="__codelineno-0-266" name="__codelineno-0-266" href="#__codelineno-0-266"></a><span class="p">}</span><span class="w"> </span><span class="c1">// namespace robot_dart</span>
+<a id="__codelineno-0-267" name="__codelineno-0-267" href="#__codelineno-0-267"></a>
+<a id="__codelineno-0-268" name="__codelineno-0-268" href="#__codelineno-0-268"></a><span class="cp">#endif</span>
 </code></pre></div>
 
 
@@ -1362,14 +1368,14 @@ <h1 id="file-base_applicationhpp">File base_application.hpp<a class="headerlink"
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1403,10 +1409,10 @@ <h1 id="file-base_applicationhpp">File base_application.hpp<a class="headerlink"
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/base__graphics_8hpp/index.html b/docs/api/base__graphics_8hpp/index.html
index b0a5505f..97e5e48f 100644
--- a/docs/api/base__graphics_8hpp/index.html
+++ b/docs/api/base__graphics_8hpp/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
-  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6zm80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3z"/></svg>');}</style>
+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
-  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4V7Z"/></svg>');}</style>
+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -58,7 +58,7 @@
       
     
     
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+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
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   <div class="md-source__icon md-icon">
     
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1227,14 +1227,14 @@ <h3 id="function-robot_dart_initialize_magnum_resources">function robot_dart_ini
             </div>
           
           
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1268,10 +1268,10 @@ <h3 id="function-robot_dart_initialize_magnum_resources">function robot_dart_ini
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/base__graphics_8hpp_source/index.html b/docs/api/base__graphics_8hpp_source/index.html
index 38fb7264..b301f91b 100644
--- a/docs/api/base__graphics_8hpp_source/index.html
+++ b/docs/api/base__graphics_8hpp_source/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1320,14 +1320,14 @@ <h1 id="file-base_graphicshpp">File base_graphics.hpp<a class="headerlink" href=
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1361,10 +1361,10 @@ <h1 id="file-base_graphicshpp">File base_graphics.hpp<a class="headerlink" href=
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/class_member_enums/index.html b/docs/api/class_member_enums/index.html
index dcda9d46..81eee263 100644
--- a/docs/api/class_member_enums/index.html
+++ b/docs/api/class_member_enums/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -107,12 +107,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -140,7 +140,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -150,7 +150,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -158,13 +158,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -173,15 +173,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -204,7 +204,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -373,7 +373,7 @@
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     </a>
     Documentation of RobotDART
@@ -383,7 +383,7 @@
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1180,14 +1180,14 @@ <h2 id="f">f<a class="headerlink" href="#f" title="Permanent link">&para;</a></h
             </div>
           
           
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1221,10 +1221,10 @@ <h2 id="f">f<a class="headerlink" href="#f" title="Permanent link">&para;</a></h
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/class_member_functions/index.html b/docs/api/class_member_functions/index.html
index 0e89deac..25482804 100644
--- a/docs/api/class_member_functions/index.html
+++ b/docs/api/class_member_functions/index.html
@@ -18,7 +18,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -26,7 +26,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -173,15 +173,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -204,7 +204,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -373,7 +373,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -383,7 +383,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -2139,14 +2139,14 @@ <h2 id="_">_<a class="headerlink" href="#_" title="Permanent link">&para;</a></h
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -2180,10 +2180,10 @@ <h2 id="_">_<a class="headerlink" href="#_" title="Permanent link">&para;</a></h
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/class_member_typedefs/index.html b/docs/api/class_member_typedefs/index.html
index 9926aa9a..bc529603 100644
--- a/docs/api/class_member_typedefs/index.html
+++ b/docs/api/class_member_typedefs/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -107,12 +107,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -140,7 +140,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -150,7 +150,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -158,13 +158,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -173,15 +173,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -204,7 +204,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -373,7 +373,7 @@
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     </a>
     Documentation of RobotDART
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1315,14 +1315,14 @@ <h2 id="t">t<a class="headerlink" href="#t" title="Permanent link">&para;</a></h
             </div>
           
           
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1356,10 +1356,10 @@ <h2 id="t">t<a class="headerlink" href="#t" title="Permanent link">&para;</a></h
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/class_member_variables/index.html b/docs/api/class_member_variables/index.html
index de0957c3..0972904d 100644
--- a/docs/api/class_member_variables/index.html
+++ b/docs/api/class_member_variables/index.html
@@ -18,7 +18,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -26,7 +26,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -173,15 +173,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -204,7 +204,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -373,7 +373,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -383,7 +383,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1711,14 +1711,14 @@ <h2 id="_">_<a class="headerlink" href="#_" title="Permanent link">&para;</a></h
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1752,10 +1752,10 @@ <h2 id="_">_<a class="headerlink" href="#_" title="Permanent link">&para;</a></h
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/class_members/index.html b/docs/api/class_members/index.html
index 963396d6..d95e14e6 100644
--- a/docs/api/class_members/index.html
+++ b/docs/api/class_members/index.html
@@ -18,7 +18,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -26,7 +26,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
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@@ -62,7 +62,7 @@
       
     
     
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+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -107,12 +107,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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     <label class="md-header__button md-icon" for="__drawer">
       
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -140,7 +140,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -150,7 +150,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -158,13 +158,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -173,15 +173,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -204,7 +204,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -373,7 +373,7 @@
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     Documentation of RobotDART
@@ -383,7 +383,7 @@
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -2401,14 +2401,14 @@ <h2 id="_">_<a class="headerlink" href="#_" title="Permanent link">&para;</a></h
             </div>
           
           
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -2442,10 +2442,10 @@ <h2 id="_">_<a class="headerlink" href="#_" title="Permanent link">&para;</a></h
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classes/index.html b/docs/api/classes/index.html
index 75618366..1db12959 100644
--- a/docs/api/classes/index.html
+++ b/docs/api/classes/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -26,7 +26,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -173,15 +173,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -204,7 +204,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -373,7 +373,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -383,7 +383,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1659,14 +1659,14 @@ <h2 id="w">w<a class="headerlink" href="#w" title="Permanent link">&para;</a></h
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1700,10 +1700,10 @@ <h2 id="w">w<a class="headerlink" href="#w" title="Permanent link">&para;</a></h
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1Assertion/index.html b/docs/api/classrobot__dart_1_1Assertion/index.html
index 5d22e39b..59ad6f32 100644
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
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     Documentation of RobotDART
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     NOSALRO/robot_dart
@@ -1183,14 +1183,14 @@ <h3 id="function-what">function what<a class="headerlink" href="#function-what"
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   Back to top
 </button>
         
@@ -1224,10 +1224,10 @@ <h3 id="function-what">function what<a class="headerlink" href="#function-what"
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/classrobot__dart_1_1Robot/index.html b/docs/api/classrobot__dart_1_1Robot/index.html
index 013f65c3..affd59ce 100644
--- a/docs/api/classrobot__dart_1_1Robot/index.html
+++ b/docs/api/classrobot__dart_1_1Robot/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
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@@ -103,12 +103,12 @@
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -5287,14 +5287,14 @@ <h3 id="function-_set_color_mode-22">function _set_color_mode [2/2]<a class="hea
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -5328,10 +5328,10 @@ <h3 id="function-_set_color_mode-22">function _set_color_mode [2/2]<a class="hea
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1RobotDARTSimu/index.html b/docs/api/classrobot__dart_1_1RobotDARTSimu/index.html
index 634822f4..1e04bfc4 100644
--- a/docs/api/classrobot__dart_1_1RobotDARTSimu/index.html
+++ b/docs/api/classrobot__dart_1_1RobotDARTSimu/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
@@ -377,7 +377,7 @@
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   <div class="md-source__repository">
     NOSALRO/robot_dart
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -2821,10 +2821,10 @@ <h3 id="function-_enable">function _enable<a class="headerlink" href="#function-
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1RobotPool/index.html b/docs/api/classrobot__dart_1_1RobotPool/index.html
index 5b8c4fa6..40d2b2fb 100644
--- a/docs/api/classrobot__dart_1_1RobotPool/index.html
+++ b/docs/api/classrobot__dart_1_1RobotPool/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
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@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1551,14 +1551,14 @@ <h3 id="function-_reset_robot">function _reset_robot<a class="headerlink" href="
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1592,10 +1592,10 @@ <h3 id="function-_reset_robot">function _reset_robot<a class="headerlink" href="
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1Scheduler/index.html b/docs/api/classrobot__dart_1_1Scheduler/index.html
index cebec72b..22d45c95 100644
--- a/docs/api/classrobot__dart_1_1Scheduler/index.html
+++ b/docs/api/classrobot__dart_1_1Scheduler/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     </a>
     Documentation of RobotDART
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     NOSALRO/robot_dart
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1757,10 +1757,10 @@ <h3 id="variable-_sync">variable _sync<a class="headerlink" href="#variable-_syn
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/index.html b/docs/api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/index.html
index 4fff3ed8..b37ae892 100644
--- a/docs/api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/index.html
+++ b/docs/api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
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@@ -103,12 +103,12 @@
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1401,14 +1401,14 @@ <h3 id="function-bitmaskcontactfilter">function ~BitmaskContactFilter<a class="h
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1442,10 +1442,10 @@ <h3 id="function-bitmaskcontactfilter">function ~BitmaskContactFilter<a class="h
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1control_1_1PDControl/index.html b/docs/api/classrobot__dart_1_1control_1_1PDControl/index.html
index 36b8504e..b5cf8d5d 100644
--- a/docs/api/classrobot__dart_1_1control_1_1PDControl/index.html
+++ b/docs/api/classrobot__dart_1_1control_1_1PDControl/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1382,71 +1382,71 @@ <h2 id="public-functions-inherited-from-robot_dartcontrolrobotcontrol">Public Fu
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-robotcontrol-13"><strong>RobotControl</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-robotcontrol-13"><strong>RobotControl</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-robotcontrol-23"><strong>RobotControl</strong></a> (const Eigen::VectorXd &amp; ctrl, bool full_control=false) <br></td>
+<td style="text-align: left;"><a href="#function-robotcontrol-23"><strong>RobotControl</strong></a> (const Eigen::VectorXd &amp; ctrl, bool full_control=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-robotcontrol-33"><strong>RobotControl</strong></a> (const Eigen::VectorXd &amp; ctrl, const std::vector&lt; std::string &gt; &amp; controllable_dofs) <br></td>
+<td style="text-align: left;"><a href="#function-robotcontrol-33"><strong>RobotControl</strong></a> (const Eigen::VectorXd &amp; ctrl, const std::vector&lt; std::string &gt; &amp; controllable_dofs) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-activate"><strong>activate</strong></a> (bool enable=true) <br></td>
+<td style="text-align: left;"><a href="#function-activate"><strong>activate</strong></a> (bool enable=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-active"><strong>active</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-active"><strong>active</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-calculate"><strong>calculate</strong></a> (double t) = 0<br></td>
+<td style="text-align: left;"><a href="#function-calculate"><strong>calculate</strong></a> (double t) = 0<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>RobotControl</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-clone"><strong>clone</strong></a> () const = 0<br></td>
+<td style="text-align: left;"><a href="#function-clone"><strong>clone</strong></a> () const = 0<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-configure"><strong>configure</strong></a> () = 0<br></td>
+<td style="text-align: left;"><a href="#function-configure"><strong>configure</strong></a> () = 0<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::string &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-controllable_dofs"><strong>controllable_dofs</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-controllable_dofs"><strong>controllable_dofs</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-init"><strong>init</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-init"><strong>init</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const Eigen::VectorXd &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-parameters"><strong>parameters</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-parameters"><strong>parameters</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-robot"><strong>robot</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-robot"><strong>robot</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-set_parameters"><strong>set_parameters</strong></a> (const Eigen::VectorXd &amp; ctrl) <br></td>
+<td style="text-align: left;"><a href="#function-set_parameters"><strong>set_parameters</strong></a> (const Eigen::VectorXd &amp; ctrl) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-set_robot"><strong>set_robot</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt; &amp; robot) <br></td>
+<td style="text-align: left;"><a href="#function-set_robot"><strong>set_robot</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt; &amp; robot) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-set_weight"><strong>set_weight</strong></a> (double weight) <br></td>
+<td style="text-align: left;"><a href="#function-set_weight"><strong>set_weight</strong></a> (double weight) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-weight"><strong>weight</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-weight"><strong>weight</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-robotcontrol"><strong>~RobotControl</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-robotcontrol"><strong>~RobotControl</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -1485,35 +1485,35 @@ <h2 id="protected-attributes-inherited-from-robot_dartcontrolrobotcontrol">Prote
 <tbody>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#variable-_active"><strong>_active</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_active"><strong>_active</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#variable-_check_free"><strong>_check_free</strong></a>   = = false<br></td>
+<td style="text-align: left;"><a href="#variable-_check_free"><strong>_check_free</strong></a>   = = false<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">int</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#variable-_control_dof"><strong>_control_dof</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_control_dof"><strong>_control_dof</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#variable-_controllable_dofs"><strong>_controllable_dofs</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_controllable_dofs"><strong>_controllable_dofs</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#variable-_ctrl"><strong>_ctrl</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_ctrl"><strong>_ctrl</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">int</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#variable-_dof"><strong>_dof</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_dof"><strong>_dof</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::weak_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#variable-_robot"><strong>_robot</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_robot"><strong>_robot</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#variable-_weight"><strong>_weight</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_weight"><strong>_weight</strong></a>  <br></td>
 </tr>
 </tbody>
 </table>
@@ -1651,14 +1651,14 @@ <h3 id="function-_angle_dist">function _angle_dist<a class="headerlink" href="#f
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1692,10 +1692,10 @@ <h3 id="function-_angle_dist">function _angle_dist<a class="headerlink" href="#f
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1control_1_1PolicyControl/index.html b/docs/api/classrobot__dart_1_1control_1_1PolicyControl/index.html
index da9b1009..a10d72fc 100644
--- a/docs/api/classrobot__dart_1_1control_1_1PolicyControl/index.html
+++ b/docs/api/classrobot__dart_1_1control_1_1PolicyControl/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
-  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6zm80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3z"/></svg>');}</style>
+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
-  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4V7Z"/></svg>');}</style>
+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -58,7 +58,7 @@
       
     
     
-    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce((e,_)=>(e<<5)-e+_.charCodeAt(0),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
       </label>
     
   
@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1382,71 +1382,71 @@ <h2 id="public-functions-inherited-from-robot_dartcontrolrobotcontrol">Public Fu
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-robotcontrol-13"><strong>RobotControl</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-robotcontrol-13"><strong>RobotControl</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-robotcontrol-23"><strong>RobotControl</strong></a> (const Eigen::VectorXd &amp; ctrl, bool full_control=false) <br></td>
+<td style="text-align: left;"><a href="#function-robotcontrol-23"><strong>RobotControl</strong></a> (const Eigen::VectorXd &amp; ctrl, bool full_control=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-robotcontrol-33"><strong>RobotControl</strong></a> (const Eigen::VectorXd &amp; ctrl, const std::vector&lt; std::string &gt; &amp; controllable_dofs) <br></td>
+<td style="text-align: left;"><a href="#function-robotcontrol-33"><strong>RobotControl</strong></a> (const Eigen::VectorXd &amp; ctrl, const std::vector&lt; std::string &gt; &amp; controllable_dofs) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-activate"><strong>activate</strong></a> (bool enable=true) <br></td>
+<td style="text-align: left;"><a href="#function-activate"><strong>activate</strong></a> (bool enable=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-active"><strong>active</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-active"><strong>active</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-calculate"><strong>calculate</strong></a> (double t) = 0<br></td>
+<td style="text-align: left;"><a href="#function-calculate"><strong>calculate</strong></a> (double t) = 0<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>RobotControl</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-clone"><strong>clone</strong></a> () const = 0<br></td>
+<td style="text-align: left;"><a href="#function-clone"><strong>clone</strong></a> () const = 0<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-configure"><strong>configure</strong></a> () = 0<br></td>
+<td style="text-align: left;"><a href="#function-configure"><strong>configure</strong></a> () = 0<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::string &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-controllable_dofs"><strong>controllable_dofs</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-controllable_dofs"><strong>controllable_dofs</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-init"><strong>init</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-init"><strong>init</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const Eigen::VectorXd &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-parameters"><strong>parameters</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-parameters"><strong>parameters</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-robot"><strong>robot</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-robot"><strong>robot</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-set_parameters"><strong>set_parameters</strong></a> (const Eigen::VectorXd &amp; ctrl) <br></td>
+<td style="text-align: left;"><a href="#function-set_parameters"><strong>set_parameters</strong></a> (const Eigen::VectorXd &amp; ctrl) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-set_robot"><strong>set_robot</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt; &amp; robot) <br></td>
+<td style="text-align: left;"><a href="#function-set_robot"><strong>set_robot</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt; &amp; robot) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-set_weight"><strong>set_weight</strong></a> (double weight) <br></td>
+<td style="text-align: left;"><a href="#function-set_weight"><strong>set_weight</strong></a> (double weight) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-weight"><strong>weight</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-weight"><strong>weight</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-robotcontrol"><strong>~RobotControl</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-robotcontrol"><strong>~RobotControl</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -1505,35 +1505,35 @@ <h2 id="protected-attributes-inherited-from-robot_dartcontrolrobotcontrol">Prote
 <tbody>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#variable-_active"><strong>_active</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_active"><strong>_active</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#variable-_check_free"><strong>_check_free</strong></a>   = = false<br></td>
+<td style="text-align: left;"><a href="#variable-_check_free"><strong>_check_free</strong></a>   = = false<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">int</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#variable-_control_dof"><strong>_control_dof</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_control_dof"><strong>_control_dof</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#variable-_controllable_dofs"><strong>_controllable_dofs</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_controllable_dofs"><strong>_controllable_dofs</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#variable-_ctrl"><strong>_ctrl</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_ctrl"><strong>_ctrl</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">int</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#variable-_dof"><strong>_dof</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_dof"><strong>_dof</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::weak_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#variable-_robot"><strong>_robot</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_robot"><strong>_robot</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#variable-_weight"><strong>_weight</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_weight"><strong>_weight</strong></a>  <br></td>
 </tr>
 </tbody>
 </table>
@@ -1668,14 +1668,14 @@ <h3 id="variable-_threshold">variable _threshold<a class="headerlink" href="#var
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1709,10 +1709,10 @@ <h3 id="variable-_threshold">variable _threshold<a class="headerlink" href="#var
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1control_1_1RobotControl/index.html b/docs/api/classrobot__dart_1_1control_1_1RobotControl/index.html
index d445a876..79238c0d 100644
--- a/docs/api/classrobot__dart_1_1control_1_1RobotControl/index.html
+++ b/docs/api/classrobot__dart_1_1control_1_1RobotControl/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
-  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6zm80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3z"/></svg>');}</style>
+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
-  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4V7Z"/></svg>');}</style>
+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -58,7 +58,7 @@
       
     
     
-    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce((e,_)=>(e<<5)-e+_.charCodeAt(0),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
       </label>
     
   
@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     Documentation of RobotDART
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     NOSALRO/robot_dart
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   Back to top
 </button>
         
@@ -1687,10 +1687,10 @@ <h3 id="variable-_weight">variable _weight<a class="headerlink" href="#variable-
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/classrobot__dart_1_1control_1_1SimpleControl/index.html b/docs/api/classrobot__dart_1_1control_1_1SimpleControl/index.html
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+++ b/docs/api/classrobot__dart_1_1control_1_1SimpleControl/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1233,71 +1233,71 @@ <h2 id="public-functions-inherited-from-robot_dartcontrolrobotcontrol">Public Fu
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-robotcontrol-13"><strong>RobotControl</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-robotcontrol-13"><strong>RobotControl</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-robotcontrol-23"><strong>RobotControl</strong></a> (const Eigen::VectorXd &amp; ctrl, bool full_control=false) <br></td>
+<td style="text-align: left;"><a href="#function-robotcontrol-23"><strong>RobotControl</strong></a> (const Eigen::VectorXd &amp; ctrl, bool full_control=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-robotcontrol-33"><strong>RobotControl</strong></a> (const Eigen::VectorXd &amp; ctrl, const std::vector&lt; std::string &gt; &amp; controllable_dofs) <br></td>
+<td style="text-align: left;"><a href="#function-robotcontrol-33"><strong>RobotControl</strong></a> (const Eigen::VectorXd &amp; ctrl, const std::vector&lt; std::string &gt; &amp; controllable_dofs) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-activate"><strong>activate</strong></a> (bool enable=true) <br></td>
+<td style="text-align: left;"><a href="#function-activate"><strong>activate</strong></a> (bool enable=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-active"><strong>active</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-active"><strong>active</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-calculate"><strong>calculate</strong></a> (double t) = 0<br></td>
+<td style="text-align: left;"><a href="#function-calculate"><strong>calculate</strong></a> (double t) = 0<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>RobotControl</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-clone"><strong>clone</strong></a> () const = 0<br></td>
+<td style="text-align: left;"><a href="#function-clone"><strong>clone</strong></a> () const = 0<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-configure"><strong>configure</strong></a> () = 0<br></td>
+<td style="text-align: left;"><a href="#function-configure"><strong>configure</strong></a> () = 0<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::string &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-controllable_dofs"><strong>controllable_dofs</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-controllable_dofs"><strong>controllable_dofs</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-init"><strong>init</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-init"><strong>init</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const Eigen::VectorXd &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-parameters"><strong>parameters</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-parameters"><strong>parameters</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-robot"><strong>robot</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-robot"><strong>robot</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-set_parameters"><strong>set_parameters</strong></a> (const Eigen::VectorXd &amp; ctrl) <br></td>
+<td style="text-align: left;"><a href="#function-set_parameters"><strong>set_parameters</strong></a> (const Eigen::VectorXd &amp; ctrl) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-set_robot"><strong>set_robot</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt; &amp; robot) <br></td>
+<td style="text-align: left;"><a href="#function-set_robot"><strong>set_robot</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt; &amp; robot) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-set_weight"><strong>set_weight</strong></a> (double weight) <br></td>
+<td style="text-align: left;"><a href="#function-set_weight"><strong>set_weight</strong></a> (double weight) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-weight"><strong>weight</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-weight"><strong>weight</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#function-robotcontrol"><strong>~RobotControl</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-robotcontrol"><strong>~RobotControl</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -1313,35 +1313,35 @@ <h2 id="protected-attributes-inherited-from-robot_dartcontrolrobotcontrol">Prote
 <tbody>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#variable-_active"><strong>_active</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_active"><strong>_active</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#variable-_check_free"><strong>_check_free</strong></a>   = = false<br></td>
+<td style="text-align: left;"><a href="#variable-_check_free"><strong>_check_free</strong></a>   = = false<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">int</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#variable-_control_dof"><strong>_control_dof</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_control_dof"><strong>_control_dof</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#variable-_controllable_dofs"><strong>_controllable_dofs</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_controllable_dofs"><strong>_controllable_dofs</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#variable-_ctrl"><strong>_ctrl</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_ctrl"><strong>_ctrl</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">int</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#variable-_dof"><strong>_dof</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_dof"><strong>_dof</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::weak_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#variable-_robot"><strong>_robot</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_robot"><strong>_robot</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1control_1_1RobotControl/#variable-_weight"><strong>_weight</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_weight"><strong>_weight</strong></a>  <br></td>
 </tr>
 </tbody>
 </table>
@@ -1406,14 +1406,14 @@ <h3 id="function-configure">function configure<a class="headerlink" href="#funct
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1447,10 +1447,10 @@ <h3 id="function-configure">function configure<a class="headerlink" href="#funct
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1gui_1_1Base/index.html b/docs/api/classrobot__dart_1_1gui_1_1Base/index.html
index 29f5f34f..080435ef 100644
--- a/docs/api/classrobot__dart_1_1gui_1_1Base/index.html
+++ b/docs/api/classrobot__dart_1_1gui_1_1Base/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
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-  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4V7Z"/></svg>');}</style>
+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -58,7 +58,7 @@
       
     
     
-    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce((e,_)=>(e<<5)-e+_.charCodeAt(0),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1476,14 +1476,14 @@ <h3 id="variable-_simu">variable _simu<a class="headerlink" href="#variable-_sim
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1517,10 +1517,10 @@ <h3 id="variable-_simu">variable _simu<a class="headerlink" href="#variable-_sim
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/index.html b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/index.html
index 6e0644de..07d8531b 100644
--- a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/index.html
+++ b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
-  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6zm80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3z"/></svg>');}</style>
+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
-  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4V7Z"/></svg>');}</style>
+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -58,7 +58,7 @@
       
     
     
-    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce((e,_)=>(e<<5)-e+_.charCodeAt(0),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
       </label>
     
   
@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
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     NOSALRO/robot_dart
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -2648,10 +2648,10 @@ <h3 id="function-_prepare_shadows">function _prepare_shadows<a class="headerlink
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/index.html b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/index.html
index 7aa7e30f..38b94d93 100644
--- a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/index.html
+++ b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
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@@ -103,12 +103,12 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1615,63 +1615,63 @@ <h2 id="public-functions-inherited-from-robot_dartguibase">Public Functions inhe
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-base"><strong>Base</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-base"><strong>Base</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual <a href="../structrobot__dart_1_1gui_1_1DepthImage/"><strong>DepthImage</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-depth_array"><strong>depth_array</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-depth_array"><strong>depth_array</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual <a href="../structrobot__dart_1_1gui_1_1GrayscaleImage/"><strong>GrayscaleImage</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-depth_image"><strong>depth_image</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-depth_image"><strong>depth_image</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-done"><strong>done</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-done"><strong>done</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-height"><strong>height</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-height"><strong>height</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual <a href="../structrobot__dart_1_1gui_1_1Image/"><strong>Image</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-image"><strong>image</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-image"><strong>image</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual <a href="../structrobot__dart_1_1gui_1_1GrayscaleImage/"><strong>GrayscaleImage</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-raw_depth_image"><strong>raw_depth_image</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-raw_depth_image"><strong>raw_depth_image</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-refresh"><strong>refresh</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-refresh"><strong>refresh</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-set_enable"><strong>set_enable</strong></a> (bool) <br></td>
+<td style="text-align: left;"><a href="#function-set_enable"><strong>set_enable</strong></a> (bool) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-set_fps"><strong>set_fps</strong></a> (int) <br></td>
+<td style="text-align: left;"><a href="#function-set_fps"><strong>set_fps</strong></a> (int) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-set_render_period"><strong>set_render_period</strong></a> (double) <br></td>
+<td style="text-align: left;"><a href="#function-set_render_period"><strong>set_render_period</strong></a> (double) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-set_simu"><strong>set_simu</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> * simu) <br></td>
+<td style="text-align: left;"><a href="#function-set_simu"><strong>set_simu</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> * simu) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const <a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-simu"><strong>simu</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-simu"><strong>simu</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-width"><strong>width</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-width"><strong>width</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-base"><strong>~Base</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-base"><strong>~Base</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -1718,7 +1718,7 @@ <h2 id="protected-attributes-inherited-from-robot_dartguibase">Protected Attribu
 <tbody>
 <tr>
 <td style="text-align: right;"><a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#variable-_simu"><strong>_simu</strong></a>   = = nullptr<br></td>
+<td style="text-align: left;"><a href="#variable-_simu"><strong>_simu</strong></a>   = = nullptr<br></td>
 </tr>
 </tbody>
 </table>
@@ -1950,14 +1950,14 @@ <h3 id="variable-_magnum_silence_output">variable _magnum_silence_output<a class
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1991,10 +1991,10 @@ <h3 id="variable-_magnum_silence_output">variable _magnum_silence_output<a class
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedColorObject/index.html b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedColorObject/index.html
index 801be031..07b5941a 100644
--- a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedColorObject/index.html
+++ b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedColorObject/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
-  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4V7Z"/></svg>');}</style>
+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -58,7 +58,7 @@
       
     
     
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+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
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     </a>
     Documentation of RobotDART
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   <div class="md-source__repository">
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1308,10 +1308,10 @@ <h3 id="function-simu">function simu<a class="headerlink" href="#function-simu"
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedObject/index.html b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedObject/index.html
index 711221fd..d89582bd 100644
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -58,7 +58,7 @@
       
     
     
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+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
       </label>
     
   
@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1308,10 +1308,10 @@ <h3 id="function-simu">function simu<a class="headerlink" href="#function-simu"
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/index.html b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/index.html
index 4cd6e779..dd7b081d 100644
--- a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/index.html
+++ b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
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@@ -58,7 +58,7 @@
       
     
     
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+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1384,14 +1384,14 @@ <h3 id="function-transparent">function transparent<a class="headerlink" href="#f
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1425,10 +1425,10 @@ <h3 id="function-transparent">function transparent<a class="headerlink" href="#f
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/index.html b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/index.html
index d6792735..1f13fa50 100644
--- a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/index.html
+++ b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -34,14 +34,14 @@
     
   
   
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
-  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4V7Z"/></svg>');}</style>
+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -58,7 +58,7 @@
       
     
     
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+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
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-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1401,115 +1401,115 @@ <h2 id="public-functions-inherited-from-robot_dartguimagnumbaseapplication">Publ
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-baseapplication"><strong>BaseApplication</strong></a> (const <a href="../structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/"><strong>GraphicsConfiguration</strong></a> &amp; configuration=<a href="../structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/"><strong>GraphicsConfiguration</strong></a>()) <br></td>
+<td style="text-align: left;"><a href="#function-baseapplication"><strong>BaseApplication</strong></a> (const <a href="../structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/"><strong>GraphicsConfiguration</strong></a> &amp; configuration=<a href="../structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/"><strong>GraphicsConfiguration</strong></a>()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-add_light"><strong>add_light</strong></a> (const <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/"><strong>gs::Light</strong></a> &amp; light) <br></td>
+<td style="text-align: left;"><a href="#function-add_light"><strong>add_light</strong></a> (const <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/"><strong>gs::Light</strong></a> &amp; light) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-attach_camera"><strong>attach_camera</strong></a> (<a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/"><strong>gs::Camera</strong></a> &amp; camera, dart::dynamics::BodyNode * body) <br></td>
+<td style="text-align: left;"><a href="#function-attach_camera"><strong>attach_camera</strong></a> (<a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/"><strong>gs::Camera</strong></a> &amp; camera, dart::dynamics::BodyNode * body) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/"><strong>gs::Camera</strong></a> &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-camera-12"><strong>camera</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-camera-12"><strong>camera</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/"><strong>gs::Camera</strong></a> &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-camera-22"><strong>camera</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-camera-22"><strong>camera</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-clear_lights"><strong>clear_lights</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_lights"><strong>clear_lights</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"><a href="../structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/"><strong>DebugDrawData</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-debug_draw_data"><strong>debug_draw_data</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-debug_draw_data"><strong>debug_draw_data</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"><a href="../structrobot__dart_1_1gui_1_1DepthImage/"><strong>DepthImage</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-depth_array"><strong>depth_array</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-depth_array"><strong>depth_array</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"><a href="../structrobot__dart_1_1gui_1_1GrayscaleImage/"><strong>GrayscaleImage</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-depth_image"><strong>depth_image</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-depth_image"><strong>depth_image</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-done"><strong>done</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-done"><strong>done</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Magnum::SceneGraph::DrawableGroup3D &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-drawables"><strong>drawables</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-drawables"><strong>drawables</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-enable_shadows"><strong>enable_shadows</strong></a> (bool enable=true, bool drawTransparentShadows=false) <br></td>
+<td style="text-align: left;"><a href="#function-enable_shadows"><strong>enable_shadows</strong></a> (bool enable=true, bool drawTransparentShadows=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Corrade::Containers::Optional&lt; Magnum::Image2D &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-image"><strong>image</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-image"><strong>image</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-init"><strong>init</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> * simu, const <a href="../structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/"><strong>GraphicsConfiguration</strong></a> &amp; configuration) <br></td>
+<td style="text-align: left;"><a href="#function-init"><strong>init</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> * simu, const <a href="../structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/"><strong>GraphicsConfiguration</strong></a> &amp; configuration) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/"><strong>gs::Light</strong></a> &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-light"><strong>light</strong></a> (size_t i) <br></td>
+<td style="text-align: left;"><a href="#function-light"><strong>light</strong></a> (size_t i) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/"><strong>gs::Light</strong></a> &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-lights"><strong>lights</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-lights"><strong>lights</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-look_at"><strong>look_at</strong></a> (const Eigen::Vector3d &amp; camera_pos, const Eigen::Vector3d &amp; look_at, const Eigen::Vector3d &amp; up) <br></td>
+<td style="text-align: left;"><a href="#function-look_at"><strong>look_at</strong></a> (const Eigen::Vector3d &amp; camera_pos, const Eigen::Vector3d &amp; look_at, const Eigen::Vector3d &amp; up) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-num_lights"><strong>num_lights</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_lights"><strong>num_lights</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;"><a href="../structrobot__dart_1_1gui_1_1GrayscaleImage/"><strong>GrayscaleImage</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-raw_depth_image"><strong>raw_depth_image</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-raw_depth_image"><strong>raw_depth_image</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-record_video"><strong>record_video</strong></a> (const std::string &amp; video_fname, int fps) <br></td>
+<td style="text-align: left;"><a href="#function-record_video"><strong>record_video</strong></a> (const std::string &amp; video_fname, int fps) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-render"><strong>render</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-render"><strong>render</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-render_shadows"><strong>render_shadows</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-render_shadows"><strong>render_shadows</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Scene3D &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-scene"><strong>scene</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-scene"><strong>scene</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-shadowed"><strong>shadowed</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-shadowed"><strong>shadowed</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-transparent_shadows"><strong>transparent_shadows</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-transparent_shadows"><strong>transparent_shadows</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-update_graphics"><strong>update_graphics</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-update_graphics"><strong>update_graphics</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-update_lights"><strong>update_lights</strong></a> (const <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/"><strong>gs::Camera</strong></a> &amp; camera) <br></td>
+<td style="text-align: left;"><a href="#function-update_lights"><strong>update_lights</strong></a> (const <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/"><strong>gs::Camera</strong></a> &amp; camera) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-baseapplication"><strong>~BaseApplication</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-baseapplication"><strong>~BaseApplication</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -1560,187 +1560,187 @@ <h2 id="protected-attributes-inherited-from-robot_dartguimagnumbaseapplication">
 <tbody>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; Magnum::GL::Mesh &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_3d_axis_mesh"><strong>_3D_axis_mesh</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_3d_axis_mesh"><strong>_3D_axis_mesh</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; Magnum::Shaders::VertexColorGL3D &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_3d_axis_shader"><strong>_3D_axis_shader</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_3d_axis_shader"><strong>_3D_axis_shader</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; Magnum::GL::Mesh &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_background_mesh"><strong>_background_mesh</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_background_mesh"><strong>_background_mesh</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; Magnum::Shaders::FlatGL2D &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_background_shader"><strong>_background_shader</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_background_shader"><strong>_background_shader</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/"><strong>gs::Camera</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_camera"><strong>_camera</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_camera"><strong>_camera</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/"><strong>gs::PhongMultiLight</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_color_shader"><strong>_color_shader</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_color_shader"><strong>_color_shader</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"><a href="../structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/"><strong>GraphicsConfiguration</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_configuration"><strong>_configuration</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_configuration"><strong>_configuration</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Magnum::SceneGraph::DrawableGroup3D</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_cubemap_color_drawables"><strong>_cubemap_color_drawables</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_cubemap_color_drawables"><strong>_cubemap_color_drawables</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/"><strong>gs::CubeMapColor</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_cubemap_color_shader"><strong>_cubemap_color_shader</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_cubemap_color_shader"><strong>_cubemap_color_shader</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Magnum::SceneGraph::DrawableGroup3D</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_cubemap_drawables"><strong>_cubemap_drawables</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_cubemap_drawables"><strong>_cubemap_drawables</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/"><strong>gs::CubeMap</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_cubemap_shader"><strong>_cubemap_shader</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_cubemap_shader"><strong>_cubemap_shader</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/"><strong>gs::CubeMapColor</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_cubemap_texture_color_shader"><strong>_cubemap_texture_color_shader</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_cubemap_texture_color_shader"><strong>_cubemap_texture_color_shader</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/"><strong>gs::CubeMap</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_cubemap_texture_shader"><strong>_cubemap_texture_shader</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_cubemap_texture_shader"><strong>_cubemap_texture_shader</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; Magnum::DartIntegration::World &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_dart_world"><strong>_dart_world</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_dart_world"><strong>_dart_world</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_done"><strong>_done</strong></a>   = = false<br></td>
+<td style="text-align: left;"><a href="#variable-_done"><strong>_done</strong></a>   = = false<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; Magnum::DartIntegration::Object *, <a href="../structrobot__dart_1_1gui_1_1magnum_1_1ObjectStruct/"><strong>ObjectStruct</strong></a> * &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_drawable_objects"><strong>_drawable_objects</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_drawable_objects"><strong>_drawable_objects</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Magnum::SceneGraph::DrawableGroup3D</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_drawables"><strong>_drawables</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_drawables"><strong>_drawables</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Corrade::Containers::Pointer&lt; Magnum::Text::AbstractFont &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_font"><strong>_font</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_font"><strong>_font</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Corrade::PluginManager::Manager&lt; Magnum::Text::AbstractFont &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_font_manager"><strong>_font_manager</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_font_manager"><strong>_font_manager</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Corrade::Containers::Pointer&lt; Magnum::Text::DistanceFieldGlyphCache &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_glyph_cache"><strong>_glyph_cache</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_glyph_cache"><strong>_glyph_cache</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Corrade::PluginManager::Manager&lt; Magnum::Trade::AbstractImporter &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_importer_manager"><strong>_importer_manager</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_importer_manager"><strong>_importer_manager</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/"><strong>gs::Light</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_lights"><strong>_lights</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_lights"><strong>_lights</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">int</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_max_lights"><strong>_max_lights</strong></a>   = = 5<br></td>
+<td style="text-align: left;"><a href="#variable-_max_lights"><strong>_max_lights</strong></a>   = = 5<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Scene3D</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_scene"><strong>_scene</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_scene"><strong>_scene</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; Camera3D &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_camera"><strong>_shadow_camera</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_shadow_camera"><strong>_shadow_camera</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Object3D *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_camera_object"><strong>_shadow_camera_object</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_shadow_camera_object"><strong>_shadow_camera_object</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; Magnum::GL::CubeMapTextureArray &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_color_cube_map"><strong>_shadow_color_cube_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_shadow_color_cube_map"><strong>_shadow_color_cube_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/"><strong>gs::ShadowMapColor</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_color_shader"><strong>_shadow_color_shader</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_shadow_color_shader"><strong>_shadow_color_shader</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; Magnum::GL::Texture2DArray &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_color_texture"><strong>_shadow_color_texture</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_shadow_color_texture"><strong>_shadow_color_texture</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; Magnum::GL::CubeMapTextureArray &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_cube_map"><strong>_shadow_cube_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_shadow_cube_map"><strong>_shadow_cube_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; <a href="../structrobot__dart_1_1gui_1_1magnum_1_1ShadowData/"><strong>ShadowData</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_data"><strong>_shadow_data</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_shadow_data"><strong>_shadow_data</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">int</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_map_size"><strong>_shadow_map_size</strong></a>   = = 512<br></td>
+<td style="text-align: left;"><a href="#variable-_shadow_map_size"><strong>_shadow_map_size</strong></a>   = = 512<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/"><strong>gs::ShadowMap</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_shader"><strong>_shadow_shader</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_shadow_shader"><strong>_shadow_shader</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; Magnum::GL::Texture2DArray &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_texture"><strong>_shadow_texture</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_shadow_texture"><strong>_shadow_texture</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/"><strong>gs::ShadowMapColor</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_texture_color_shader"><strong>_shadow_texture_color_shader</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_shadow_texture_color_shader"><strong>_shadow_texture_color_shader</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/"><strong>gs::ShadowMap</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_texture_shader"><strong>_shadow_texture_shader</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_shadow_texture_shader"><strong>_shadow_texture_shader</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadowed"><strong>_shadowed</strong></a>   = = true<br></td>
+<td style="text-align: left;"><a href="#variable-_shadowed"><strong>_shadowed</strong></a>   = = true<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Magnum::SceneGraph::DrawableGroup3D</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadowed_color_drawables"><strong>_shadowed_color_drawables</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_shadowed_color_drawables"><strong>_shadowed_color_drawables</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Magnum::SceneGraph::DrawableGroup3D</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadowed_drawables"><strong>_shadowed_drawables</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_shadowed_drawables"><strong>_shadowed_drawables</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"><a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_simu"><strong>_simu</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_simu"><strong>_simu</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Corrade::Containers::Pointer&lt; Magnum::GL::Buffer &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_text_indices"><strong>_text_indices</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_text_indices"><strong>_text_indices</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; Magnum::Shaders::DistanceFieldVectorGL2D &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_text_shader"><strong>_text_shader</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_text_shader"><strong>_text_shader</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Corrade::Containers::Pointer&lt; Magnum::GL::Buffer &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_text_vertices"><strong>_text_vertices</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_text_vertices"><strong>_text_vertices</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/"><strong>gs::PhongMultiLight</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_texture_shader"><strong>_texture_shader</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_texture_shader"><strong>_texture_shader</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">int</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_transparentsize"><strong>_transparentSize</strong></a>   = = 0<br></td>
+<td style="text-align: left;"><a href="#variable-_transparentsize"><strong>_transparentSize</strong></a>   = = 0<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_transparent_shadows"><strong>_transparent_shadows</strong></a>   = = false<br></td>
+<td style="text-align: left;"><a href="#variable-_transparent_shadows"><strong>_transparent_shadows</strong></a>   = = false<br></td>
 </tr>
 </tbody>
 </table>
@@ -1810,11 +1810,11 @@ <h2 id="protected-functions-inherited-from-robot_dartguimagnumbaseapplication">P
 <tbody>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-_gl_clean_up"><strong>_gl_clean_up</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-_gl_clean_up"><strong>_gl_clean_up</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-_prepare_shadows"><strong>_prepare_shadows</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-_prepare_shadows"><strong>_prepare_shadows</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -1941,14 +1941,14 @@ <h3 id="function-viewportevent">function viewportEvent<a class="headerlink" href
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1982,10 +1982,10 @@ <h3 id="function-viewportevent">function viewportEvent<a class="headerlink" href
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/index.html b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/index.html
index 2af015f1..afc26177 100644
--- a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/index.html
+++ b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1245,123 +1245,123 @@ <h2 id="public-functions-inherited-from-robot_dartguimagnumbasegraphics">Public
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-basegraphics"><strong>BaseGraphics</strong></a> (const <a href="../structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/"><strong>GraphicsConfiguration</strong></a> &amp; configuration=<a href="../structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/"><strong>GraphicsConfiguration</strong></a>()) <br></td>
+<td style="text-align: left;"><a href="#function-basegraphics"><strong>BaseGraphics</strong></a> (const <a href="../structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/"><strong>GraphicsConfiguration</strong></a> &amp; configuration=<a href="../structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/"><strong>GraphicsConfiguration</strong></a>()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-add_light"><strong>add_light</strong></a> (const <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/"><strong>magnum:<img alt="🇬🇸" class="twemoji" src="https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/1f1ec-1f1f8.svg" title=":gs:" />:Light</strong></a> &amp; light) <br></td>
+<td style="text-align: left;"><a href="#function-add_light"><strong>add_light</strong></a> (const <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/"><strong>magnum:<img alt="🇬🇸" class="twemoji" src="https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/1f1ec-1f1f8.svg" title=":gs:" />:Light</strong></a> &amp; light) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/"><strong>gs::Camera</strong></a> &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-camera-12"><strong>camera</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-camera-12"><strong>camera</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/"><strong>gs::Camera</strong></a> &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-camera-22"><strong>camera</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-camera-22"><strong>camera</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Matrix4d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-camera_extrinsic_matrix"><strong>camera_extrinsic_matrix</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-camera_extrinsic_matrix"><strong>camera_extrinsic_matrix</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Matrix3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-camera_intrinsic_matrix"><strong>camera_intrinsic_matrix</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-camera_intrinsic_matrix"><strong>camera_intrinsic_matrix</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-clear_lights"><strong>clear_lights</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_lights"><strong>clear_lights</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual <a href="../structrobot__dart_1_1gui_1_1DepthImage/"><strong>DepthImage</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-depth_array"><strong>depth_array</strong></a> () override<br></td>
+<td style="text-align: left;"><a href="#function-depth_array"><strong>depth_array</strong></a> () override<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual <a href="../structrobot__dart_1_1gui_1_1GrayscaleImage/"><strong>GrayscaleImage</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-depth_image"><strong>depth_image</strong></a> () override<br></td>
+<td style="text-align: left;"><a href="#function-depth_image"><strong>depth_image</strong></a> () override<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-done"><strong>done</strong></a> () override const<br></td>
+<td style="text-align: left;"><a href="#function-done"><strong>done</strong></a> () override const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-enable_shadows"><strong>enable_shadows</strong></a> (bool enable=true, bool transparent=true) <br></td>
+<td style="text-align: left;"><a href="#function-enable_shadows"><strong>enable_shadows</strong></a> (bool enable=true, bool transparent=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-height"><strong>height</strong></a> () override const<br></td>
+<td style="text-align: left;"><a href="#function-height"><strong>height</strong></a> () override const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual <a href="../structrobot__dart_1_1gui_1_1Image/"><strong>Image</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-image"><strong>image</strong></a> () override<br></td>
+<td style="text-align: left;"><a href="#function-image"><strong>image</strong></a> () override<br></td>
 </tr>
 <tr>
 <td style="text-align: right;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/"><strong>magnum:<img alt="🇬🇸" class="twemoji" src="https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/1f1ec-1f1f8.svg" title=":gs:" />:Light</strong></a> &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-light"><strong>light</strong></a> (size_t i) <br></td>
+<td style="text-align: left;"><a href="#function-light"><strong>light</strong></a> (size_t i) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/"><strong>gs::Light</strong></a> &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-lights"><strong>lights</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-lights"><strong>lights</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-look_at"><strong>look_at</strong></a> (const Eigen::Vector3d &amp; camera_pos, const Eigen::Vector3d &amp; look_at=Eigen::Vector3d(0, 0, 0), const Eigen::Vector3d &amp; up=Eigen::Vector3d(0, 0, 1)) <br></td>
+<td style="text-align: left;"><a href="#function-look_at"><strong>look_at</strong></a> (const Eigen::Vector3d &amp; camera_pos, const Eigen::Vector3d &amp; look_at=Eigen::Vector3d(0, 0, 0), const Eigen::Vector3d &amp; up=Eigen::Vector3d(0, 0, 1)) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/"><strong>BaseApplication</strong></a> *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-magnum_app-12"><strong>magnum_app</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-magnum_app-12"><strong>magnum_app</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const <a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/"><strong>BaseApplication</strong></a> *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-magnum_app-22"><strong>magnum_app</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-magnum_app-22"><strong>magnum_app</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Magnum::Image2D *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-magnum_image"><strong>magnum_image</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-magnum_image"><strong>magnum_image</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-num_lights"><strong>num_lights</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_lights"><strong>num_lights</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual <a href="../structrobot__dart_1_1gui_1_1GrayscaleImage/"><strong>GrayscaleImage</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-raw_depth_image"><strong>raw_depth_image</strong></a> () override<br></td>
+<td style="text-align: left;"><a href="#function-raw_depth_image"><strong>raw_depth_image</strong></a> () override<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-record_video"><strong>record_video</strong></a> (const std::string &amp; video_fname, int fps=-1) <br></td>
+<td style="text-align: left;"><a href="#function-record_video"><strong>record_video</strong></a> (const std::string &amp; video_fname, int fps=-1) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-refresh"><strong>refresh</strong></a> () override<br></td>
+<td style="text-align: left;"><a href="#function-refresh"><strong>refresh</strong></a> () override<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-set_enable"><strong>set_enable</strong></a> (bool enable) override<br></td>
+<td style="text-align: left;"><a href="#function-set_enable"><strong>set_enable</strong></a> (bool enable) override<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-set_fps"><strong>set_fps</strong></a> (int fps) override<br></td>
+<td style="text-align: left;"><a href="#function-set_fps"><strong>set_fps</strong></a> (int fps) override<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-set_simu"><strong>set_simu</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> * simu) override<br></td>
+<td style="text-align: left;"><a href="#function-set_simu"><strong>set_simu</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> * simu) override<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-shadowed"><strong>shadowed</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-shadowed"><strong>shadowed</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-transparent_shadows"><strong>transparent_shadows</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-transparent_shadows"><strong>transparent_shadows</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-width"><strong>width</strong></a> () override const<br></td>
+<td style="text-align: left;"><a href="#function-width"><strong>width</strong></a> () override const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-basegraphics"><strong>~BaseGraphics</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-basegraphics"><strong>~BaseGraphics</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -1377,63 +1377,63 @@ <h2 id="public-functions-inherited-from-robot_dartguibase">Public Functions inhe
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-base"><strong>Base</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-base"><strong>Base</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual <a href="../structrobot__dart_1_1gui_1_1DepthImage/"><strong>DepthImage</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-depth_array"><strong>depth_array</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-depth_array"><strong>depth_array</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual <a href="../structrobot__dart_1_1gui_1_1GrayscaleImage/"><strong>GrayscaleImage</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-depth_image"><strong>depth_image</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-depth_image"><strong>depth_image</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-done"><strong>done</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-done"><strong>done</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-height"><strong>height</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-height"><strong>height</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual <a href="../structrobot__dart_1_1gui_1_1Image/"><strong>Image</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-image"><strong>image</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-image"><strong>image</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual <a href="../structrobot__dart_1_1gui_1_1GrayscaleImage/"><strong>GrayscaleImage</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-raw_depth_image"><strong>raw_depth_image</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-raw_depth_image"><strong>raw_depth_image</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-refresh"><strong>refresh</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-refresh"><strong>refresh</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-set_enable"><strong>set_enable</strong></a> (bool) <br></td>
+<td style="text-align: left;"><a href="#function-set_enable"><strong>set_enable</strong></a> (bool) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-set_fps"><strong>set_fps</strong></a> (int) <br></td>
+<td style="text-align: left;"><a href="#function-set_fps"><strong>set_fps</strong></a> (int) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-set_render_period"><strong>set_render_period</strong></a> (double) <br></td>
+<td style="text-align: left;"><a href="#function-set_render_period"><strong>set_render_period</strong></a> (double) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-set_simu"><strong>set_simu</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> * simu) <br></td>
+<td style="text-align: left;"><a href="#function-set_simu"><strong>set_simu</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> * simu) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const <a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-simu"><strong>simu</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-simu"><strong>simu</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-width"><strong>width</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-width"><strong>width</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-base"><strong>~Base</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-base"><strong>~Base</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -1464,23 +1464,23 @@ <h2 id="protected-attributes-inherited-from-robot_dartguimagnumbasegraphics">Pro
 <tbody>
 <tr>
 <td style="text-align: right;"><a href="../structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/"><strong>GraphicsConfiguration</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#variable-_configuration"><strong>_configuration</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_configuration"><strong>_configuration</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#variable-_enabled"><strong>_enabled</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_enabled"><strong>_enabled</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">int</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#variable-_fps"><strong>_fps</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_fps"><strong>_fps</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/"><strong>BaseApplication</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#variable-_magnum_app"><strong>_magnum_app</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_magnum_app"><strong>_magnum_app</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Corrade::Utility::Debug</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#variable-_magnum_silence_output"><strong>_magnum_silence_output</strong></a>   = {nullptr}<br></td>
+<td style="text-align: left;"><a href="#variable-_magnum_silence_output"><strong>_magnum_silence_output</strong></a>   = {nullptr}<br></td>
 </tr>
 </tbody>
 </table>
@@ -1496,7 +1496,7 @@ <h2 id="protected-attributes-inherited-from-robot_dartguibase">Protected Attribu
 <tbody>
 <tr>
 <td style="text-align: right;"><a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#variable-_simu"><strong>_simu</strong></a>   = = nullptr<br></td>
+<td style="text-align: left;"><a href="#variable-_simu"><strong>_simu</strong></a>   = = nullptr<br></td>
 </tr>
 </tbody>
 </table>
@@ -1545,14 +1545,14 @@ <h3 id="function-default_configuration">function default_configuration<a class="
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1586,10 +1586,10 @@ <h3 id="function-default_configuration">function default_configuration<a class="
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedColorObject/index.html b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedColorObject/index.html
index 95c7f539..1273b006 100644
--- a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedColorObject/index.html
+++ b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedColorObject/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
-  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6zm80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3z"/></svg>');}</style>
+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
-  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4V7Z"/></svg>');}</style>
+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -58,7 +58,7 @@
       
     
     
-    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce((e,_)=>(e<<5)-e+_.charCodeAt(0),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
       </label>
     
   
@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1308,10 +1308,10 @@ <h3 id="function-simu">function simu<a class="headerlink" href="#function-simu"
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedObject/index.html b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedObject/index.html
index 64f132a5..c06a9a0c 100644
--- a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedObject/index.html
+++ b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedObject/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
-  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4V7Z"/></svg>');}</style>
+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -58,7 +58,7 @@
       
     
     
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+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
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@@ -169,15 +169,15 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1267,14 +1267,14 @@ <h3 id="function-simu">function simu<a class="headerlink" href="#function-simu"
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-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1308,10 +1308,10 @@ <h3 id="function-simu">function simu<a class="headerlink" href="#function-simu"
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/index.html b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/index.html
index 26d222c8..0b38b242 100644
--- a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/index.html
+++ b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
-  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4V7Z"/></svg>');}</style>
+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -58,7 +58,7 @@
       
     
     
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+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
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-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1332,115 +1332,115 @@ <h2 id="public-functions-inherited-from-robot_dartguimagnumbaseapplication">Publ
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-baseapplication"><strong>BaseApplication</strong></a> (const <a href="../structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/"><strong>GraphicsConfiguration</strong></a> &amp; configuration=<a href="../structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/"><strong>GraphicsConfiguration</strong></a>()) <br></td>
+<td style="text-align: left;"><a href="#function-baseapplication"><strong>BaseApplication</strong></a> (const <a href="../structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/"><strong>GraphicsConfiguration</strong></a> &amp; configuration=<a href="../structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/"><strong>GraphicsConfiguration</strong></a>()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-add_light"><strong>add_light</strong></a> (const <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/"><strong>gs::Light</strong></a> &amp; light) <br></td>
+<td style="text-align: left;"><a href="#function-add_light"><strong>add_light</strong></a> (const <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/"><strong>gs::Light</strong></a> &amp; light) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-attach_camera"><strong>attach_camera</strong></a> (<a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/"><strong>gs::Camera</strong></a> &amp; camera, dart::dynamics::BodyNode * body) <br></td>
+<td style="text-align: left;"><a href="#function-attach_camera"><strong>attach_camera</strong></a> (<a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/"><strong>gs::Camera</strong></a> &amp; camera, dart::dynamics::BodyNode * body) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/"><strong>gs::Camera</strong></a> &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-camera-12"><strong>camera</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-camera-12"><strong>camera</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/"><strong>gs::Camera</strong></a> &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-camera-22"><strong>camera</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-camera-22"><strong>camera</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-clear_lights"><strong>clear_lights</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_lights"><strong>clear_lights</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"><a href="../structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/"><strong>DebugDrawData</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-debug_draw_data"><strong>debug_draw_data</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-debug_draw_data"><strong>debug_draw_data</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"><a href="../structrobot__dart_1_1gui_1_1DepthImage/"><strong>DepthImage</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-depth_array"><strong>depth_array</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-depth_array"><strong>depth_array</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"><a href="../structrobot__dart_1_1gui_1_1GrayscaleImage/"><strong>GrayscaleImage</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-depth_image"><strong>depth_image</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-depth_image"><strong>depth_image</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-done"><strong>done</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-done"><strong>done</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Magnum::SceneGraph::DrawableGroup3D &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-drawables"><strong>drawables</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-drawables"><strong>drawables</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-enable_shadows"><strong>enable_shadows</strong></a> (bool enable=true, bool drawTransparentShadows=false) <br></td>
+<td style="text-align: left;"><a href="#function-enable_shadows"><strong>enable_shadows</strong></a> (bool enable=true, bool drawTransparentShadows=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Corrade::Containers::Optional&lt; Magnum::Image2D &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-image"><strong>image</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-image"><strong>image</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-init"><strong>init</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> * simu, const <a href="../structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/"><strong>GraphicsConfiguration</strong></a> &amp; configuration) <br></td>
+<td style="text-align: left;"><a href="#function-init"><strong>init</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> * simu, const <a href="../structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/"><strong>GraphicsConfiguration</strong></a> &amp; configuration) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/"><strong>gs::Light</strong></a> &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-light"><strong>light</strong></a> (size_t i) <br></td>
+<td style="text-align: left;"><a href="#function-light"><strong>light</strong></a> (size_t i) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/"><strong>gs::Light</strong></a> &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-lights"><strong>lights</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-lights"><strong>lights</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-look_at"><strong>look_at</strong></a> (const Eigen::Vector3d &amp; camera_pos, const Eigen::Vector3d &amp; look_at, const Eigen::Vector3d &amp; up) <br></td>
+<td style="text-align: left;"><a href="#function-look_at"><strong>look_at</strong></a> (const Eigen::Vector3d &amp; camera_pos, const Eigen::Vector3d &amp; look_at, const Eigen::Vector3d &amp; up) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-num_lights"><strong>num_lights</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_lights"><strong>num_lights</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;"><a href="../structrobot__dart_1_1gui_1_1GrayscaleImage/"><strong>GrayscaleImage</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-raw_depth_image"><strong>raw_depth_image</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-raw_depth_image"><strong>raw_depth_image</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-record_video"><strong>record_video</strong></a> (const std::string &amp; video_fname, int fps) <br></td>
+<td style="text-align: left;"><a href="#function-record_video"><strong>record_video</strong></a> (const std::string &amp; video_fname, int fps) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-render"><strong>render</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-render"><strong>render</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-render_shadows"><strong>render_shadows</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-render_shadows"><strong>render_shadows</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Scene3D &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-scene"><strong>scene</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-scene"><strong>scene</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-shadowed"><strong>shadowed</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-shadowed"><strong>shadowed</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-transparent_shadows"><strong>transparent_shadows</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-transparent_shadows"><strong>transparent_shadows</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-update_graphics"><strong>update_graphics</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-update_graphics"><strong>update_graphics</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-update_lights"><strong>update_lights</strong></a> (const <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/"><strong>gs::Camera</strong></a> &amp; camera) <br></td>
+<td style="text-align: left;"><a href="#function-update_lights"><strong>update_lights</strong></a> (const <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/"><strong>gs::Camera</strong></a> &amp; camera) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-baseapplication"><strong>~BaseApplication</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-baseapplication"><strong>~BaseApplication</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -1499,187 +1499,187 @@ <h2 id="protected-attributes-inherited-from-robot_dartguimagnumbaseapplication">
 <tbody>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; Magnum::GL::Mesh &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_3d_axis_mesh"><strong>_3D_axis_mesh</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_3d_axis_mesh"><strong>_3D_axis_mesh</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; Magnum::Shaders::VertexColorGL3D &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_3d_axis_shader"><strong>_3D_axis_shader</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_3d_axis_shader"><strong>_3D_axis_shader</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; Magnum::GL::Mesh &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_background_mesh"><strong>_background_mesh</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_background_mesh"><strong>_background_mesh</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; Magnum::Shaders::FlatGL2D &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_background_shader"><strong>_background_shader</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_background_shader"><strong>_background_shader</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/"><strong>gs::Camera</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_camera"><strong>_camera</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_camera"><strong>_camera</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/"><strong>gs::PhongMultiLight</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_color_shader"><strong>_color_shader</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_color_shader"><strong>_color_shader</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"><a href="../structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/"><strong>GraphicsConfiguration</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_configuration"><strong>_configuration</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_configuration"><strong>_configuration</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Magnum::SceneGraph::DrawableGroup3D</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_cubemap_color_drawables"><strong>_cubemap_color_drawables</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_cubemap_color_drawables"><strong>_cubemap_color_drawables</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/"><strong>gs::CubeMapColor</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_cubemap_color_shader"><strong>_cubemap_color_shader</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_cubemap_color_shader"><strong>_cubemap_color_shader</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Magnum::SceneGraph::DrawableGroup3D</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_cubemap_drawables"><strong>_cubemap_drawables</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_cubemap_drawables"><strong>_cubemap_drawables</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/"><strong>gs::CubeMap</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_cubemap_shader"><strong>_cubemap_shader</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_cubemap_shader"><strong>_cubemap_shader</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/"><strong>gs::CubeMapColor</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_cubemap_texture_color_shader"><strong>_cubemap_texture_color_shader</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_cubemap_texture_color_shader"><strong>_cubemap_texture_color_shader</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/"><strong>gs::CubeMap</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_cubemap_texture_shader"><strong>_cubemap_texture_shader</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_cubemap_texture_shader"><strong>_cubemap_texture_shader</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; Magnum::DartIntegration::World &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_dart_world"><strong>_dart_world</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_dart_world"><strong>_dart_world</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_done"><strong>_done</strong></a>   = = false<br></td>
+<td style="text-align: left;"><a href="#variable-_done"><strong>_done</strong></a>   = = false<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; Magnum::DartIntegration::Object *, <a href="../structrobot__dart_1_1gui_1_1magnum_1_1ObjectStruct/"><strong>ObjectStruct</strong></a> * &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_drawable_objects"><strong>_drawable_objects</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_drawable_objects"><strong>_drawable_objects</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Magnum::SceneGraph::DrawableGroup3D</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_drawables"><strong>_drawables</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_drawables"><strong>_drawables</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Corrade::Containers::Pointer&lt; Magnum::Text::AbstractFont &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_font"><strong>_font</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_font"><strong>_font</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Corrade::PluginManager::Manager&lt; Magnum::Text::AbstractFont &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_font_manager"><strong>_font_manager</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_font_manager"><strong>_font_manager</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Corrade::Containers::Pointer&lt; Magnum::Text::DistanceFieldGlyphCache &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_glyph_cache"><strong>_glyph_cache</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_glyph_cache"><strong>_glyph_cache</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Corrade::PluginManager::Manager&lt; Magnum::Trade::AbstractImporter &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_importer_manager"><strong>_importer_manager</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_importer_manager"><strong>_importer_manager</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/"><strong>gs::Light</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_lights"><strong>_lights</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_lights"><strong>_lights</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">int</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_max_lights"><strong>_max_lights</strong></a>   = = 5<br></td>
+<td style="text-align: left;"><a href="#variable-_max_lights"><strong>_max_lights</strong></a>   = = 5<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Scene3D</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_scene"><strong>_scene</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_scene"><strong>_scene</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; Camera3D &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_camera"><strong>_shadow_camera</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_shadow_camera"><strong>_shadow_camera</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Object3D *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_camera_object"><strong>_shadow_camera_object</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_shadow_camera_object"><strong>_shadow_camera_object</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; Magnum::GL::CubeMapTextureArray &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_color_cube_map"><strong>_shadow_color_cube_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_shadow_color_cube_map"><strong>_shadow_color_cube_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/"><strong>gs::ShadowMapColor</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_color_shader"><strong>_shadow_color_shader</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_shadow_color_shader"><strong>_shadow_color_shader</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; Magnum::GL::Texture2DArray &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_color_texture"><strong>_shadow_color_texture</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_shadow_color_texture"><strong>_shadow_color_texture</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; Magnum::GL::CubeMapTextureArray &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_cube_map"><strong>_shadow_cube_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_shadow_cube_map"><strong>_shadow_cube_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; <a href="../structrobot__dart_1_1gui_1_1magnum_1_1ShadowData/"><strong>ShadowData</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_data"><strong>_shadow_data</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_shadow_data"><strong>_shadow_data</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">int</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_map_size"><strong>_shadow_map_size</strong></a>   = = 512<br></td>
+<td style="text-align: left;"><a href="#variable-_shadow_map_size"><strong>_shadow_map_size</strong></a>   = = 512<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/"><strong>gs::ShadowMap</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_shader"><strong>_shadow_shader</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_shadow_shader"><strong>_shadow_shader</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; Magnum::GL::Texture2DArray &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_texture"><strong>_shadow_texture</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_shadow_texture"><strong>_shadow_texture</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/"><strong>gs::ShadowMapColor</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_texture_color_shader"><strong>_shadow_texture_color_shader</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_shadow_texture_color_shader"><strong>_shadow_texture_color_shader</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/"><strong>gs::ShadowMap</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_texture_shader"><strong>_shadow_texture_shader</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_shadow_texture_shader"><strong>_shadow_texture_shader</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadowed"><strong>_shadowed</strong></a>   = = true<br></td>
+<td style="text-align: left;"><a href="#variable-_shadowed"><strong>_shadowed</strong></a>   = = true<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Magnum::SceneGraph::DrawableGroup3D</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadowed_color_drawables"><strong>_shadowed_color_drawables</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_shadowed_color_drawables"><strong>_shadowed_color_drawables</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Magnum::SceneGraph::DrawableGroup3D</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadowed_drawables"><strong>_shadowed_drawables</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_shadowed_drawables"><strong>_shadowed_drawables</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"><a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_simu"><strong>_simu</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_simu"><strong>_simu</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Corrade::Containers::Pointer&lt; Magnum::GL::Buffer &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_text_indices"><strong>_text_indices</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_text_indices"><strong>_text_indices</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; Magnum::Shaders::DistanceFieldVectorGL2D &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_text_shader"><strong>_text_shader</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_text_shader"><strong>_text_shader</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Corrade::Containers::Pointer&lt; Magnum::GL::Buffer &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_text_vertices"><strong>_text_vertices</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_text_vertices"><strong>_text_vertices</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/"><strong>gs::PhongMultiLight</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_texture_shader"><strong>_texture_shader</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_texture_shader"><strong>_texture_shader</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">int</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_transparentsize"><strong>_transparentSize</strong></a>   = = 0<br></td>
+<td style="text-align: left;"><a href="#variable-_transparentsize"><strong>_transparentSize</strong></a>   = = 0<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_transparent_shadows"><strong>_transparent_shadows</strong></a>   = = false<br></td>
+<td style="text-align: left;"><a href="#variable-_transparent_shadows"><strong>_transparent_shadows</strong></a>   = = false<br></td>
 </tr>
 </tbody>
 </table>
@@ -1710,11 +1710,11 @@ <h2 id="protected-functions-inherited-from-robot_dartguimagnumbaseapplication">P
 <tbody>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-_gl_clean_up"><strong>_gl_clean_up</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-_gl_clean_up"><strong>_gl_clean_up</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-_prepare_shadows"><strong>_prepare_shadows</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-_prepare_shadows"><strong>_prepare_shadows</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -1804,14 +1804,14 @@ <h3 id="function-exec">function exec<a class="headerlink" href="#function-exec"
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1845,10 +1845,10 @@ <h3 id="function-exec">function exec<a class="headerlink" href="#function-exec"
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/index.html b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/index.html
index cefb5f58..b86bd288 100644
--- a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/index.html
+++ b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1245,123 +1245,123 @@ <h2 id="public-functions-inherited-from-robot_dartguimagnumbasegraphics">Public
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-basegraphics"><strong>BaseGraphics</strong></a> (const <a href="../structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/"><strong>GraphicsConfiguration</strong></a> &amp; configuration=<a href="../structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/"><strong>GraphicsConfiguration</strong></a>()) <br></td>
+<td style="text-align: left;"><a href="#function-basegraphics"><strong>BaseGraphics</strong></a> (const <a href="../structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/"><strong>GraphicsConfiguration</strong></a> &amp; configuration=<a href="../structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/"><strong>GraphicsConfiguration</strong></a>()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-add_light"><strong>add_light</strong></a> (const <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/"><strong>magnum:<img alt="🇬🇸" class="twemoji" src="https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/1f1ec-1f1f8.svg" title=":gs:" />:Light</strong></a> &amp; light) <br></td>
+<td style="text-align: left;"><a href="#function-add_light"><strong>add_light</strong></a> (const <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/"><strong>magnum:<img alt="🇬🇸" class="twemoji" src="https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/1f1ec-1f1f8.svg" title=":gs:" />:Light</strong></a> &amp; light) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/"><strong>gs::Camera</strong></a> &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-camera-12"><strong>camera</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-camera-12"><strong>camera</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/"><strong>gs::Camera</strong></a> &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-camera-22"><strong>camera</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-camera-22"><strong>camera</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Matrix4d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-camera_extrinsic_matrix"><strong>camera_extrinsic_matrix</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-camera_extrinsic_matrix"><strong>camera_extrinsic_matrix</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Matrix3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-camera_intrinsic_matrix"><strong>camera_intrinsic_matrix</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-camera_intrinsic_matrix"><strong>camera_intrinsic_matrix</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-clear_lights"><strong>clear_lights</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_lights"><strong>clear_lights</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual <a href="../structrobot__dart_1_1gui_1_1DepthImage/"><strong>DepthImage</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-depth_array"><strong>depth_array</strong></a> () override<br></td>
+<td style="text-align: left;"><a href="#function-depth_array"><strong>depth_array</strong></a> () override<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual <a href="../structrobot__dart_1_1gui_1_1GrayscaleImage/"><strong>GrayscaleImage</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-depth_image"><strong>depth_image</strong></a> () override<br></td>
+<td style="text-align: left;"><a href="#function-depth_image"><strong>depth_image</strong></a> () override<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-done"><strong>done</strong></a> () override const<br></td>
+<td style="text-align: left;"><a href="#function-done"><strong>done</strong></a> () override const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-enable_shadows"><strong>enable_shadows</strong></a> (bool enable=true, bool transparent=true) <br></td>
+<td style="text-align: left;"><a href="#function-enable_shadows"><strong>enable_shadows</strong></a> (bool enable=true, bool transparent=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-height"><strong>height</strong></a> () override const<br></td>
+<td style="text-align: left;"><a href="#function-height"><strong>height</strong></a> () override const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual <a href="../structrobot__dart_1_1gui_1_1Image/"><strong>Image</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-image"><strong>image</strong></a> () override<br></td>
+<td style="text-align: left;"><a href="#function-image"><strong>image</strong></a> () override<br></td>
 </tr>
 <tr>
 <td style="text-align: right;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/"><strong>magnum:<img alt="🇬🇸" class="twemoji" src="https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/1f1ec-1f1f8.svg" title=":gs:" />:Light</strong></a> &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-light"><strong>light</strong></a> (size_t i) <br></td>
+<td style="text-align: left;"><a href="#function-light"><strong>light</strong></a> (size_t i) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/"><strong>gs::Light</strong></a> &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-lights"><strong>lights</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-lights"><strong>lights</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-look_at"><strong>look_at</strong></a> (const Eigen::Vector3d &amp; camera_pos, const Eigen::Vector3d &amp; look_at=Eigen::Vector3d(0, 0, 0), const Eigen::Vector3d &amp; up=Eigen::Vector3d(0, 0, 1)) <br></td>
+<td style="text-align: left;"><a href="#function-look_at"><strong>look_at</strong></a> (const Eigen::Vector3d &amp; camera_pos, const Eigen::Vector3d &amp; look_at=Eigen::Vector3d(0, 0, 0), const Eigen::Vector3d &amp; up=Eigen::Vector3d(0, 0, 1)) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/"><strong>BaseApplication</strong></a> *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-magnum_app-12"><strong>magnum_app</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-magnum_app-12"><strong>magnum_app</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const <a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/"><strong>BaseApplication</strong></a> *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-magnum_app-22"><strong>magnum_app</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-magnum_app-22"><strong>magnum_app</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Magnum::Image2D *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-magnum_image"><strong>magnum_image</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-magnum_image"><strong>magnum_image</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-num_lights"><strong>num_lights</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_lights"><strong>num_lights</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual <a href="../structrobot__dart_1_1gui_1_1GrayscaleImage/"><strong>GrayscaleImage</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-raw_depth_image"><strong>raw_depth_image</strong></a> () override<br></td>
+<td style="text-align: left;"><a href="#function-raw_depth_image"><strong>raw_depth_image</strong></a> () override<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-record_video"><strong>record_video</strong></a> (const std::string &amp; video_fname, int fps=-1) <br></td>
+<td style="text-align: left;"><a href="#function-record_video"><strong>record_video</strong></a> (const std::string &amp; video_fname, int fps=-1) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-refresh"><strong>refresh</strong></a> () override<br></td>
+<td style="text-align: left;"><a href="#function-refresh"><strong>refresh</strong></a> () override<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-set_enable"><strong>set_enable</strong></a> (bool enable) override<br></td>
+<td style="text-align: left;"><a href="#function-set_enable"><strong>set_enable</strong></a> (bool enable) override<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-set_fps"><strong>set_fps</strong></a> (int fps) override<br></td>
+<td style="text-align: left;"><a href="#function-set_fps"><strong>set_fps</strong></a> (int fps) override<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-set_simu"><strong>set_simu</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> * simu) override<br></td>
+<td style="text-align: left;"><a href="#function-set_simu"><strong>set_simu</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> * simu) override<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-shadowed"><strong>shadowed</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-shadowed"><strong>shadowed</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-transparent_shadows"><strong>transparent_shadows</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-transparent_shadows"><strong>transparent_shadows</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-width"><strong>width</strong></a> () override const<br></td>
+<td style="text-align: left;"><a href="#function-width"><strong>width</strong></a> () override const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-basegraphics"><strong>~BaseGraphics</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-basegraphics"><strong>~BaseGraphics</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -1377,63 +1377,63 @@ <h2 id="public-functions-inherited-from-robot_dartguibase">Public Functions inhe
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-base"><strong>Base</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-base"><strong>Base</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual <a href="../structrobot__dart_1_1gui_1_1DepthImage/"><strong>DepthImage</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-depth_array"><strong>depth_array</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-depth_array"><strong>depth_array</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual <a href="../structrobot__dart_1_1gui_1_1GrayscaleImage/"><strong>GrayscaleImage</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-depth_image"><strong>depth_image</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-depth_image"><strong>depth_image</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-done"><strong>done</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-done"><strong>done</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-height"><strong>height</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-height"><strong>height</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual <a href="../structrobot__dart_1_1gui_1_1Image/"><strong>Image</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-image"><strong>image</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-image"><strong>image</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual <a href="../structrobot__dart_1_1gui_1_1GrayscaleImage/"><strong>GrayscaleImage</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-raw_depth_image"><strong>raw_depth_image</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-raw_depth_image"><strong>raw_depth_image</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-refresh"><strong>refresh</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-refresh"><strong>refresh</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-set_enable"><strong>set_enable</strong></a> (bool) <br></td>
+<td style="text-align: left;"><a href="#function-set_enable"><strong>set_enable</strong></a> (bool) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-set_fps"><strong>set_fps</strong></a> (int) <br></td>
+<td style="text-align: left;"><a href="#function-set_fps"><strong>set_fps</strong></a> (int) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-set_render_period"><strong>set_render_period</strong></a> (double) <br></td>
+<td style="text-align: left;"><a href="#function-set_render_period"><strong>set_render_period</strong></a> (double) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-set_simu"><strong>set_simu</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> * simu) <br></td>
+<td style="text-align: left;"><a href="#function-set_simu"><strong>set_simu</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> * simu) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const <a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-simu"><strong>simu</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-simu"><strong>simu</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-width"><strong>width</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-width"><strong>width</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#function-base"><strong>~Base</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-base"><strong>~Base</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -1464,23 +1464,23 @@ <h2 id="protected-attributes-inherited-from-robot_dartguimagnumbasegraphics">Pro
 <tbody>
 <tr>
 <td style="text-align: right;"><a href="../structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/"><strong>GraphicsConfiguration</strong></a></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#variable-_configuration"><strong>_configuration</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_configuration"><strong>_configuration</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#variable-_enabled"><strong>_enabled</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_enabled"><strong>_enabled</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">int</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#variable-_fps"><strong>_fps</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_fps"><strong>_fps</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unique_ptr&lt; <a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/"><strong>BaseApplication</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#variable-_magnum_app"><strong>_magnum_app</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_magnum_app"><strong>_magnum_app</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Corrade::Utility::Debug</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#variable-_magnum_silence_output"><strong>_magnum_silence_output</strong></a>   = {nullptr}<br></td>
+<td style="text-align: left;"><a href="#variable-_magnum_silence_output"><strong>_magnum_silence_output</strong></a>   = {nullptr}<br></td>
 </tr>
 </tbody>
 </table>
@@ -1496,7 +1496,7 @@ <h2 id="protected-attributes-inherited-from-robot_dartguibase">Protected Attribu
 <tbody>
 <tr>
 <td style="text-align: right;"><a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1gui_1_1Base/#variable-_simu"><strong>_simu</strong></a>   = = nullptr<br></td>
+<td style="text-align: left;"><a href="#variable-_simu"><strong>_simu</strong></a>   = = nullptr<br></td>
 </tr>
 </tbody>
 </table>
@@ -1545,14 +1545,14 @@ <h3 id="function-default_configuration">function default_configuration<a class="
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1586,10 +1586,10 @@ <h3 id="function-default_configuration">function default_configuration<a class="
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/index.html b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/index.html
index 9bc7ba76..226b14fe 100644
--- a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/index.html
+++ b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
-  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4V7Z"/></svg>');}</style>
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@@ -58,7 +58,7 @@
       
     
     
-    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce((e,_)=>(e<<5)-e+_.charCodeAt(0),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
       </label>
     
   
@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
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     NOSALRO/robot_dart
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1789,10 +1789,10 @@ <h3 id="function-camera_2">function ~Camera<a class="headerlink" href="#function
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/index.html b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/index.html
index 87e126fa..f63f76c1 100644
--- a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/index.html
+++ b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -34,14 +34,14 @@
     
   
   
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
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@@ -58,7 +58,7 @@
       
     
     
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+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1432,14 +1432,14 @@ <h3 id="function-set_transformation_matrix">function set_transformation_matrix<a
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1473,10 +1473,10 @@ <h3 id="function-set_transformation_matrix">function set_transformation_matrix<a
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/index.html b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/index.html
index ef759069..b40887e4 100644
--- a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/index.html
+++ b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -34,14 +34,14 @@
     
   
   
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
-  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4V7Z"/></svg>');}</style>
+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -58,7 +58,7 @@
       
     
     
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+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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     NOSALRO/robot_dart
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@@ -1493,10 +1493,10 @@ <h3 id="function-set_transformation_matrix">function set_transformation_matrix<a
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/index.html b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/index.html
index 99b76393..09cbf440 100644
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1891,14 +1891,14 @@ <h3 id="variable-_transformed_spot_direction">variable _transformed_spot_directi
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1932,10 +1932,10 @@ <h3 id="variable-_transformed_spot_direction">variable _transformed_spot_directi
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/index.html b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/index.html
index 1fd75742..96784352 100644
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+++ b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
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index 6f66f5d6..19ad9952 100644
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1632,14 +1632,14 @@ <h3 id="function-set_transparent_shadows">function set_transparent_shadows<a cla
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1673,10 +1673,10 @@ <h3 id="function-set_transparent_shadows">function set_transparent_shadows<a cla
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/index.html b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/index.html
index 765dddae..0d8e7af4 100644
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+++ b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/index.html
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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     NOSALRO/robot_dart
@@ -1372,14 +1372,14 @@ <h3 id="function-set_transformation_matrix">function set_transformation_matrix<a
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1413,10 +1413,10 @@ <h3 id="function-set_transformation_matrix">function set_transformation_matrix<a
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/index.html b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/index.html
index 4b219a7b..172c9e56 100644
--- a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/index.html
+++ b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1372,14 +1372,14 @@ <h3 id="function-set_transformation_matrix">function set_transformation_matrix<a
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1413,10 +1413,10 @@ <h3 id="function-set_transformation_matrix">function set_transformation_matrix<a
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/index.html b/docs/api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/index.html
index 595d21b9..ac9380cf 100644
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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       <label class="md-header__button md-icon" for="__search">
         
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
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-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1533,83 +1533,83 @@ <h2 id="public-functions-inherited-from-robot_dartsensorsensor">Public Functions
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-sensor"><strong>Sensor</strong></a> (size_t freq=40) <br></td>
+<td style="text-align: left;"><a href="#function-sensor"><strong>Sensor</strong></a> (size_t freq=40) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-activate"><strong>activate</strong></a> (bool enable=true) <br></td>
+<td style="text-align: left;"><a href="#function-activate"><strong>activate</strong></a> (bool enable=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-active"><strong>active</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-active"><strong>active</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-attach_to_body-12"><strong>attach_to_body</strong></a> (dart::dynamics::BodyNode * body, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
+<td style="text-align: left;"><a href="#function-attach_to_body-12"><strong>attach_to_body</strong></a> (dart::dynamics::BodyNode * body, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-attach_to_body-22"><strong>attach_to_body</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt; &amp; robot, const std::string &amp; body_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
+<td style="text-align: left;"><a href="#function-attach_to_body-22"><strong>attach_to_body</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt; &amp; robot, const std::string &amp; body_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-attach_to_joint-12"><strong>attach_to_joint</strong></a> (dart::dynamics::Joint * joint, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
+<td style="text-align: left;"><a href="#function-attach_to_joint-12"><strong>attach_to_joint</strong></a> (dart::dynamics::Joint * joint, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-attach_to_joint-22"><strong>attach_to_joint</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt; &amp; robot, const std::string &amp; joint_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
+<td style="text-align: left;"><a href="#function-attach_to_joint-22"><strong>attach_to_joint</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt; &amp; robot, const std::string &amp; joint_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-attached_to"><strong>attached_to</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-attached_to"><strong>attached_to</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-calculate"><strong>calculate</strong></a> (double) = 0<br></td>
+<td style="text-align: left;"><a href="#function-calculate"><strong>calculate</strong></a> (double) = 0<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-detach"><strong>detach</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-detach"><strong>detach</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-frequency"><strong>frequency</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-frequency"><strong>frequency</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-init"><strong>init</strong></a> () = 0<br></td>
+<td style="text-align: left;"><a href="#function-init"><strong>init</strong></a> () = 0<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const Eigen::Isometry3d &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-pose"><strong>pose</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-pose"><strong>pose</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-refresh"><strong>refresh</strong></a> (double t) <br></td>
+<td style="text-align: left;"><a href="#function-refresh"><strong>refresh</strong></a> (double t) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-set_frequency"><strong>set_frequency</strong></a> (size_t freq) <br></td>
+<td style="text-align: left;"><a href="#function-set_frequency"><strong>set_frequency</strong></a> (size_t freq) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-set_pose"><strong>set_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
+<td style="text-align: left;"><a href="#function-set_pose"><strong>set_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-set_simu"><strong>set_simu</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> * simu) <br></td>
+<td style="text-align: left;"><a href="#function-set_simu"><strong>set_simu</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> * simu) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const <a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-simu"><strong>simu</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-simu"><strong>simu</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-type"><strong>type</strong></a> () const = 0<br></td>
+<td style="text-align: left;"><a href="#function-type"><strong>type</strong></a> () const = 0<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-sensor"><strong>~Sensor</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-sensor"><strong>~Sensor</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -1672,47 +1672,47 @@ <h2 id="protected-attributes-inherited-from-robot_dartsensorsensor">Protected At
 <tbody>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_active"><strong>_active</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_active"><strong>_active</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_attached_tf"><strong>_attached_tf</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_attached_tf"><strong>_attached_tf</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_attached_to_body"><strong>_attached_to_body</strong></a>   = = false<br></td>
+<td style="text-align: left;"><a href="#variable-_attached_to_body"><strong>_attached_to_body</strong></a>   = = false<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_attached_to_joint"><strong>_attached_to_joint</strong></a>   = = false<br></td>
+<td style="text-align: left;"><a href="#variable-_attached_to_joint"><strong>_attached_to_joint</strong></a>   = = false<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_attaching_to_body"><strong>_attaching_to_body</strong></a>   = = false<br></td>
+<td style="text-align: left;"><a href="#variable-_attaching_to_body"><strong>_attaching_to_body</strong></a>   = = false<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_attaching_to_joint"><strong>_attaching_to_joint</strong></a>   = = false<br></td>
+<td style="text-align: left;"><a href="#variable-_attaching_to_joint"><strong>_attaching_to_joint</strong></a>   = = false<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_body_attached"><strong>_body_attached</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_body_attached"><strong>_body_attached</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_frequency"><strong>_frequency</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_frequency"><strong>_frequency</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_joint_attached"><strong>_joint_attached</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_joint_attached"><strong>_joint_attached</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"><a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_simu"><strong>_simu</strong></a>   = = nullptr<br></td>
+<td style="text-align: left;"><a href="#variable-_simu"><strong>_simu</strong></a>   = = nullptr<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_world_pose"><strong>_world_pose</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_world_pose"><strong>_world_pose</strong></a>  <br></td>
 </tr>
 </tbody>
 </table>
@@ -1913,14 +1913,14 @@ <h3 id="variable-_width">variable _width<a class="headerlink" href="#variable-_w
             </div>
           
           
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
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@@ -1954,10 +1954,10 @@ <h3 id="variable-_width">variable _width<a class="headerlink" href="#variable-_w
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1robots_1_1A1/index.html b/docs/api/classrobot__dart_1_1robots_1_1A1/index.html
index b1d1132d..55f7832b 100644
--- a/docs/api/classrobot__dart_1_1robots_1_1A1/index.html
+++ b/docs/api/classrobot__dart_1_1robots_1_1A1/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
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+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -58,7 +58,7 @@
       
     
     
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+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1245,699 +1245,699 @@ <h2 id="public-functions-inherited-from-robot_dartrobot">Public Functions inheri
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-13"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-13"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-23"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-23"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-33"><strong>Robot</strong></a> (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name="robot", bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-33"><strong>Robot</strong></a> (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name="robot", bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-acceleration_lower_limits"><strong>acceleration_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-acceleration_lower_limits"><strong>acceleration_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-acceleration_upper_limits"><strong>acceleration_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-acceleration_upper_limits"><strong>acceleration_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-accelerations"><strong>accelerations</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-accelerations"><strong>accelerations</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-active_controllers"><strong>active_controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-active_controllers"><strong>active_controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-actuator_type"><strong>actuator_type</strong></a> (const std::string &amp; joint_name) const<br></td>
+<td style="text-align: left;"><a href="#function-actuator_type"><strong>actuator_type</strong></a> (const std::string &amp; joint_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-actuator_types"><strong>actuator_types</strong></a> (const std::vector&lt; std::string &gt; &amp; joint_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-actuator_types"><strong>actuator_types</strong></a> (const std::vector&lt; std::string &gt; &amp; joint_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_body_mass-12"><strong>add_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-add_body_mass-12"><strong>add_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_body_mass-22"><strong>add_body_mass</strong></a> (size_t body_index, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-add_body_mass-22"><strong>add_body_mass</strong></a> (size_t body_index, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_controller"><strong>add_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller, double weight=1.0) <br></td>
+<td style="text-align: left;"><a href="#function-add_controller"><strong>add_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller, double weight=1.0) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_force-12"><strong>add_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_force-12"><strong>add_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_force-22"><strong>add_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_force-22"><strong>add_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_torque-12"><strong>add_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_torque-12"><strong>add_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_torque-22"><strong>add_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_torque-22"><strong>add_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-adjacent_colliding"><strong>adjacent_colliding</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-adjacent_colliding"><strong>adjacent_colliding</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-aug_mass_matrix"><strong>aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-aug_mass_matrix"><strong>aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-base_pose"><strong>base_pose</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-base_pose"><strong>base_pose</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-base_pose_vec"><strong>base_pose_vec</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-base_pose_vec"><strong>base_pose_vec</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_acceleration-12"><strong>body_acceleration</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_acceleration-12"><strong>body_acceleration</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_acceleration-22"><strong>body_acceleration</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_acceleration-22"><strong>body_acceleration</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_index"><strong>body_index</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_index"><strong>body_index</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_mass-12"><strong>body_mass</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_mass-12"><strong>body_mass</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_mass-22"><strong>body_mass</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_mass-22"><strong>body_mass</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_name"><strong>body_name</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_name"><strong>body_name</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_names"><strong>body_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-body_names"><strong>body_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_node-12"><strong>body_node</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-body_node-12"><strong>body_node</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_node-22"><strong>body_node</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-body_node-22"><strong>body_node</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose-12"><strong>body_pose</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose-12"><strong>body_pose</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose-22"><strong>body_pose</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose-22"><strong>body_pose</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose_vec-12"><strong>body_pose_vec</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose_vec-12"><strong>body_pose_vec</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose_vec-22"><strong>body_pose_vec</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose_vec-22"><strong>body_pose_vec</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_velocity-12"><strong>body_velocity</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_velocity-12"><strong>body_velocity</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_velocity-22"><strong>body_velocity</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_velocity-22"><strong>body_velocity</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-cast_shadows"><strong>cast_shadows</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-cast_shadows"><strong>cast_shadows</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_controllers"><strong>clear_controllers</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_controllers"><strong>clear_controllers</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_external_forces"><strong>clear_external_forces</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_external_forces"><strong>clear_external_forces</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_internal_forces"><strong>clear_internal_forces</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_internal_forces"><strong>clear_internal_forces</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clone"><strong>clone</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-clone"><strong>clone</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clone_ghost"><strong>clone_ghost</strong></a> (const std::string &amp; ghost_name="ghost", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const<br></td>
+<td style="text-align: left;"><a href="#function-clone_ghost"><strong>clone_ghost</strong></a> (const std::string &amp; ghost_name="ghost", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com"><strong>com</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com"><strong>com</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_acceleration"><strong>com_acceleration</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com_acceleration"><strong>com_acceleration</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_jacobian"><strong>com_jacobian</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-com_jacobian"><strong>com_jacobian</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_jacobian_deriv"><strong>com_jacobian_deriv</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-com_jacobian_deriv"><strong>com_jacobian_deriv</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_velocity"><strong>com_velocity</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com_velocity"><strong>com_velocity</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-commands"><strong>commands</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-commands"><strong>commands</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-constraint_forces"><strong>constraint_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-constraint_forces"><strong>constraint_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-controller"><strong>controller</strong></a> (size_t index) const<br></td>
+<td style="text-align: left;"><a href="#function-controller"><strong>controller</strong></a> (size_t index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-controllers"><strong>controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-controllers"><strong>controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coriolis_forces"><strong>coriolis_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coriolis_forces"><strong>coriolis_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coriolis_gravity_forces"><strong>coriolis_gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coriolis_gravity_forces"><strong>coriolis_gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coulomb_coeffs"><strong>coulomb_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coulomb_coeffs"><strong>coulomb_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-damping_coeffs"><strong>damping_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-damping_coeffs"><strong>damping_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::DegreeOfFreedom *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof-12"><strong>dof</strong></a> (const std::string &amp; dof_name) <br></td>
+<td style="text-align: left;"><a href="#function-dof-12"><strong>dof</strong></a> (const std::string &amp; dof_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::DegreeOfFreedom *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof-22"><strong>dof</strong></a> (size_t dof_index) <br></td>
+<td style="text-align: left;"><a href="#function-dof-22"><strong>dof</strong></a> (size_t dof_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_index"><strong>dof_index</strong></a> (const std::string &amp; dof_name) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_index"><strong>dof_index</strong></a> (const std::string &amp; dof_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::unordered_map&lt; std::string, size_t &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_map"><strong>dof_map</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-dof_map"><strong>dof_map</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_name"><strong>dof_name</strong></a> (size_t dof_index) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_name"><strong>dof_name</strong></a> (size_t dof_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_names"><strong>dof_names</strong></a> (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_names"><strong>dof_names</strong></a> (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-drawing_axes"><strong>drawing_axes</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-drawing_axes"><strong>drawing_axes</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-external_forces-12"><strong>external_forces</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-external_forces-12"><strong>external_forces</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-external_forces-22"><strong>external_forces</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-external_forces-22"><strong>external_forces</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-fix_to_world"><strong>fix_to_world</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-fix_to_world"><strong>fix_to_world</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-fixed"><strong>fixed</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-fixed"><strong>fixed</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_lower_limits"><strong>force_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-force_lower_limits"><strong>force_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_position_bounds"><strong>force_position_bounds</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-force_position_bounds"><strong>force_position_bounds</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_torque"><strong>force_torque</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-force_torque"><strong>force_torque</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_upper_limits"><strong>force_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-force_upper_limits"><strong>force_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-forces"><strong>forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-forces"><strong>forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-free"><strong>free</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-free"><strong>free</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-free_from_world"><strong>free_from_world</strong></a> (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()) <br></td>
+<td style="text-align: left;"><a href="#function-free_from_world"><strong>free_from_world</strong></a> (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_coeff-12"><strong>friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-friction_coeff-12"><strong>friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_coeff-22"><strong>friction_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-friction_coeff-22"><strong>friction_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_dir-12"><strong>friction_dir</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-friction_dir-12"><strong>friction_dir</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_dir-22"><strong>friction_dir</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-friction_dir-22"><strong>friction_dir</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-ghost"><strong>ghost</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-ghost"><strong>ghost</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-gravity_forces"><strong>gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-gravity_forces"><strong>gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-inv_aug_mass_matrix"><strong>inv_aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-inv_aug_mass_matrix"><strong>inv_aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-inv_mass_matrix"><strong>inv_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-inv_mass_matrix"><strong>inv_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-jacobian"><strong>jacobian</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-jacobian"><strong>jacobian</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-jacobian_deriv"><strong>jacobian_deriv</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-jacobian_deriv"><strong>jacobian_deriv</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint-12"><strong>joint</strong></a> (const std::string &amp; joint_name) <br></td>
+<td style="text-align: left;"><a href="#function-joint-12"><strong>joint</strong></a> (const std::string &amp; joint_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint-22"><strong>joint</strong></a> (size_t joint_index) <br></td>
+<td style="text-align: left;"><a href="#function-joint-22"><strong>joint</strong></a> (size_t joint_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_index"><strong>joint_index</strong></a> (const std::string &amp; joint_name) const<br></td>
+<td style="text-align: left;"><a href="#function-joint_index"><strong>joint_index</strong></a> (const std::string &amp; joint_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::unordered_map&lt; std::string, size_t &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_map"><strong>joint_map</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-joint_map"><strong>joint_map</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_name"><strong>joint_name</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-joint_name"><strong>joint_name</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_names"><strong>joint_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-joint_names"><strong>joint_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-locked_dof_names"><strong>locked_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-locked_dof_names"><strong>locked_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-mass_matrix"><strong>mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-mass_matrix"><strong>mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-mimic_dof_names"><strong>mimic_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-mimic_dof_names"><strong>mimic_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-model_filename"><strong>model_filename</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-model_filename"><strong>model_filename</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-model_packages"><strong>model_packages</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-model_packages"><strong>model_packages</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-name"><strong>name</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-name"><strong>name</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_bodies"><strong>num_bodies</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_bodies"><strong>num_bodies</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_controllers"><strong>num_controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_controllers"><strong>num_controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_dofs"><strong>num_dofs</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_dofs"><strong>num_dofs</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_joints"><strong>num_joints</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_joints"><strong>num_joints</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-passive_dof_names"><strong>passive_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-passive_dof_names"><strong>passive_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; bool &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_enforced"><strong>position_enforced</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_enforced"><strong>position_enforced</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_lower_limits"><strong>position_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_lower_limits"><strong>position_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_upper_limits"><strong>position_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_upper_limits"><strong>position_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-positions"><strong>positions</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-positions"><strong>positions</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reinit_controllers"><strong>reinit_controllers</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reinit_controllers"><strong>reinit_controllers</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_all_drawing_axis"><strong>remove_all_drawing_axis</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-remove_all_drawing_axis"><strong>remove_all_drawing_axis</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_controller-12"><strong>remove_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller) <br></td>
+<td style="text-align: left;"><a href="#function-remove_controller-12"><strong>remove_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_controller-22"><strong>remove_controller</strong></a> (size_t index) <br></td>
+<td style="text-align: left;"><a href="#function-remove_controller-22"><strong>remove_controller</strong></a> (size_t index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reset"><strong>reset</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reset"><strong>reset</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reset_commands"><strong>reset_commands</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reset_commands"><strong>reset_commands</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-restitution_coeff-12"><strong>restitution_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-restitution_coeff-12"><strong>restitution_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-restitution_coeff-22"><strong>restitution_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-restitution_coeff-22"><strong>restitution_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-secondary_friction_coeff-12"><strong>secondary_friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-secondary_friction_coeff-12"><strong>secondary_friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-secondary_friction_coeff-22"><strong>secondary_friction_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-secondary_friction_coeff-22"><strong>secondary_friction_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-self_colliding"><strong>self_colliding</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-self_colliding"><strong>self_colliding</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_acceleration_lower_limits"><strong>set_acceleration_lower_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_acceleration_lower_limits"><strong>set_acceleration_lower_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_acceleration_upper_limits"><strong>set_acceleration_upper_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_acceleration_upper_limits"><strong>set_acceleration_upper_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_accelerations"><strong>set_accelerations</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_accelerations"><strong>set_accelerations</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_actuator_type"><strong>set_actuator_type</strong></a> (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_actuator_type"><strong>set_actuator_type</strong></a> (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_actuator_types"><strong>set_actuator_types</strong></a> (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_actuator_types"><strong>set_actuator_types</strong></a> (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_base_pose-12"><strong>set_base_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
+<td style="text-align: left;"><a href="#function-set_base_pose-12"><strong>set_base_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_base_pose-22"><strong>set_base_pose</strong></a> (const Eigen::Vector6d &amp; pose) <br><em>set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)</em></td>
+<td style="text-align: left;"><a href="#function-set_base_pose-22"><strong>set_base_pose</strong></a> (const Eigen::Vector6d &amp; pose) <br><em>set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_mass-12"><strong>set_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_mass-12"><strong>set_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_mass-22"><strong>set_body_mass</strong></a> (size_t body_index, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_mass-22"><strong>set_body_mass</strong></a> (size_t body_index, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_name"><strong>set_body_name</strong></a> (size_t body_index, const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_name"><strong>set_body_name</strong></a> (size_t body_index, const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_cast_shadows"><strong>set_cast_shadows</strong></a> (bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_cast_shadows"><strong>set_cast_shadows</strong></a> (bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_color_mode-12"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode) <br></td>
+<td style="text-align: left;"><a href="#function-set_color_mode-12"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_color_mode-22"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode, const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_color_mode-22"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode, const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_commands"><strong>set_commands</strong></a> (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_commands"><strong>set_commands</strong></a> (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-12"><strong>set_coulomb_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_coulomb_coeffs-12"><strong>set_coulomb_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-22"><strong>set_coulomb_coeffs</strong></a> (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_coulomb_coeffs-22"><strong>set_coulomb_coeffs</strong></a> (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_damping_coeffs-12"><strong>set_damping_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_damping_coeffs-12"><strong>set_damping_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_damping_coeffs-22"><strong>set_damping_coeffs</strong></a> (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_damping_coeffs-22"><strong>set_damping_coeffs</strong></a> (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_draw_axis"><strong>set_draw_axis</strong></a> (const std::string &amp; body_name, double size=0.25) <br></td>
+<td style="text-align: left;"><a href="#function-set_draw_axis"><strong>set_draw_axis</strong></a> (const std::string &amp; body_name, double size=0.25) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_force-12"><strong>set_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_force-12"><strong>set_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_force-22"><strong>set_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_force-22"><strong>set_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_torque-12"><strong>set_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_torque-12"><strong>set_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_torque-22"><strong>set_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_torque-22"><strong>set_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_force_lower_limits"><strong>set_force_lower_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_force_lower_limits"><strong>set_force_lower_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_force_upper_limits"><strong>set_force_upper_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_force_upper_limits"><strong>set_force_upper_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_forces"><strong>set_forces</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_forces"><strong>set_forces</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeff-12"><strong>set_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeff-12"><strong>set_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeff-22"><strong>set_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeff-22"><strong>set_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeffs"><strong>set_friction_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeffs"><strong>set_friction_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_dir-12"><strong>set_friction_dir</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_dir-12"><strong>set_friction_dir</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_dir-22"><strong>set_friction_dir</strong></a> (size_t body_index, const Eigen::Vector3d &amp; direction) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_dir-22"><strong>set_friction_dir</strong></a> (size_t body_index, const Eigen::Vector3d &amp; direction) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_ghost"><strong>set_ghost</strong></a> (bool ghost=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_ghost"><strong>set_ghost</strong></a> (bool ghost=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_joint_name"><strong>set_joint_name</strong></a> (size_t joint_index, const std::string &amp; joint_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_joint_name"><strong>set_joint_name</strong></a> (size_t joint_index, const std::string &amp; joint_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_mimic"><strong>set_mimic</strong></a> (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.) <br></td>
+<td style="text-align: left;"><a href="#function-set_mimic"><strong>set_mimic</strong></a> (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_enforced-12"><strong>set_position_enforced</strong></a> (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_enforced-12"><strong>set_position_enforced</strong></a> (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_enforced-22"><strong>set_position_enforced</strong></a> (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_enforced-22"><strong>set_position_enforced</strong></a> (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_lower_limits"><strong>set_position_lower_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_lower_limits"><strong>set_position_lower_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_upper_limits"><strong>set_position_upper_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_upper_limits"><strong>set_position_upper_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_positions"><strong>set_positions</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_positions"><strong>set_positions</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeff-12"><strong>set_restitution_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeff-12"><strong>set_restitution_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeff-22"><strong>set_restitution_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeff-22"><strong>set_restitution_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeffs"><strong>set_restitution_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeffs"><strong>set_restitution_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-12"><strong>set_secondary_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeff-12"><strong>set_secondary_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-22"><strong>set_secondary_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeff-22"><strong>set_secondary_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeffs"><strong>set_secondary_friction_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeffs"><strong>set_secondary_friction_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_self_collision"><strong>set_self_collision</strong></a> (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_self_collision"><strong>set_self_collision</strong></a> (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-12"><strong>set_spring_stiffnesses</strong></a> (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_spring_stiffnesses-12"><strong>set_spring_stiffnesses</strong></a> (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-22"><strong>set_spring_stiffnesses</strong></a> (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_spring_stiffnesses-22"><strong>set_spring_stiffnesses</strong></a> (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocities"><strong>set_velocities</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocities"><strong>set_velocities</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocity_lower_limits"><strong>set_velocity_lower_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocity_lower_limits"><strong>set_velocity_lower_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocity_upper_limits"><strong>set_velocity_upper_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocity_upper_limits"><strong>set_velocity_upper_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-skeleton"><strong>skeleton</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-skeleton"><strong>skeleton</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-spring_stiffnesses"><strong>spring_stiffnesses</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-spring_stiffnesses"><strong>spring_stiffnesses</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-update"><strong>update</strong></a> (double t) <br></td>
+<td style="text-align: left;"><a href="#function-update"><strong>update</strong></a> (double t) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-update_joint_dof_maps"><strong>update_joint_dof_maps</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-update_joint_dof_maps"><strong>update_joint_dof_maps</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-vec_dof"><strong>vec_dof</strong></a> (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-vec_dof"><strong>vec_dof</strong></a> (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocities"><strong>velocities</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocities"><strong>velocities</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocity_lower_limits"><strong>velocity_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocity_lower_limits"><strong>velocity_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocity_upper_limits"><strong>velocity_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocity_upper_limits"><strong>velocity_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot"><strong>~Robot</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-robot"><strong>~Robot</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -1953,19 +1953,19 @@ <h2 id="public-static-functions-inherited-from-robot_dartrobot">Public Static Fu
 <tbody>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_box-12"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
+<td style="text-align: left;"><a href="#function-create_box-12"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_box-22"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
+<td style="text-align: left;"><a href="#function-create_box-22"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_ellipsoid-12"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
+<td style="text-align: left;"><a href="#function-create_ellipsoid-12"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_ellipsoid-22"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
+<td style="text-align: left;"><a href="#function-create_ellipsoid-22"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
 </tr>
 </tbody>
 </table>
@@ -1996,43 +1996,43 @@ <h2 id="protected-attributes-inherited-from-robot_dartrobot">Protected Attribute
 <tbody>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_axis_shapes"><strong>_axis_shapes</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_axis_shapes"><strong>_axis_shapes</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_cast_shadows"><strong>_cast_shadows</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_cast_shadows"><strong>_cast_shadows</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_controllers"><strong>_controllers</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_controllers"><strong>_controllers</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; std::string, size_t &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_dof_map"><strong>_dof_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_dof_map"><strong>_dof_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_is_ghost"><strong>_is_ghost</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_is_ghost"><strong>_is_ghost</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; std::string, size_t &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_joint_map"><strong>_joint_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_joint_map"><strong>_joint_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_model_filename"><strong>_model_filename</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_model_filename"><strong>_model_filename</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_packages"><strong>_packages</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_packages"><strong>_packages</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_robot_name"><strong>_robot_name</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_robot_name"><strong>_robot_name</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_skeleton"><strong>_skeleton</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_skeleton"><strong>_skeleton</strong></a>  <br></td>
 </tr>
 </tbody>
 </table>
@@ -2048,55 +2048,55 @@ <h2 id="protected-functions-inherited-from-robot_dartrobot">Protected Functions
 <tbody>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint::ActuatorType</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_actuator_type"><strong>_actuator_type</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-_actuator_type"><strong>_actuator_type</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; dart::dynamics::Joint::ActuatorType &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_actuator_types"><strong>_actuator_types</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-_actuator_types"><strong>_actuator_types</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_get_path"><strong>_get_path</strong></a> (const std::string &amp; filename) const<br></td>
+<td style="text-align: left;"><a href="#function-_get_path"><strong>_get_path</strong></a> (const std::string &amp; filename) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_jacobian"><strong>_jacobian</strong></a> (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-_jacobian"><strong>_jacobian</strong></a> (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_load_model"><strong>_load_model</strong></a> (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false) <br></td>
+<td style="text-align: left;"><a href="#function-_load_model"><strong>_load_model</strong></a> (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_mass_matrix"><strong>_mass_matrix</strong></a> (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-_mass_matrix"><strong>_mass_matrix</strong></a> (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_type"><strong>_set_actuator_type</strong></a> (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_type"><strong>_set_actuator_type</strong></a> (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_types-12"><strong>_set_actuator_types</strong></a> (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_types-12"><strong>_set_actuator_types</strong></a> (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_types-22"><strong>_set_actuator_types</strong></a> (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_types-22"><strong>_set_actuator_types</strong></a> (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_color_mode-12"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) <br></td>
+<td style="text-align: left;"><a href="#function-_set_color_mode-12"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_color_mode-22"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn) <br></td>
+<td style="text-align: left;"><a href="#function-_set_color_mode-22"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn) <br></td>
 </tr>
 </tbody>
 </table>
@@ -2145,14 +2145,14 @@ <h3 id="variable-_imu">variable _imu<a class="headerlink" href="#variable-_imu"
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -2186,10 +2186,10 @@ <h3 id="variable-_imu">variable _imu<a class="headerlink" href="#variable-_imu"
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1robots_1_1Arm/index.html b/docs/api/classrobot__dart_1_1robots_1_1Arm/index.html
index 2b297a24..7e61cdc0 100644
--- a/docs/api/classrobot__dart_1_1robots_1_1Arm/index.html
+++ b/docs/api/classrobot__dart_1_1robots_1_1Arm/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
-  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6zm80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3z"/></svg>');}</style>
+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
-  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4V7Z"/></svg>');}</style>
+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -58,7 +58,7 @@
       
     
     
-    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce((e,_)=>(e<<5)-e+_.charCodeAt(0),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
       </label>
     
   
@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     Documentation of RobotDART
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     NOSALRO/robot_dart
@@ -1186,699 +1186,699 @@ <h2 id="public-functions-inherited-from-robot_dartrobot">Public Functions inheri
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-13"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-13"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-23"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-23"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-33"><strong>Robot</strong></a> (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name="robot", bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-33"><strong>Robot</strong></a> (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name="robot", bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-acceleration_lower_limits"><strong>acceleration_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-acceleration_lower_limits"><strong>acceleration_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-acceleration_upper_limits"><strong>acceleration_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-acceleration_upper_limits"><strong>acceleration_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-accelerations"><strong>accelerations</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-accelerations"><strong>accelerations</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-active_controllers"><strong>active_controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-active_controllers"><strong>active_controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-actuator_type"><strong>actuator_type</strong></a> (const std::string &amp; joint_name) const<br></td>
+<td style="text-align: left;"><a href="#function-actuator_type"><strong>actuator_type</strong></a> (const std::string &amp; joint_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-actuator_types"><strong>actuator_types</strong></a> (const std::vector&lt; std::string &gt; &amp; joint_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-actuator_types"><strong>actuator_types</strong></a> (const std::vector&lt; std::string &gt; &amp; joint_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_body_mass-12"><strong>add_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-add_body_mass-12"><strong>add_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_body_mass-22"><strong>add_body_mass</strong></a> (size_t body_index, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-add_body_mass-22"><strong>add_body_mass</strong></a> (size_t body_index, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_controller"><strong>add_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller, double weight=1.0) <br></td>
+<td style="text-align: left;"><a href="#function-add_controller"><strong>add_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller, double weight=1.0) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_force-12"><strong>add_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_force-12"><strong>add_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_force-22"><strong>add_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_force-22"><strong>add_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_torque-12"><strong>add_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_torque-12"><strong>add_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_torque-22"><strong>add_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_torque-22"><strong>add_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-adjacent_colliding"><strong>adjacent_colliding</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-adjacent_colliding"><strong>adjacent_colliding</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-aug_mass_matrix"><strong>aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-aug_mass_matrix"><strong>aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-base_pose"><strong>base_pose</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-base_pose"><strong>base_pose</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-base_pose_vec"><strong>base_pose_vec</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-base_pose_vec"><strong>base_pose_vec</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_acceleration-12"><strong>body_acceleration</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_acceleration-12"><strong>body_acceleration</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_acceleration-22"><strong>body_acceleration</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_acceleration-22"><strong>body_acceleration</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_index"><strong>body_index</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_index"><strong>body_index</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_mass-12"><strong>body_mass</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_mass-12"><strong>body_mass</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_mass-22"><strong>body_mass</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_mass-22"><strong>body_mass</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_name"><strong>body_name</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_name"><strong>body_name</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_names"><strong>body_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-body_names"><strong>body_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_node-12"><strong>body_node</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-body_node-12"><strong>body_node</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_node-22"><strong>body_node</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-body_node-22"><strong>body_node</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose-12"><strong>body_pose</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose-12"><strong>body_pose</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose-22"><strong>body_pose</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose-22"><strong>body_pose</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose_vec-12"><strong>body_pose_vec</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose_vec-12"><strong>body_pose_vec</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose_vec-22"><strong>body_pose_vec</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose_vec-22"><strong>body_pose_vec</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_velocity-12"><strong>body_velocity</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_velocity-12"><strong>body_velocity</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_velocity-22"><strong>body_velocity</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_velocity-22"><strong>body_velocity</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-cast_shadows"><strong>cast_shadows</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-cast_shadows"><strong>cast_shadows</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_controllers"><strong>clear_controllers</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_controllers"><strong>clear_controllers</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_external_forces"><strong>clear_external_forces</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_external_forces"><strong>clear_external_forces</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_internal_forces"><strong>clear_internal_forces</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_internal_forces"><strong>clear_internal_forces</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clone"><strong>clone</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-clone"><strong>clone</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clone_ghost"><strong>clone_ghost</strong></a> (const std::string &amp; ghost_name="ghost", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const<br></td>
+<td style="text-align: left;"><a href="#function-clone_ghost"><strong>clone_ghost</strong></a> (const std::string &amp; ghost_name="ghost", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com"><strong>com</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com"><strong>com</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_acceleration"><strong>com_acceleration</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com_acceleration"><strong>com_acceleration</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_jacobian"><strong>com_jacobian</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-com_jacobian"><strong>com_jacobian</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_jacobian_deriv"><strong>com_jacobian_deriv</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-com_jacobian_deriv"><strong>com_jacobian_deriv</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_velocity"><strong>com_velocity</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com_velocity"><strong>com_velocity</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-commands"><strong>commands</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-commands"><strong>commands</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-constraint_forces"><strong>constraint_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-constraint_forces"><strong>constraint_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-controller"><strong>controller</strong></a> (size_t index) const<br></td>
+<td style="text-align: left;"><a href="#function-controller"><strong>controller</strong></a> (size_t index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-controllers"><strong>controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-controllers"><strong>controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coriolis_forces"><strong>coriolis_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coriolis_forces"><strong>coriolis_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coriolis_gravity_forces"><strong>coriolis_gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coriolis_gravity_forces"><strong>coriolis_gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coulomb_coeffs"><strong>coulomb_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coulomb_coeffs"><strong>coulomb_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-damping_coeffs"><strong>damping_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-damping_coeffs"><strong>damping_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::DegreeOfFreedom *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof-12"><strong>dof</strong></a> (const std::string &amp; dof_name) <br></td>
+<td style="text-align: left;"><a href="#function-dof-12"><strong>dof</strong></a> (const std::string &amp; dof_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::DegreeOfFreedom *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof-22"><strong>dof</strong></a> (size_t dof_index) <br></td>
+<td style="text-align: left;"><a href="#function-dof-22"><strong>dof</strong></a> (size_t dof_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_index"><strong>dof_index</strong></a> (const std::string &amp; dof_name) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_index"><strong>dof_index</strong></a> (const std::string &amp; dof_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::unordered_map&lt; std::string, size_t &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_map"><strong>dof_map</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-dof_map"><strong>dof_map</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_name"><strong>dof_name</strong></a> (size_t dof_index) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_name"><strong>dof_name</strong></a> (size_t dof_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_names"><strong>dof_names</strong></a> (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_names"><strong>dof_names</strong></a> (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-drawing_axes"><strong>drawing_axes</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-drawing_axes"><strong>drawing_axes</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-external_forces-12"><strong>external_forces</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-external_forces-12"><strong>external_forces</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-external_forces-22"><strong>external_forces</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-external_forces-22"><strong>external_forces</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-fix_to_world"><strong>fix_to_world</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-fix_to_world"><strong>fix_to_world</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-fixed"><strong>fixed</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-fixed"><strong>fixed</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_lower_limits"><strong>force_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-force_lower_limits"><strong>force_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_position_bounds"><strong>force_position_bounds</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-force_position_bounds"><strong>force_position_bounds</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_torque"><strong>force_torque</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-force_torque"><strong>force_torque</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_upper_limits"><strong>force_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-force_upper_limits"><strong>force_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-forces"><strong>forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-forces"><strong>forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-free"><strong>free</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-free"><strong>free</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-free_from_world"><strong>free_from_world</strong></a> (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()) <br></td>
+<td style="text-align: left;"><a href="#function-free_from_world"><strong>free_from_world</strong></a> (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_coeff-12"><strong>friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-friction_coeff-12"><strong>friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_coeff-22"><strong>friction_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-friction_coeff-22"><strong>friction_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_dir-12"><strong>friction_dir</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-friction_dir-12"><strong>friction_dir</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_dir-22"><strong>friction_dir</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-friction_dir-22"><strong>friction_dir</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-ghost"><strong>ghost</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-ghost"><strong>ghost</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-gravity_forces"><strong>gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-gravity_forces"><strong>gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-inv_aug_mass_matrix"><strong>inv_aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-inv_aug_mass_matrix"><strong>inv_aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-inv_mass_matrix"><strong>inv_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-inv_mass_matrix"><strong>inv_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-jacobian"><strong>jacobian</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-jacobian"><strong>jacobian</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-jacobian_deriv"><strong>jacobian_deriv</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-jacobian_deriv"><strong>jacobian_deriv</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint-12"><strong>joint</strong></a> (const std::string &amp; joint_name) <br></td>
+<td style="text-align: left;"><a href="#function-joint-12"><strong>joint</strong></a> (const std::string &amp; joint_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint-22"><strong>joint</strong></a> (size_t joint_index) <br></td>
+<td style="text-align: left;"><a href="#function-joint-22"><strong>joint</strong></a> (size_t joint_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_index"><strong>joint_index</strong></a> (const std::string &amp; joint_name) const<br></td>
+<td style="text-align: left;"><a href="#function-joint_index"><strong>joint_index</strong></a> (const std::string &amp; joint_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::unordered_map&lt; std::string, size_t &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_map"><strong>joint_map</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-joint_map"><strong>joint_map</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_name"><strong>joint_name</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-joint_name"><strong>joint_name</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_names"><strong>joint_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-joint_names"><strong>joint_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-locked_dof_names"><strong>locked_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-locked_dof_names"><strong>locked_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-mass_matrix"><strong>mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-mass_matrix"><strong>mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-mimic_dof_names"><strong>mimic_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-mimic_dof_names"><strong>mimic_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-model_filename"><strong>model_filename</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-model_filename"><strong>model_filename</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-model_packages"><strong>model_packages</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-model_packages"><strong>model_packages</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-name"><strong>name</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-name"><strong>name</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_bodies"><strong>num_bodies</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_bodies"><strong>num_bodies</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_controllers"><strong>num_controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_controllers"><strong>num_controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_dofs"><strong>num_dofs</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_dofs"><strong>num_dofs</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_joints"><strong>num_joints</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_joints"><strong>num_joints</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-passive_dof_names"><strong>passive_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-passive_dof_names"><strong>passive_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; bool &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_enforced"><strong>position_enforced</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_enforced"><strong>position_enforced</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_lower_limits"><strong>position_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_lower_limits"><strong>position_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_upper_limits"><strong>position_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_upper_limits"><strong>position_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-positions"><strong>positions</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-positions"><strong>positions</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reinit_controllers"><strong>reinit_controllers</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reinit_controllers"><strong>reinit_controllers</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_all_drawing_axis"><strong>remove_all_drawing_axis</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-remove_all_drawing_axis"><strong>remove_all_drawing_axis</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_controller-12"><strong>remove_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller) <br></td>
+<td style="text-align: left;"><a href="#function-remove_controller-12"><strong>remove_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_controller-22"><strong>remove_controller</strong></a> (size_t index) <br></td>
+<td style="text-align: left;"><a href="#function-remove_controller-22"><strong>remove_controller</strong></a> (size_t index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reset"><strong>reset</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reset"><strong>reset</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reset_commands"><strong>reset_commands</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reset_commands"><strong>reset_commands</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-restitution_coeff-12"><strong>restitution_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-restitution_coeff-12"><strong>restitution_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-restitution_coeff-22"><strong>restitution_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-restitution_coeff-22"><strong>restitution_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-secondary_friction_coeff-12"><strong>secondary_friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-secondary_friction_coeff-12"><strong>secondary_friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-secondary_friction_coeff-22"><strong>secondary_friction_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-secondary_friction_coeff-22"><strong>secondary_friction_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-self_colliding"><strong>self_colliding</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-self_colliding"><strong>self_colliding</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_acceleration_lower_limits"><strong>set_acceleration_lower_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_acceleration_lower_limits"><strong>set_acceleration_lower_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_acceleration_upper_limits"><strong>set_acceleration_upper_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_acceleration_upper_limits"><strong>set_acceleration_upper_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_accelerations"><strong>set_accelerations</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_accelerations"><strong>set_accelerations</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_actuator_type"><strong>set_actuator_type</strong></a> (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_actuator_type"><strong>set_actuator_type</strong></a> (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_actuator_types"><strong>set_actuator_types</strong></a> (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_actuator_types"><strong>set_actuator_types</strong></a> (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_base_pose-12"><strong>set_base_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
+<td style="text-align: left;"><a href="#function-set_base_pose-12"><strong>set_base_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_base_pose-22"><strong>set_base_pose</strong></a> (const Eigen::Vector6d &amp; pose) <br><em>set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)</em></td>
+<td style="text-align: left;"><a href="#function-set_base_pose-22"><strong>set_base_pose</strong></a> (const Eigen::Vector6d &amp; pose) <br><em>set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_mass-12"><strong>set_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_mass-12"><strong>set_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_mass-22"><strong>set_body_mass</strong></a> (size_t body_index, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_mass-22"><strong>set_body_mass</strong></a> (size_t body_index, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_name"><strong>set_body_name</strong></a> (size_t body_index, const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_name"><strong>set_body_name</strong></a> (size_t body_index, const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_cast_shadows"><strong>set_cast_shadows</strong></a> (bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_cast_shadows"><strong>set_cast_shadows</strong></a> (bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_color_mode-12"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode) <br></td>
+<td style="text-align: left;"><a href="#function-set_color_mode-12"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_color_mode-22"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode, const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_color_mode-22"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode, const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_commands"><strong>set_commands</strong></a> (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_commands"><strong>set_commands</strong></a> (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-12"><strong>set_coulomb_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_coulomb_coeffs-12"><strong>set_coulomb_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-22"><strong>set_coulomb_coeffs</strong></a> (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_coulomb_coeffs-22"><strong>set_coulomb_coeffs</strong></a> (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_damping_coeffs-12"><strong>set_damping_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_damping_coeffs-12"><strong>set_damping_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_damping_coeffs-22"><strong>set_damping_coeffs</strong></a> (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_damping_coeffs-22"><strong>set_damping_coeffs</strong></a> (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_draw_axis"><strong>set_draw_axis</strong></a> (const std::string &amp; body_name, double size=0.25) <br></td>
+<td style="text-align: left;"><a href="#function-set_draw_axis"><strong>set_draw_axis</strong></a> (const std::string &amp; body_name, double size=0.25) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_force-12"><strong>set_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_force-12"><strong>set_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_force-22"><strong>set_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_force-22"><strong>set_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_torque-12"><strong>set_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_torque-12"><strong>set_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_torque-22"><strong>set_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_torque-22"><strong>set_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_force_lower_limits"><strong>set_force_lower_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_force_lower_limits"><strong>set_force_lower_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_force_upper_limits"><strong>set_force_upper_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_force_upper_limits"><strong>set_force_upper_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_forces"><strong>set_forces</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_forces"><strong>set_forces</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeff-12"><strong>set_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeff-12"><strong>set_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeff-22"><strong>set_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeff-22"><strong>set_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeffs"><strong>set_friction_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeffs"><strong>set_friction_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_dir-12"><strong>set_friction_dir</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_dir-12"><strong>set_friction_dir</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_dir-22"><strong>set_friction_dir</strong></a> (size_t body_index, const Eigen::Vector3d &amp; direction) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_dir-22"><strong>set_friction_dir</strong></a> (size_t body_index, const Eigen::Vector3d &amp; direction) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_ghost"><strong>set_ghost</strong></a> (bool ghost=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_ghost"><strong>set_ghost</strong></a> (bool ghost=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_joint_name"><strong>set_joint_name</strong></a> (size_t joint_index, const std::string &amp; joint_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_joint_name"><strong>set_joint_name</strong></a> (size_t joint_index, const std::string &amp; joint_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_mimic"><strong>set_mimic</strong></a> (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.) <br></td>
+<td style="text-align: left;"><a href="#function-set_mimic"><strong>set_mimic</strong></a> (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_enforced-12"><strong>set_position_enforced</strong></a> (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_enforced-12"><strong>set_position_enforced</strong></a> (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_enforced-22"><strong>set_position_enforced</strong></a> (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_enforced-22"><strong>set_position_enforced</strong></a> (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_lower_limits"><strong>set_position_lower_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_lower_limits"><strong>set_position_lower_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_upper_limits"><strong>set_position_upper_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_upper_limits"><strong>set_position_upper_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_positions"><strong>set_positions</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_positions"><strong>set_positions</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeff-12"><strong>set_restitution_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeff-12"><strong>set_restitution_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeff-22"><strong>set_restitution_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeff-22"><strong>set_restitution_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeffs"><strong>set_restitution_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeffs"><strong>set_restitution_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-12"><strong>set_secondary_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeff-12"><strong>set_secondary_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-22"><strong>set_secondary_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeff-22"><strong>set_secondary_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeffs"><strong>set_secondary_friction_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeffs"><strong>set_secondary_friction_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_self_collision"><strong>set_self_collision</strong></a> (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_self_collision"><strong>set_self_collision</strong></a> (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-12"><strong>set_spring_stiffnesses</strong></a> (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_spring_stiffnesses-12"><strong>set_spring_stiffnesses</strong></a> (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-22"><strong>set_spring_stiffnesses</strong></a> (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_spring_stiffnesses-22"><strong>set_spring_stiffnesses</strong></a> (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocities"><strong>set_velocities</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocities"><strong>set_velocities</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocity_lower_limits"><strong>set_velocity_lower_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocity_lower_limits"><strong>set_velocity_lower_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocity_upper_limits"><strong>set_velocity_upper_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocity_upper_limits"><strong>set_velocity_upper_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-skeleton"><strong>skeleton</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-skeleton"><strong>skeleton</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-spring_stiffnesses"><strong>spring_stiffnesses</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-spring_stiffnesses"><strong>spring_stiffnesses</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-update"><strong>update</strong></a> (double t) <br></td>
+<td style="text-align: left;"><a href="#function-update"><strong>update</strong></a> (double t) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-update_joint_dof_maps"><strong>update_joint_dof_maps</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-update_joint_dof_maps"><strong>update_joint_dof_maps</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-vec_dof"><strong>vec_dof</strong></a> (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-vec_dof"><strong>vec_dof</strong></a> (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocities"><strong>velocities</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocities"><strong>velocities</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocity_lower_limits"><strong>velocity_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocity_lower_limits"><strong>velocity_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocity_upper_limits"><strong>velocity_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocity_upper_limits"><strong>velocity_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot"><strong>~Robot</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-robot"><strong>~Robot</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -1894,19 +1894,19 @@ <h2 id="public-static-functions-inherited-from-robot_dartrobot">Public Static Fu
 <tbody>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_box-12"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
+<td style="text-align: left;"><a href="#function-create_box-12"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_box-22"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
+<td style="text-align: left;"><a href="#function-create_box-22"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_ellipsoid-12"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
+<td style="text-align: left;"><a href="#function-create_ellipsoid-12"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_ellipsoid-22"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
+<td style="text-align: left;"><a href="#function-create_ellipsoid-22"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
 </tr>
 </tbody>
 </table>
@@ -1922,43 +1922,43 @@ <h2 id="protected-attributes-inherited-from-robot_dartrobot">Protected Attribute
 <tbody>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_axis_shapes"><strong>_axis_shapes</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_axis_shapes"><strong>_axis_shapes</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_cast_shadows"><strong>_cast_shadows</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_cast_shadows"><strong>_cast_shadows</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_controllers"><strong>_controllers</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_controllers"><strong>_controllers</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; std::string, size_t &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_dof_map"><strong>_dof_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_dof_map"><strong>_dof_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_is_ghost"><strong>_is_ghost</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_is_ghost"><strong>_is_ghost</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; std::string, size_t &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_joint_map"><strong>_joint_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_joint_map"><strong>_joint_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_model_filename"><strong>_model_filename</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_model_filename"><strong>_model_filename</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_packages"><strong>_packages</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_packages"><strong>_packages</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_robot_name"><strong>_robot_name</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_robot_name"><strong>_robot_name</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_skeleton"><strong>_skeleton</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_skeleton"><strong>_skeleton</strong></a>  <br></td>
 </tr>
 </tbody>
 </table>
@@ -1974,55 +1974,55 @@ <h2 id="protected-functions-inherited-from-robot_dartrobot">Protected Functions
 <tbody>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint::ActuatorType</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_actuator_type"><strong>_actuator_type</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-_actuator_type"><strong>_actuator_type</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; dart::dynamics::Joint::ActuatorType &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_actuator_types"><strong>_actuator_types</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-_actuator_types"><strong>_actuator_types</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_get_path"><strong>_get_path</strong></a> (const std::string &amp; filename) const<br></td>
+<td style="text-align: left;"><a href="#function-_get_path"><strong>_get_path</strong></a> (const std::string &amp; filename) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_jacobian"><strong>_jacobian</strong></a> (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-_jacobian"><strong>_jacobian</strong></a> (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_load_model"><strong>_load_model</strong></a> (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false) <br></td>
+<td style="text-align: left;"><a href="#function-_load_model"><strong>_load_model</strong></a> (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_mass_matrix"><strong>_mass_matrix</strong></a> (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-_mass_matrix"><strong>_mass_matrix</strong></a> (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_type"><strong>_set_actuator_type</strong></a> (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_type"><strong>_set_actuator_type</strong></a> (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_types-12"><strong>_set_actuator_types</strong></a> (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_types-12"><strong>_set_actuator_types</strong></a> (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_types-22"><strong>_set_actuator_types</strong></a> (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_types-22"><strong>_set_actuator_types</strong></a> (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_color_mode-12"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) <br></td>
+<td style="text-align: left;"><a href="#function-_set_color_mode-12"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_color_mode-22"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn) <br></td>
+<td style="text-align: left;"><a href="#function-_set_color_mode-22"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn) <br></td>
 </tr>
 </tbody>
 </table>
@@ -2053,14 +2053,14 @@ <h3 id="function-arm">function Arm<a class="headerlink" href="#function-arm" tit
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
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           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -2094,10 +2094,10 @@ <h3 id="function-arm">function Arm<a class="headerlink" href="#function-arm" tit
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1robots_1_1Franka/index.html b/docs/api/classrobot__dart_1_1robots_1_1Franka/index.html
index 2e4d3058..9d3c751a 100644
--- a/docs/api/classrobot__dart_1_1robots_1_1Franka/index.html
+++ b/docs/api/classrobot__dart_1_1robots_1_1Franka/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -34,14 +34,14 @@
     
   
   
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@@ -58,7 +58,7 @@
       
     
     
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@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
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       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
       </label>
     
   
@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
       </label>
     
   
@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1274,699 +1274,699 @@ <h2 id="public-functions-inherited-from-robot_dartrobot">Public Functions inheri
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-13"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-13"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-23"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-23"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-33"><strong>Robot</strong></a> (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name="robot", bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-33"><strong>Robot</strong></a> (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name="robot", bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-acceleration_lower_limits"><strong>acceleration_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-acceleration_lower_limits"><strong>acceleration_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-acceleration_upper_limits"><strong>acceleration_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-acceleration_upper_limits"><strong>acceleration_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-accelerations"><strong>accelerations</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-accelerations"><strong>accelerations</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-active_controllers"><strong>active_controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-active_controllers"><strong>active_controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-actuator_type"><strong>actuator_type</strong></a> (const std::string &amp; joint_name) const<br></td>
+<td style="text-align: left;"><a href="#function-actuator_type"><strong>actuator_type</strong></a> (const std::string &amp; joint_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-actuator_types"><strong>actuator_types</strong></a> (const std::vector&lt; std::string &gt; &amp; joint_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-actuator_types"><strong>actuator_types</strong></a> (const std::vector&lt; std::string &gt; &amp; joint_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_body_mass-12"><strong>add_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-add_body_mass-12"><strong>add_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_body_mass-22"><strong>add_body_mass</strong></a> (size_t body_index, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-add_body_mass-22"><strong>add_body_mass</strong></a> (size_t body_index, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_controller"><strong>add_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller, double weight=1.0) <br></td>
+<td style="text-align: left;"><a href="#function-add_controller"><strong>add_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller, double weight=1.0) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_force-12"><strong>add_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_force-12"><strong>add_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_force-22"><strong>add_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_force-22"><strong>add_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_torque-12"><strong>add_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_torque-12"><strong>add_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_torque-22"><strong>add_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_torque-22"><strong>add_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-adjacent_colliding"><strong>adjacent_colliding</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-adjacent_colliding"><strong>adjacent_colliding</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-aug_mass_matrix"><strong>aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-aug_mass_matrix"><strong>aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-base_pose"><strong>base_pose</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-base_pose"><strong>base_pose</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-base_pose_vec"><strong>base_pose_vec</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-base_pose_vec"><strong>base_pose_vec</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_acceleration-12"><strong>body_acceleration</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_acceleration-12"><strong>body_acceleration</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_acceleration-22"><strong>body_acceleration</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_acceleration-22"><strong>body_acceleration</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_index"><strong>body_index</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_index"><strong>body_index</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_mass-12"><strong>body_mass</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_mass-12"><strong>body_mass</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_mass-22"><strong>body_mass</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_mass-22"><strong>body_mass</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_name"><strong>body_name</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_name"><strong>body_name</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_names"><strong>body_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-body_names"><strong>body_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_node-12"><strong>body_node</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-body_node-12"><strong>body_node</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_node-22"><strong>body_node</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-body_node-22"><strong>body_node</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose-12"><strong>body_pose</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose-12"><strong>body_pose</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose-22"><strong>body_pose</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose-22"><strong>body_pose</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose_vec-12"><strong>body_pose_vec</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose_vec-12"><strong>body_pose_vec</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose_vec-22"><strong>body_pose_vec</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose_vec-22"><strong>body_pose_vec</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_velocity-12"><strong>body_velocity</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_velocity-12"><strong>body_velocity</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_velocity-22"><strong>body_velocity</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_velocity-22"><strong>body_velocity</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-cast_shadows"><strong>cast_shadows</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-cast_shadows"><strong>cast_shadows</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_controllers"><strong>clear_controllers</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_controllers"><strong>clear_controllers</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_external_forces"><strong>clear_external_forces</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_external_forces"><strong>clear_external_forces</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_internal_forces"><strong>clear_internal_forces</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_internal_forces"><strong>clear_internal_forces</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clone"><strong>clone</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-clone"><strong>clone</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clone_ghost"><strong>clone_ghost</strong></a> (const std::string &amp; ghost_name="ghost", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const<br></td>
+<td style="text-align: left;"><a href="#function-clone_ghost"><strong>clone_ghost</strong></a> (const std::string &amp; ghost_name="ghost", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com"><strong>com</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com"><strong>com</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_acceleration"><strong>com_acceleration</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com_acceleration"><strong>com_acceleration</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_jacobian"><strong>com_jacobian</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-com_jacobian"><strong>com_jacobian</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_jacobian_deriv"><strong>com_jacobian_deriv</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-com_jacobian_deriv"><strong>com_jacobian_deriv</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_velocity"><strong>com_velocity</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com_velocity"><strong>com_velocity</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-commands"><strong>commands</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-commands"><strong>commands</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-constraint_forces"><strong>constraint_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-constraint_forces"><strong>constraint_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-controller"><strong>controller</strong></a> (size_t index) const<br></td>
+<td style="text-align: left;"><a href="#function-controller"><strong>controller</strong></a> (size_t index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-controllers"><strong>controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-controllers"><strong>controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coriolis_forces"><strong>coriolis_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coriolis_forces"><strong>coriolis_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coriolis_gravity_forces"><strong>coriolis_gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coriolis_gravity_forces"><strong>coriolis_gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coulomb_coeffs"><strong>coulomb_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coulomb_coeffs"><strong>coulomb_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-damping_coeffs"><strong>damping_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-damping_coeffs"><strong>damping_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::DegreeOfFreedom *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof-12"><strong>dof</strong></a> (const std::string &amp; dof_name) <br></td>
+<td style="text-align: left;"><a href="#function-dof-12"><strong>dof</strong></a> (const std::string &amp; dof_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::DegreeOfFreedom *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof-22"><strong>dof</strong></a> (size_t dof_index) <br></td>
+<td style="text-align: left;"><a href="#function-dof-22"><strong>dof</strong></a> (size_t dof_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_index"><strong>dof_index</strong></a> (const std::string &amp; dof_name) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_index"><strong>dof_index</strong></a> (const std::string &amp; dof_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::unordered_map&lt; std::string, size_t &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_map"><strong>dof_map</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-dof_map"><strong>dof_map</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_name"><strong>dof_name</strong></a> (size_t dof_index) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_name"><strong>dof_name</strong></a> (size_t dof_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_names"><strong>dof_names</strong></a> (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_names"><strong>dof_names</strong></a> (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-drawing_axes"><strong>drawing_axes</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-drawing_axes"><strong>drawing_axes</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-external_forces-12"><strong>external_forces</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-external_forces-12"><strong>external_forces</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-external_forces-22"><strong>external_forces</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-external_forces-22"><strong>external_forces</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-fix_to_world"><strong>fix_to_world</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-fix_to_world"><strong>fix_to_world</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-fixed"><strong>fixed</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-fixed"><strong>fixed</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_lower_limits"><strong>force_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-force_lower_limits"><strong>force_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_position_bounds"><strong>force_position_bounds</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-force_position_bounds"><strong>force_position_bounds</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_torque"><strong>force_torque</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-force_torque"><strong>force_torque</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_upper_limits"><strong>force_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-force_upper_limits"><strong>force_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-forces"><strong>forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-forces"><strong>forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-free"><strong>free</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-free"><strong>free</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-free_from_world"><strong>free_from_world</strong></a> (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()) <br></td>
+<td style="text-align: left;"><a href="#function-free_from_world"><strong>free_from_world</strong></a> (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_coeff-12"><strong>friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-friction_coeff-12"><strong>friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_coeff-22"><strong>friction_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-friction_coeff-22"><strong>friction_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_dir-12"><strong>friction_dir</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-friction_dir-12"><strong>friction_dir</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_dir-22"><strong>friction_dir</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-friction_dir-22"><strong>friction_dir</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-ghost"><strong>ghost</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-ghost"><strong>ghost</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-gravity_forces"><strong>gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-gravity_forces"><strong>gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-inv_aug_mass_matrix"><strong>inv_aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-inv_aug_mass_matrix"><strong>inv_aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-inv_mass_matrix"><strong>inv_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-inv_mass_matrix"><strong>inv_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-jacobian"><strong>jacobian</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-jacobian"><strong>jacobian</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-jacobian_deriv"><strong>jacobian_deriv</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-jacobian_deriv"><strong>jacobian_deriv</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint-12"><strong>joint</strong></a> (const std::string &amp; joint_name) <br></td>
+<td style="text-align: left;"><a href="#function-joint-12"><strong>joint</strong></a> (const std::string &amp; joint_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint-22"><strong>joint</strong></a> (size_t joint_index) <br></td>
+<td style="text-align: left;"><a href="#function-joint-22"><strong>joint</strong></a> (size_t joint_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_index"><strong>joint_index</strong></a> (const std::string &amp; joint_name) const<br></td>
+<td style="text-align: left;"><a href="#function-joint_index"><strong>joint_index</strong></a> (const std::string &amp; joint_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::unordered_map&lt; std::string, size_t &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_map"><strong>joint_map</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-joint_map"><strong>joint_map</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_name"><strong>joint_name</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-joint_name"><strong>joint_name</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_names"><strong>joint_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-joint_names"><strong>joint_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-locked_dof_names"><strong>locked_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-locked_dof_names"><strong>locked_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-mass_matrix"><strong>mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-mass_matrix"><strong>mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-mimic_dof_names"><strong>mimic_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-mimic_dof_names"><strong>mimic_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-model_filename"><strong>model_filename</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-model_filename"><strong>model_filename</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-model_packages"><strong>model_packages</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-model_packages"><strong>model_packages</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-name"><strong>name</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-name"><strong>name</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_bodies"><strong>num_bodies</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_bodies"><strong>num_bodies</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_controllers"><strong>num_controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_controllers"><strong>num_controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_dofs"><strong>num_dofs</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_dofs"><strong>num_dofs</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_joints"><strong>num_joints</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_joints"><strong>num_joints</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-passive_dof_names"><strong>passive_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-passive_dof_names"><strong>passive_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; bool &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_enforced"><strong>position_enforced</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_enforced"><strong>position_enforced</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_lower_limits"><strong>position_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_lower_limits"><strong>position_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_upper_limits"><strong>position_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_upper_limits"><strong>position_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-positions"><strong>positions</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-positions"><strong>positions</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reinit_controllers"><strong>reinit_controllers</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reinit_controllers"><strong>reinit_controllers</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_all_drawing_axis"><strong>remove_all_drawing_axis</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-remove_all_drawing_axis"><strong>remove_all_drawing_axis</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_controller-12"><strong>remove_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller) <br></td>
+<td style="text-align: left;"><a href="#function-remove_controller-12"><strong>remove_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_controller-22"><strong>remove_controller</strong></a> (size_t index) <br></td>
+<td style="text-align: left;"><a href="#function-remove_controller-22"><strong>remove_controller</strong></a> (size_t index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reset"><strong>reset</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reset"><strong>reset</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reset_commands"><strong>reset_commands</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reset_commands"><strong>reset_commands</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-restitution_coeff-12"><strong>restitution_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-restitution_coeff-12"><strong>restitution_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-restitution_coeff-22"><strong>restitution_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-restitution_coeff-22"><strong>restitution_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-secondary_friction_coeff-12"><strong>secondary_friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-secondary_friction_coeff-12"><strong>secondary_friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-secondary_friction_coeff-22"><strong>secondary_friction_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-secondary_friction_coeff-22"><strong>secondary_friction_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-self_colliding"><strong>self_colliding</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-self_colliding"><strong>self_colliding</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_acceleration_lower_limits"><strong>set_acceleration_lower_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_acceleration_lower_limits"><strong>set_acceleration_lower_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_acceleration_upper_limits"><strong>set_acceleration_upper_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_acceleration_upper_limits"><strong>set_acceleration_upper_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_accelerations"><strong>set_accelerations</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_accelerations"><strong>set_accelerations</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_actuator_type"><strong>set_actuator_type</strong></a> (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_actuator_type"><strong>set_actuator_type</strong></a> (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_actuator_types"><strong>set_actuator_types</strong></a> (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_actuator_types"><strong>set_actuator_types</strong></a> (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_base_pose-12"><strong>set_base_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
+<td style="text-align: left;"><a href="#function-set_base_pose-12"><strong>set_base_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_base_pose-22"><strong>set_base_pose</strong></a> (const Eigen::Vector6d &amp; pose) <br><em>set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)</em></td>
+<td style="text-align: left;"><a href="#function-set_base_pose-22"><strong>set_base_pose</strong></a> (const Eigen::Vector6d &amp; pose) <br><em>set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_mass-12"><strong>set_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_mass-12"><strong>set_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_mass-22"><strong>set_body_mass</strong></a> (size_t body_index, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_mass-22"><strong>set_body_mass</strong></a> (size_t body_index, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_name"><strong>set_body_name</strong></a> (size_t body_index, const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_name"><strong>set_body_name</strong></a> (size_t body_index, const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_cast_shadows"><strong>set_cast_shadows</strong></a> (bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_cast_shadows"><strong>set_cast_shadows</strong></a> (bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_color_mode-12"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode) <br></td>
+<td style="text-align: left;"><a href="#function-set_color_mode-12"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_color_mode-22"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode, const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_color_mode-22"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode, const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_commands"><strong>set_commands</strong></a> (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_commands"><strong>set_commands</strong></a> (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-12"><strong>set_coulomb_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_coulomb_coeffs-12"><strong>set_coulomb_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-22"><strong>set_coulomb_coeffs</strong></a> (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_coulomb_coeffs-22"><strong>set_coulomb_coeffs</strong></a> (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_damping_coeffs-12"><strong>set_damping_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_damping_coeffs-12"><strong>set_damping_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_damping_coeffs-22"><strong>set_damping_coeffs</strong></a> (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_damping_coeffs-22"><strong>set_damping_coeffs</strong></a> (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_draw_axis"><strong>set_draw_axis</strong></a> (const std::string &amp; body_name, double size=0.25) <br></td>
+<td style="text-align: left;"><a href="#function-set_draw_axis"><strong>set_draw_axis</strong></a> (const std::string &amp; body_name, double size=0.25) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_force-12"><strong>set_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_force-12"><strong>set_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_force-22"><strong>set_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_force-22"><strong>set_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_torque-12"><strong>set_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_torque-12"><strong>set_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_torque-22"><strong>set_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_torque-22"><strong>set_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_force_lower_limits"><strong>set_force_lower_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_force_lower_limits"><strong>set_force_lower_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_force_upper_limits"><strong>set_force_upper_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_force_upper_limits"><strong>set_force_upper_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_forces"><strong>set_forces</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_forces"><strong>set_forces</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeff-12"><strong>set_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeff-12"><strong>set_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeff-22"><strong>set_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeff-22"><strong>set_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeffs"><strong>set_friction_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeffs"><strong>set_friction_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_dir-12"><strong>set_friction_dir</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_dir-12"><strong>set_friction_dir</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_dir-22"><strong>set_friction_dir</strong></a> (size_t body_index, const Eigen::Vector3d &amp; direction) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_dir-22"><strong>set_friction_dir</strong></a> (size_t body_index, const Eigen::Vector3d &amp; direction) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_ghost"><strong>set_ghost</strong></a> (bool ghost=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_ghost"><strong>set_ghost</strong></a> (bool ghost=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_joint_name"><strong>set_joint_name</strong></a> (size_t joint_index, const std::string &amp; joint_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_joint_name"><strong>set_joint_name</strong></a> (size_t joint_index, const std::string &amp; joint_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_mimic"><strong>set_mimic</strong></a> (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.) <br></td>
+<td style="text-align: left;"><a href="#function-set_mimic"><strong>set_mimic</strong></a> (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_enforced-12"><strong>set_position_enforced</strong></a> (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_enforced-12"><strong>set_position_enforced</strong></a> (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_enforced-22"><strong>set_position_enforced</strong></a> (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_enforced-22"><strong>set_position_enforced</strong></a> (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_lower_limits"><strong>set_position_lower_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_lower_limits"><strong>set_position_lower_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_upper_limits"><strong>set_position_upper_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_upper_limits"><strong>set_position_upper_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_positions"><strong>set_positions</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_positions"><strong>set_positions</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeff-12"><strong>set_restitution_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeff-12"><strong>set_restitution_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeff-22"><strong>set_restitution_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeff-22"><strong>set_restitution_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeffs"><strong>set_restitution_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeffs"><strong>set_restitution_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-12"><strong>set_secondary_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeff-12"><strong>set_secondary_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-22"><strong>set_secondary_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeff-22"><strong>set_secondary_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeffs"><strong>set_secondary_friction_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeffs"><strong>set_secondary_friction_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_self_collision"><strong>set_self_collision</strong></a> (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_self_collision"><strong>set_self_collision</strong></a> (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-12"><strong>set_spring_stiffnesses</strong></a> (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_spring_stiffnesses-12"><strong>set_spring_stiffnesses</strong></a> (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-22"><strong>set_spring_stiffnesses</strong></a> (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_spring_stiffnesses-22"><strong>set_spring_stiffnesses</strong></a> (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocities"><strong>set_velocities</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocities"><strong>set_velocities</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocity_lower_limits"><strong>set_velocity_lower_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocity_lower_limits"><strong>set_velocity_lower_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocity_upper_limits"><strong>set_velocity_upper_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocity_upper_limits"><strong>set_velocity_upper_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-skeleton"><strong>skeleton</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-skeleton"><strong>skeleton</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-spring_stiffnesses"><strong>spring_stiffnesses</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-spring_stiffnesses"><strong>spring_stiffnesses</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-update"><strong>update</strong></a> (double t) <br></td>
+<td style="text-align: left;"><a href="#function-update"><strong>update</strong></a> (double t) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-update_joint_dof_maps"><strong>update_joint_dof_maps</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-update_joint_dof_maps"><strong>update_joint_dof_maps</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-vec_dof"><strong>vec_dof</strong></a> (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-vec_dof"><strong>vec_dof</strong></a> (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocities"><strong>velocities</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocities"><strong>velocities</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocity_lower_limits"><strong>velocity_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocity_lower_limits"><strong>velocity_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocity_upper_limits"><strong>velocity_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocity_upper_limits"><strong>velocity_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot"><strong>~Robot</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-robot"><strong>~Robot</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -1982,19 +1982,19 @@ <h2 id="public-static-functions-inherited-from-robot_dartrobot">Public Static Fu
 <tbody>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_box-12"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
+<td style="text-align: left;"><a href="#function-create_box-12"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_box-22"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
+<td style="text-align: left;"><a href="#function-create_box-22"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_ellipsoid-12"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
+<td style="text-align: left;"><a href="#function-create_ellipsoid-12"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_ellipsoid-22"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
+<td style="text-align: left;"><a href="#function-create_ellipsoid-22"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
 </tr>
 </tbody>
 </table>
@@ -2025,43 +2025,43 @@ <h2 id="protected-attributes-inherited-from-robot_dartrobot">Protected Attribute
 <tbody>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_axis_shapes"><strong>_axis_shapes</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_axis_shapes"><strong>_axis_shapes</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_cast_shadows"><strong>_cast_shadows</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_cast_shadows"><strong>_cast_shadows</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_controllers"><strong>_controllers</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_controllers"><strong>_controllers</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; std::string, size_t &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_dof_map"><strong>_dof_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_dof_map"><strong>_dof_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_is_ghost"><strong>_is_ghost</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_is_ghost"><strong>_is_ghost</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; std::string, size_t &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_joint_map"><strong>_joint_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_joint_map"><strong>_joint_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_model_filename"><strong>_model_filename</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_model_filename"><strong>_model_filename</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_packages"><strong>_packages</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_packages"><strong>_packages</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_robot_name"><strong>_robot_name</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_robot_name"><strong>_robot_name</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_skeleton"><strong>_skeleton</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_skeleton"><strong>_skeleton</strong></a>  <br></td>
 </tr>
 </tbody>
 </table>
@@ -2096,55 +2096,55 @@ <h2 id="protected-functions-inherited-from-robot_dartrobot">Protected Functions
 <tbody>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint::ActuatorType</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_actuator_type"><strong>_actuator_type</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-_actuator_type"><strong>_actuator_type</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; dart::dynamics::Joint::ActuatorType &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_actuator_types"><strong>_actuator_types</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-_actuator_types"><strong>_actuator_types</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_get_path"><strong>_get_path</strong></a> (const std::string &amp; filename) const<br></td>
+<td style="text-align: left;"><a href="#function-_get_path"><strong>_get_path</strong></a> (const std::string &amp; filename) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_jacobian"><strong>_jacobian</strong></a> (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-_jacobian"><strong>_jacobian</strong></a> (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_load_model"><strong>_load_model</strong></a> (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false) <br></td>
+<td style="text-align: left;"><a href="#function-_load_model"><strong>_load_model</strong></a> (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_mass_matrix"><strong>_mass_matrix</strong></a> (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-_mass_matrix"><strong>_mass_matrix</strong></a> (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_type"><strong>_set_actuator_type</strong></a> (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_type"><strong>_set_actuator_type</strong></a> (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_types-12"><strong>_set_actuator_types</strong></a> (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_types-12"><strong>_set_actuator_types</strong></a> (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_types-22"><strong>_set_actuator_types</strong></a> (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_types-22"><strong>_set_actuator_types</strong></a> (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_color_mode-12"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) <br></td>
+<td style="text-align: left;"><a href="#function-_set_color_mode-12"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_color_mode-22"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn) <br></td>
+<td style="text-align: left;"><a href="#function-_set_color_mode-22"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn) <br></td>
 </tr>
 </tbody>
 </table>
@@ -2203,14 +2203,14 @@ <h3 id="function-_post_removal">function _post_removal<a class="headerlink" href
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -2244,10 +2244,10 @@ <h3 id="function-_post_removal">function _post_removal<a class="headerlink" href
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1robots_1_1Hexapod/index.html b/docs/api/classrobot__dart_1_1robots_1_1Hexapod/index.html
index 20c47010..3665ebc8 100644
--- a/docs/api/classrobot__dart_1_1robots_1_1Hexapod/index.html
+++ b/docs/api/classrobot__dart_1_1robots_1_1Hexapod/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
-  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4V7Z"/></svg>');}</style>
+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -58,7 +58,7 @@
       
     
     
-    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce((e,_)=>(e<<5)-e+_.charCodeAt(0),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
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+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
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+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1199,699 +1199,699 @@ <h2 id="public-functions-inherited-from-robot_dartrobot">Public Functions inheri
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-13"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-13"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-23"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-23"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-33"><strong>Robot</strong></a> (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name="robot", bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-33"><strong>Robot</strong></a> (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name="robot", bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-acceleration_lower_limits"><strong>acceleration_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-acceleration_lower_limits"><strong>acceleration_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-acceleration_upper_limits"><strong>acceleration_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-acceleration_upper_limits"><strong>acceleration_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-accelerations"><strong>accelerations</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-accelerations"><strong>accelerations</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-active_controllers"><strong>active_controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-active_controllers"><strong>active_controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-actuator_type"><strong>actuator_type</strong></a> (const std::string &amp; joint_name) const<br></td>
+<td style="text-align: left;"><a href="#function-actuator_type"><strong>actuator_type</strong></a> (const std::string &amp; joint_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-actuator_types"><strong>actuator_types</strong></a> (const std::vector&lt; std::string &gt; &amp; joint_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-actuator_types"><strong>actuator_types</strong></a> (const std::vector&lt; std::string &gt; &amp; joint_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_body_mass-12"><strong>add_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-add_body_mass-12"><strong>add_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_body_mass-22"><strong>add_body_mass</strong></a> (size_t body_index, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-add_body_mass-22"><strong>add_body_mass</strong></a> (size_t body_index, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_controller"><strong>add_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller, double weight=1.0) <br></td>
+<td style="text-align: left;"><a href="#function-add_controller"><strong>add_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller, double weight=1.0) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_force-12"><strong>add_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_force-12"><strong>add_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_force-22"><strong>add_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_force-22"><strong>add_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_torque-12"><strong>add_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_torque-12"><strong>add_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_torque-22"><strong>add_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_torque-22"><strong>add_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-adjacent_colliding"><strong>adjacent_colliding</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-adjacent_colliding"><strong>adjacent_colliding</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-aug_mass_matrix"><strong>aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-aug_mass_matrix"><strong>aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-base_pose"><strong>base_pose</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-base_pose"><strong>base_pose</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-base_pose_vec"><strong>base_pose_vec</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-base_pose_vec"><strong>base_pose_vec</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_acceleration-12"><strong>body_acceleration</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_acceleration-12"><strong>body_acceleration</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_acceleration-22"><strong>body_acceleration</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_acceleration-22"><strong>body_acceleration</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_index"><strong>body_index</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_index"><strong>body_index</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_mass-12"><strong>body_mass</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_mass-12"><strong>body_mass</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_mass-22"><strong>body_mass</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_mass-22"><strong>body_mass</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_name"><strong>body_name</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_name"><strong>body_name</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_names"><strong>body_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-body_names"><strong>body_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_node-12"><strong>body_node</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-body_node-12"><strong>body_node</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_node-22"><strong>body_node</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-body_node-22"><strong>body_node</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose-12"><strong>body_pose</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose-12"><strong>body_pose</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose-22"><strong>body_pose</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose-22"><strong>body_pose</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose_vec-12"><strong>body_pose_vec</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose_vec-12"><strong>body_pose_vec</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose_vec-22"><strong>body_pose_vec</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose_vec-22"><strong>body_pose_vec</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_velocity-12"><strong>body_velocity</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_velocity-12"><strong>body_velocity</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_velocity-22"><strong>body_velocity</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_velocity-22"><strong>body_velocity</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-cast_shadows"><strong>cast_shadows</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-cast_shadows"><strong>cast_shadows</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_controllers"><strong>clear_controllers</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_controllers"><strong>clear_controllers</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_external_forces"><strong>clear_external_forces</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_external_forces"><strong>clear_external_forces</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_internal_forces"><strong>clear_internal_forces</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_internal_forces"><strong>clear_internal_forces</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clone"><strong>clone</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-clone"><strong>clone</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clone_ghost"><strong>clone_ghost</strong></a> (const std::string &amp; ghost_name="ghost", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const<br></td>
+<td style="text-align: left;"><a href="#function-clone_ghost"><strong>clone_ghost</strong></a> (const std::string &amp; ghost_name="ghost", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com"><strong>com</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com"><strong>com</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_acceleration"><strong>com_acceleration</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com_acceleration"><strong>com_acceleration</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_jacobian"><strong>com_jacobian</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-com_jacobian"><strong>com_jacobian</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_jacobian_deriv"><strong>com_jacobian_deriv</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-com_jacobian_deriv"><strong>com_jacobian_deriv</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_velocity"><strong>com_velocity</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com_velocity"><strong>com_velocity</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-commands"><strong>commands</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-commands"><strong>commands</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-constraint_forces"><strong>constraint_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-constraint_forces"><strong>constraint_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-controller"><strong>controller</strong></a> (size_t index) const<br></td>
+<td style="text-align: left;"><a href="#function-controller"><strong>controller</strong></a> (size_t index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-controllers"><strong>controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-controllers"><strong>controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coriolis_forces"><strong>coriolis_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coriolis_forces"><strong>coriolis_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coriolis_gravity_forces"><strong>coriolis_gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coriolis_gravity_forces"><strong>coriolis_gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coulomb_coeffs"><strong>coulomb_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coulomb_coeffs"><strong>coulomb_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-damping_coeffs"><strong>damping_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-damping_coeffs"><strong>damping_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::DegreeOfFreedom *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof-12"><strong>dof</strong></a> (const std::string &amp; dof_name) <br></td>
+<td style="text-align: left;"><a href="#function-dof-12"><strong>dof</strong></a> (const std::string &amp; dof_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::DegreeOfFreedom *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof-22"><strong>dof</strong></a> (size_t dof_index) <br></td>
+<td style="text-align: left;"><a href="#function-dof-22"><strong>dof</strong></a> (size_t dof_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_index"><strong>dof_index</strong></a> (const std::string &amp; dof_name) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_index"><strong>dof_index</strong></a> (const std::string &amp; dof_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::unordered_map&lt; std::string, size_t &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_map"><strong>dof_map</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-dof_map"><strong>dof_map</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_name"><strong>dof_name</strong></a> (size_t dof_index) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_name"><strong>dof_name</strong></a> (size_t dof_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_names"><strong>dof_names</strong></a> (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_names"><strong>dof_names</strong></a> (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-drawing_axes"><strong>drawing_axes</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-drawing_axes"><strong>drawing_axes</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-external_forces-12"><strong>external_forces</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-external_forces-12"><strong>external_forces</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-external_forces-22"><strong>external_forces</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-external_forces-22"><strong>external_forces</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-fix_to_world"><strong>fix_to_world</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-fix_to_world"><strong>fix_to_world</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-fixed"><strong>fixed</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-fixed"><strong>fixed</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_lower_limits"><strong>force_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-force_lower_limits"><strong>force_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_position_bounds"><strong>force_position_bounds</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-force_position_bounds"><strong>force_position_bounds</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_torque"><strong>force_torque</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-force_torque"><strong>force_torque</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_upper_limits"><strong>force_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-force_upper_limits"><strong>force_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-forces"><strong>forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-forces"><strong>forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-free"><strong>free</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-free"><strong>free</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-free_from_world"><strong>free_from_world</strong></a> (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()) <br></td>
+<td style="text-align: left;"><a href="#function-free_from_world"><strong>free_from_world</strong></a> (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_coeff-12"><strong>friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-friction_coeff-12"><strong>friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_coeff-22"><strong>friction_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-friction_coeff-22"><strong>friction_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_dir-12"><strong>friction_dir</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-friction_dir-12"><strong>friction_dir</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_dir-22"><strong>friction_dir</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-friction_dir-22"><strong>friction_dir</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-ghost"><strong>ghost</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-ghost"><strong>ghost</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-gravity_forces"><strong>gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-gravity_forces"><strong>gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-inv_aug_mass_matrix"><strong>inv_aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-inv_aug_mass_matrix"><strong>inv_aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-inv_mass_matrix"><strong>inv_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-inv_mass_matrix"><strong>inv_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-jacobian"><strong>jacobian</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-jacobian"><strong>jacobian</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-jacobian_deriv"><strong>jacobian_deriv</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-jacobian_deriv"><strong>jacobian_deriv</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint-12"><strong>joint</strong></a> (const std::string &amp; joint_name) <br></td>
+<td style="text-align: left;"><a href="#function-joint-12"><strong>joint</strong></a> (const std::string &amp; joint_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint-22"><strong>joint</strong></a> (size_t joint_index) <br></td>
+<td style="text-align: left;"><a href="#function-joint-22"><strong>joint</strong></a> (size_t joint_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_index"><strong>joint_index</strong></a> (const std::string &amp; joint_name) const<br></td>
+<td style="text-align: left;"><a href="#function-joint_index"><strong>joint_index</strong></a> (const std::string &amp; joint_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::unordered_map&lt; std::string, size_t &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_map"><strong>joint_map</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-joint_map"><strong>joint_map</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_name"><strong>joint_name</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-joint_name"><strong>joint_name</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_names"><strong>joint_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-joint_names"><strong>joint_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-locked_dof_names"><strong>locked_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-locked_dof_names"><strong>locked_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-mass_matrix"><strong>mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-mass_matrix"><strong>mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-mimic_dof_names"><strong>mimic_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-mimic_dof_names"><strong>mimic_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-model_filename"><strong>model_filename</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-model_filename"><strong>model_filename</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-model_packages"><strong>model_packages</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-model_packages"><strong>model_packages</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-name"><strong>name</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-name"><strong>name</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_bodies"><strong>num_bodies</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_bodies"><strong>num_bodies</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_controllers"><strong>num_controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_controllers"><strong>num_controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_dofs"><strong>num_dofs</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_dofs"><strong>num_dofs</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_joints"><strong>num_joints</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_joints"><strong>num_joints</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-passive_dof_names"><strong>passive_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-passive_dof_names"><strong>passive_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; bool &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_enforced"><strong>position_enforced</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_enforced"><strong>position_enforced</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_lower_limits"><strong>position_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_lower_limits"><strong>position_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_upper_limits"><strong>position_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_upper_limits"><strong>position_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-positions"><strong>positions</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-positions"><strong>positions</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reinit_controllers"><strong>reinit_controllers</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reinit_controllers"><strong>reinit_controllers</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_all_drawing_axis"><strong>remove_all_drawing_axis</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-remove_all_drawing_axis"><strong>remove_all_drawing_axis</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_controller-12"><strong>remove_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller) <br></td>
+<td style="text-align: left;"><a href="#function-remove_controller-12"><strong>remove_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_controller-22"><strong>remove_controller</strong></a> (size_t index) <br></td>
+<td style="text-align: left;"><a href="#function-remove_controller-22"><strong>remove_controller</strong></a> (size_t index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reset"><strong>reset</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reset"><strong>reset</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reset_commands"><strong>reset_commands</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reset_commands"><strong>reset_commands</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-restitution_coeff-12"><strong>restitution_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-restitution_coeff-12"><strong>restitution_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-restitution_coeff-22"><strong>restitution_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-restitution_coeff-22"><strong>restitution_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-secondary_friction_coeff-12"><strong>secondary_friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-secondary_friction_coeff-12"><strong>secondary_friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-secondary_friction_coeff-22"><strong>secondary_friction_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-secondary_friction_coeff-22"><strong>secondary_friction_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-self_colliding"><strong>self_colliding</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-self_colliding"><strong>self_colliding</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_acceleration_lower_limits"><strong>set_acceleration_lower_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_acceleration_lower_limits"><strong>set_acceleration_lower_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_acceleration_upper_limits"><strong>set_acceleration_upper_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_acceleration_upper_limits"><strong>set_acceleration_upper_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_accelerations"><strong>set_accelerations</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_accelerations"><strong>set_accelerations</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_actuator_type"><strong>set_actuator_type</strong></a> (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_actuator_type"><strong>set_actuator_type</strong></a> (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_actuator_types"><strong>set_actuator_types</strong></a> (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_actuator_types"><strong>set_actuator_types</strong></a> (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_base_pose-12"><strong>set_base_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
+<td style="text-align: left;"><a href="#function-set_base_pose-12"><strong>set_base_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_base_pose-22"><strong>set_base_pose</strong></a> (const Eigen::Vector6d &amp; pose) <br><em>set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)</em></td>
+<td style="text-align: left;"><a href="#function-set_base_pose-22"><strong>set_base_pose</strong></a> (const Eigen::Vector6d &amp; pose) <br><em>set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_mass-12"><strong>set_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_mass-12"><strong>set_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_mass-22"><strong>set_body_mass</strong></a> (size_t body_index, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_mass-22"><strong>set_body_mass</strong></a> (size_t body_index, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_name"><strong>set_body_name</strong></a> (size_t body_index, const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_name"><strong>set_body_name</strong></a> (size_t body_index, const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_cast_shadows"><strong>set_cast_shadows</strong></a> (bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_cast_shadows"><strong>set_cast_shadows</strong></a> (bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_color_mode-12"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode) <br></td>
+<td style="text-align: left;"><a href="#function-set_color_mode-12"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_color_mode-22"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode, const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_color_mode-22"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode, const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_commands"><strong>set_commands</strong></a> (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_commands"><strong>set_commands</strong></a> (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-12"><strong>set_coulomb_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_coulomb_coeffs-12"><strong>set_coulomb_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-22"><strong>set_coulomb_coeffs</strong></a> (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_coulomb_coeffs-22"><strong>set_coulomb_coeffs</strong></a> (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_damping_coeffs-12"><strong>set_damping_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_damping_coeffs-12"><strong>set_damping_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_damping_coeffs-22"><strong>set_damping_coeffs</strong></a> (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_damping_coeffs-22"><strong>set_damping_coeffs</strong></a> (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_draw_axis"><strong>set_draw_axis</strong></a> (const std::string &amp; body_name, double size=0.25) <br></td>
+<td style="text-align: left;"><a href="#function-set_draw_axis"><strong>set_draw_axis</strong></a> (const std::string &amp; body_name, double size=0.25) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_force-12"><strong>set_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_force-12"><strong>set_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_force-22"><strong>set_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_force-22"><strong>set_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_torque-12"><strong>set_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_torque-12"><strong>set_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_torque-22"><strong>set_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_torque-22"><strong>set_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_force_lower_limits"><strong>set_force_lower_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_force_lower_limits"><strong>set_force_lower_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_force_upper_limits"><strong>set_force_upper_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_force_upper_limits"><strong>set_force_upper_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_forces"><strong>set_forces</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_forces"><strong>set_forces</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeff-12"><strong>set_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeff-12"><strong>set_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeff-22"><strong>set_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeff-22"><strong>set_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeffs"><strong>set_friction_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeffs"><strong>set_friction_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_dir-12"><strong>set_friction_dir</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_dir-12"><strong>set_friction_dir</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_dir-22"><strong>set_friction_dir</strong></a> (size_t body_index, const Eigen::Vector3d &amp; direction) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_dir-22"><strong>set_friction_dir</strong></a> (size_t body_index, const Eigen::Vector3d &amp; direction) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_ghost"><strong>set_ghost</strong></a> (bool ghost=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_ghost"><strong>set_ghost</strong></a> (bool ghost=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_joint_name"><strong>set_joint_name</strong></a> (size_t joint_index, const std::string &amp; joint_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_joint_name"><strong>set_joint_name</strong></a> (size_t joint_index, const std::string &amp; joint_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_mimic"><strong>set_mimic</strong></a> (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.) <br></td>
+<td style="text-align: left;"><a href="#function-set_mimic"><strong>set_mimic</strong></a> (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_enforced-12"><strong>set_position_enforced</strong></a> (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_enforced-12"><strong>set_position_enforced</strong></a> (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_enforced-22"><strong>set_position_enforced</strong></a> (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_enforced-22"><strong>set_position_enforced</strong></a> (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_lower_limits"><strong>set_position_lower_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_lower_limits"><strong>set_position_lower_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_upper_limits"><strong>set_position_upper_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_upper_limits"><strong>set_position_upper_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_positions"><strong>set_positions</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_positions"><strong>set_positions</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeff-12"><strong>set_restitution_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeff-12"><strong>set_restitution_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeff-22"><strong>set_restitution_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeff-22"><strong>set_restitution_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeffs"><strong>set_restitution_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeffs"><strong>set_restitution_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-12"><strong>set_secondary_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeff-12"><strong>set_secondary_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-22"><strong>set_secondary_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeff-22"><strong>set_secondary_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeffs"><strong>set_secondary_friction_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeffs"><strong>set_secondary_friction_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_self_collision"><strong>set_self_collision</strong></a> (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_self_collision"><strong>set_self_collision</strong></a> (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-12"><strong>set_spring_stiffnesses</strong></a> (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_spring_stiffnesses-12"><strong>set_spring_stiffnesses</strong></a> (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-22"><strong>set_spring_stiffnesses</strong></a> (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_spring_stiffnesses-22"><strong>set_spring_stiffnesses</strong></a> (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocities"><strong>set_velocities</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocities"><strong>set_velocities</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocity_lower_limits"><strong>set_velocity_lower_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocity_lower_limits"><strong>set_velocity_lower_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocity_upper_limits"><strong>set_velocity_upper_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocity_upper_limits"><strong>set_velocity_upper_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-skeleton"><strong>skeleton</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-skeleton"><strong>skeleton</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-spring_stiffnesses"><strong>spring_stiffnesses</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-spring_stiffnesses"><strong>spring_stiffnesses</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-update"><strong>update</strong></a> (double t) <br></td>
+<td style="text-align: left;"><a href="#function-update"><strong>update</strong></a> (double t) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-update_joint_dof_maps"><strong>update_joint_dof_maps</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-update_joint_dof_maps"><strong>update_joint_dof_maps</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-vec_dof"><strong>vec_dof</strong></a> (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-vec_dof"><strong>vec_dof</strong></a> (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocities"><strong>velocities</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocities"><strong>velocities</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocity_lower_limits"><strong>velocity_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocity_lower_limits"><strong>velocity_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocity_upper_limits"><strong>velocity_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocity_upper_limits"><strong>velocity_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot"><strong>~Robot</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-robot"><strong>~Robot</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -1907,19 +1907,19 @@ <h2 id="public-static-functions-inherited-from-robot_dartrobot">Public Static Fu
 <tbody>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_box-12"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
+<td style="text-align: left;"><a href="#function-create_box-12"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_box-22"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
+<td style="text-align: left;"><a href="#function-create_box-22"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_ellipsoid-12"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
+<td style="text-align: left;"><a href="#function-create_ellipsoid-12"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_ellipsoid-22"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
+<td style="text-align: left;"><a href="#function-create_ellipsoid-22"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
 </tr>
 </tbody>
 </table>
@@ -1935,43 +1935,43 @@ <h2 id="protected-attributes-inherited-from-robot_dartrobot">Protected Attribute
 <tbody>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_axis_shapes"><strong>_axis_shapes</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_axis_shapes"><strong>_axis_shapes</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_cast_shadows"><strong>_cast_shadows</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_cast_shadows"><strong>_cast_shadows</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_controllers"><strong>_controllers</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_controllers"><strong>_controllers</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; std::string, size_t &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_dof_map"><strong>_dof_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_dof_map"><strong>_dof_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_is_ghost"><strong>_is_ghost</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_is_ghost"><strong>_is_ghost</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; std::string, size_t &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_joint_map"><strong>_joint_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_joint_map"><strong>_joint_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_model_filename"><strong>_model_filename</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_model_filename"><strong>_model_filename</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_packages"><strong>_packages</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_packages"><strong>_packages</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_robot_name"><strong>_robot_name</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_robot_name"><strong>_robot_name</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_skeleton"><strong>_skeleton</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_skeleton"><strong>_skeleton</strong></a>  <br></td>
 </tr>
 </tbody>
 </table>
@@ -1987,55 +1987,55 @@ <h2 id="protected-functions-inherited-from-robot_dartrobot">Protected Functions
 <tbody>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint::ActuatorType</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_actuator_type"><strong>_actuator_type</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-_actuator_type"><strong>_actuator_type</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; dart::dynamics::Joint::ActuatorType &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_actuator_types"><strong>_actuator_types</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-_actuator_types"><strong>_actuator_types</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_get_path"><strong>_get_path</strong></a> (const std::string &amp; filename) const<br></td>
+<td style="text-align: left;"><a href="#function-_get_path"><strong>_get_path</strong></a> (const std::string &amp; filename) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_jacobian"><strong>_jacobian</strong></a> (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-_jacobian"><strong>_jacobian</strong></a> (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_load_model"><strong>_load_model</strong></a> (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false) <br></td>
+<td style="text-align: left;"><a href="#function-_load_model"><strong>_load_model</strong></a> (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_mass_matrix"><strong>_mass_matrix</strong></a> (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-_mass_matrix"><strong>_mass_matrix</strong></a> (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_type"><strong>_set_actuator_type</strong></a> (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_type"><strong>_set_actuator_type</strong></a> (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_types-12"><strong>_set_actuator_types</strong></a> (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_types-12"><strong>_set_actuator_types</strong></a> (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_types-22"><strong>_set_actuator_types</strong></a> (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_types-22"><strong>_set_actuator_types</strong></a> (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_color_mode-12"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) <br></td>
+<td style="text-align: left;"><a href="#function-_set_color_mode-12"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_color_mode-22"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn) <br></td>
+<td style="text-align: left;"><a href="#function-_set_color_mode-22"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn) <br></td>
 </tr>
 </tbody>
 </table>
@@ -2072,14 +2072,14 @@ <h3 id="function-reset">function reset<a class="headerlink" href="#function-rese
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -2113,10 +2113,10 @@ <h3 id="function-reset">function reset<a class="headerlink" href="#function-rese
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/classrobot__dart_1_1robots_1_1ICub/index.html b/docs/api/classrobot__dart_1_1robots_1_1ICub/index.html
index 18c27d9e..8d017ee2 100644
--- a/docs/api/classrobot__dart_1_1robots_1_1ICub/index.html
+++ b/docs/api/classrobot__dart_1_1robots_1_1ICub/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
-  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6zm80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3z"/></svg>');}</style>
+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
-  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4V7Z"/></svg>');}</style>
+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -58,7 +58,7 @@
       
     
     
-    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce((e,_)=>(e<<5)-e+_.charCodeAt(0),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
       </label>
     
   
@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     Documentation of RobotDART
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     NOSALRO/robot_dart
@@ -1331,699 +1331,699 @@ <h2 id="public-functions-inherited-from-robot_dartrobot">Public Functions inheri
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-13"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-13"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-23"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-23"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-33"><strong>Robot</strong></a> (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name="robot", bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-33"><strong>Robot</strong></a> (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name="robot", bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-acceleration_lower_limits"><strong>acceleration_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-acceleration_lower_limits"><strong>acceleration_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-acceleration_upper_limits"><strong>acceleration_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-acceleration_upper_limits"><strong>acceleration_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-accelerations"><strong>accelerations</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-accelerations"><strong>accelerations</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-active_controllers"><strong>active_controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-active_controllers"><strong>active_controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-actuator_type"><strong>actuator_type</strong></a> (const std::string &amp; joint_name) const<br></td>
+<td style="text-align: left;"><a href="#function-actuator_type"><strong>actuator_type</strong></a> (const std::string &amp; joint_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-actuator_types"><strong>actuator_types</strong></a> (const std::vector&lt; std::string &gt; &amp; joint_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-actuator_types"><strong>actuator_types</strong></a> (const std::vector&lt; std::string &gt; &amp; joint_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_body_mass-12"><strong>add_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-add_body_mass-12"><strong>add_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_body_mass-22"><strong>add_body_mass</strong></a> (size_t body_index, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-add_body_mass-22"><strong>add_body_mass</strong></a> (size_t body_index, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_controller"><strong>add_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller, double weight=1.0) <br></td>
+<td style="text-align: left;"><a href="#function-add_controller"><strong>add_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller, double weight=1.0) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_force-12"><strong>add_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_force-12"><strong>add_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_force-22"><strong>add_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_force-22"><strong>add_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_torque-12"><strong>add_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_torque-12"><strong>add_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_torque-22"><strong>add_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_torque-22"><strong>add_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-adjacent_colliding"><strong>adjacent_colliding</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-adjacent_colliding"><strong>adjacent_colliding</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-aug_mass_matrix"><strong>aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-aug_mass_matrix"><strong>aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-base_pose"><strong>base_pose</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-base_pose"><strong>base_pose</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-base_pose_vec"><strong>base_pose_vec</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-base_pose_vec"><strong>base_pose_vec</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_acceleration-12"><strong>body_acceleration</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_acceleration-12"><strong>body_acceleration</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_acceleration-22"><strong>body_acceleration</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_acceleration-22"><strong>body_acceleration</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_index"><strong>body_index</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_index"><strong>body_index</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_mass-12"><strong>body_mass</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_mass-12"><strong>body_mass</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_mass-22"><strong>body_mass</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_mass-22"><strong>body_mass</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_name"><strong>body_name</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_name"><strong>body_name</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_names"><strong>body_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-body_names"><strong>body_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_node-12"><strong>body_node</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-body_node-12"><strong>body_node</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_node-22"><strong>body_node</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-body_node-22"><strong>body_node</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose-12"><strong>body_pose</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose-12"><strong>body_pose</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose-22"><strong>body_pose</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose-22"><strong>body_pose</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose_vec-12"><strong>body_pose_vec</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose_vec-12"><strong>body_pose_vec</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose_vec-22"><strong>body_pose_vec</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose_vec-22"><strong>body_pose_vec</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_velocity-12"><strong>body_velocity</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_velocity-12"><strong>body_velocity</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_velocity-22"><strong>body_velocity</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_velocity-22"><strong>body_velocity</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-cast_shadows"><strong>cast_shadows</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-cast_shadows"><strong>cast_shadows</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_controllers"><strong>clear_controllers</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_controllers"><strong>clear_controllers</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_external_forces"><strong>clear_external_forces</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_external_forces"><strong>clear_external_forces</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_internal_forces"><strong>clear_internal_forces</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_internal_forces"><strong>clear_internal_forces</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clone"><strong>clone</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-clone"><strong>clone</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clone_ghost"><strong>clone_ghost</strong></a> (const std::string &amp; ghost_name="ghost", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const<br></td>
+<td style="text-align: left;"><a href="#function-clone_ghost"><strong>clone_ghost</strong></a> (const std::string &amp; ghost_name="ghost", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com"><strong>com</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com"><strong>com</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_acceleration"><strong>com_acceleration</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com_acceleration"><strong>com_acceleration</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_jacobian"><strong>com_jacobian</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-com_jacobian"><strong>com_jacobian</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_jacobian_deriv"><strong>com_jacobian_deriv</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-com_jacobian_deriv"><strong>com_jacobian_deriv</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_velocity"><strong>com_velocity</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com_velocity"><strong>com_velocity</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-commands"><strong>commands</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-commands"><strong>commands</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-constraint_forces"><strong>constraint_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-constraint_forces"><strong>constraint_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-controller"><strong>controller</strong></a> (size_t index) const<br></td>
+<td style="text-align: left;"><a href="#function-controller"><strong>controller</strong></a> (size_t index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-controllers"><strong>controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-controllers"><strong>controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coriolis_forces"><strong>coriolis_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coriolis_forces"><strong>coriolis_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coriolis_gravity_forces"><strong>coriolis_gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coriolis_gravity_forces"><strong>coriolis_gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coulomb_coeffs"><strong>coulomb_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coulomb_coeffs"><strong>coulomb_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-damping_coeffs"><strong>damping_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-damping_coeffs"><strong>damping_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::DegreeOfFreedom *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof-12"><strong>dof</strong></a> (const std::string &amp; dof_name) <br></td>
+<td style="text-align: left;"><a href="#function-dof-12"><strong>dof</strong></a> (const std::string &amp; dof_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::DegreeOfFreedom *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof-22"><strong>dof</strong></a> (size_t dof_index) <br></td>
+<td style="text-align: left;"><a href="#function-dof-22"><strong>dof</strong></a> (size_t dof_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_index"><strong>dof_index</strong></a> (const std::string &amp; dof_name) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_index"><strong>dof_index</strong></a> (const std::string &amp; dof_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::unordered_map&lt; std::string, size_t &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_map"><strong>dof_map</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-dof_map"><strong>dof_map</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_name"><strong>dof_name</strong></a> (size_t dof_index) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_name"><strong>dof_name</strong></a> (size_t dof_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_names"><strong>dof_names</strong></a> (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_names"><strong>dof_names</strong></a> (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-drawing_axes"><strong>drawing_axes</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-drawing_axes"><strong>drawing_axes</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-external_forces-12"><strong>external_forces</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-external_forces-12"><strong>external_forces</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-external_forces-22"><strong>external_forces</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-external_forces-22"><strong>external_forces</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-fix_to_world"><strong>fix_to_world</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-fix_to_world"><strong>fix_to_world</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-fixed"><strong>fixed</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-fixed"><strong>fixed</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_lower_limits"><strong>force_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-force_lower_limits"><strong>force_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_position_bounds"><strong>force_position_bounds</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-force_position_bounds"><strong>force_position_bounds</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_torque"><strong>force_torque</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-force_torque"><strong>force_torque</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_upper_limits"><strong>force_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-force_upper_limits"><strong>force_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-forces"><strong>forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-forces"><strong>forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-free"><strong>free</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-free"><strong>free</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-free_from_world"><strong>free_from_world</strong></a> (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()) <br></td>
+<td style="text-align: left;"><a href="#function-free_from_world"><strong>free_from_world</strong></a> (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_coeff-12"><strong>friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-friction_coeff-12"><strong>friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_coeff-22"><strong>friction_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-friction_coeff-22"><strong>friction_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_dir-12"><strong>friction_dir</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-friction_dir-12"><strong>friction_dir</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_dir-22"><strong>friction_dir</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-friction_dir-22"><strong>friction_dir</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-ghost"><strong>ghost</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-ghost"><strong>ghost</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-gravity_forces"><strong>gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-gravity_forces"><strong>gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-inv_aug_mass_matrix"><strong>inv_aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-inv_aug_mass_matrix"><strong>inv_aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-inv_mass_matrix"><strong>inv_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-inv_mass_matrix"><strong>inv_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-jacobian"><strong>jacobian</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-jacobian"><strong>jacobian</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-jacobian_deriv"><strong>jacobian_deriv</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-jacobian_deriv"><strong>jacobian_deriv</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint-12"><strong>joint</strong></a> (const std::string &amp; joint_name) <br></td>
+<td style="text-align: left;"><a href="#function-joint-12"><strong>joint</strong></a> (const std::string &amp; joint_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint-22"><strong>joint</strong></a> (size_t joint_index) <br></td>
+<td style="text-align: left;"><a href="#function-joint-22"><strong>joint</strong></a> (size_t joint_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_index"><strong>joint_index</strong></a> (const std::string &amp; joint_name) const<br></td>
+<td style="text-align: left;"><a href="#function-joint_index"><strong>joint_index</strong></a> (const std::string &amp; joint_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::unordered_map&lt; std::string, size_t &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_map"><strong>joint_map</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-joint_map"><strong>joint_map</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_name"><strong>joint_name</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-joint_name"><strong>joint_name</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_names"><strong>joint_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-joint_names"><strong>joint_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-locked_dof_names"><strong>locked_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-locked_dof_names"><strong>locked_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-mass_matrix"><strong>mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-mass_matrix"><strong>mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-mimic_dof_names"><strong>mimic_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-mimic_dof_names"><strong>mimic_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-model_filename"><strong>model_filename</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-model_filename"><strong>model_filename</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-model_packages"><strong>model_packages</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-model_packages"><strong>model_packages</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-name"><strong>name</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-name"><strong>name</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_bodies"><strong>num_bodies</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_bodies"><strong>num_bodies</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_controllers"><strong>num_controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_controllers"><strong>num_controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_dofs"><strong>num_dofs</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_dofs"><strong>num_dofs</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_joints"><strong>num_joints</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_joints"><strong>num_joints</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-passive_dof_names"><strong>passive_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-passive_dof_names"><strong>passive_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; bool &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_enforced"><strong>position_enforced</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_enforced"><strong>position_enforced</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_lower_limits"><strong>position_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_lower_limits"><strong>position_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_upper_limits"><strong>position_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_upper_limits"><strong>position_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-positions"><strong>positions</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-positions"><strong>positions</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reinit_controllers"><strong>reinit_controllers</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reinit_controllers"><strong>reinit_controllers</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_all_drawing_axis"><strong>remove_all_drawing_axis</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-remove_all_drawing_axis"><strong>remove_all_drawing_axis</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_controller-12"><strong>remove_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller) <br></td>
+<td style="text-align: left;"><a href="#function-remove_controller-12"><strong>remove_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_controller-22"><strong>remove_controller</strong></a> (size_t index) <br></td>
+<td style="text-align: left;"><a href="#function-remove_controller-22"><strong>remove_controller</strong></a> (size_t index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reset"><strong>reset</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reset"><strong>reset</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reset_commands"><strong>reset_commands</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reset_commands"><strong>reset_commands</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-restitution_coeff-12"><strong>restitution_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-restitution_coeff-12"><strong>restitution_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-restitution_coeff-22"><strong>restitution_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-restitution_coeff-22"><strong>restitution_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-secondary_friction_coeff-12"><strong>secondary_friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-secondary_friction_coeff-12"><strong>secondary_friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-secondary_friction_coeff-22"><strong>secondary_friction_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-secondary_friction_coeff-22"><strong>secondary_friction_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-self_colliding"><strong>self_colliding</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-self_colliding"><strong>self_colliding</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_acceleration_lower_limits"><strong>set_acceleration_lower_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_acceleration_lower_limits"><strong>set_acceleration_lower_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_acceleration_upper_limits"><strong>set_acceleration_upper_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_acceleration_upper_limits"><strong>set_acceleration_upper_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_accelerations"><strong>set_accelerations</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_accelerations"><strong>set_accelerations</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_actuator_type"><strong>set_actuator_type</strong></a> (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_actuator_type"><strong>set_actuator_type</strong></a> (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_actuator_types"><strong>set_actuator_types</strong></a> (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_actuator_types"><strong>set_actuator_types</strong></a> (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_base_pose-12"><strong>set_base_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
+<td style="text-align: left;"><a href="#function-set_base_pose-12"><strong>set_base_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_base_pose-22"><strong>set_base_pose</strong></a> (const Eigen::Vector6d &amp; pose) <br><em>set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)</em></td>
+<td style="text-align: left;"><a href="#function-set_base_pose-22"><strong>set_base_pose</strong></a> (const Eigen::Vector6d &amp; pose) <br><em>set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_mass-12"><strong>set_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_mass-12"><strong>set_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_mass-22"><strong>set_body_mass</strong></a> (size_t body_index, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_mass-22"><strong>set_body_mass</strong></a> (size_t body_index, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_name"><strong>set_body_name</strong></a> (size_t body_index, const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_name"><strong>set_body_name</strong></a> (size_t body_index, const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_cast_shadows"><strong>set_cast_shadows</strong></a> (bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_cast_shadows"><strong>set_cast_shadows</strong></a> (bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_color_mode-12"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode) <br></td>
+<td style="text-align: left;"><a href="#function-set_color_mode-12"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_color_mode-22"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode, const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_color_mode-22"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode, const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_commands"><strong>set_commands</strong></a> (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_commands"><strong>set_commands</strong></a> (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-12"><strong>set_coulomb_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_coulomb_coeffs-12"><strong>set_coulomb_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-22"><strong>set_coulomb_coeffs</strong></a> (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_coulomb_coeffs-22"><strong>set_coulomb_coeffs</strong></a> (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_damping_coeffs-12"><strong>set_damping_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_damping_coeffs-12"><strong>set_damping_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_damping_coeffs-22"><strong>set_damping_coeffs</strong></a> (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_damping_coeffs-22"><strong>set_damping_coeffs</strong></a> (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_draw_axis"><strong>set_draw_axis</strong></a> (const std::string &amp; body_name, double size=0.25) <br></td>
+<td style="text-align: left;"><a href="#function-set_draw_axis"><strong>set_draw_axis</strong></a> (const std::string &amp; body_name, double size=0.25) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_force-12"><strong>set_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_force-12"><strong>set_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_force-22"><strong>set_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_force-22"><strong>set_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_torque-12"><strong>set_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_torque-12"><strong>set_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_torque-22"><strong>set_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_torque-22"><strong>set_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_force_lower_limits"><strong>set_force_lower_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_force_lower_limits"><strong>set_force_lower_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_force_upper_limits"><strong>set_force_upper_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_force_upper_limits"><strong>set_force_upper_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_forces"><strong>set_forces</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_forces"><strong>set_forces</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeff-12"><strong>set_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeff-12"><strong>set_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeff-22"><strong>set_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeff-22"><strong>set_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeffs"><strong>set_friction_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeffs"><strong>set_friction_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_dir-12"><strong>set_friction_dir</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_dir-12"><strong>set_friction_dir</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_dir-22"><strong>set_friction_dir</strong></a> (size_t body_index, const Eigen::Vector3d &amp; direction) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_dir-22"><strong>set_friction_dir</strong></a> (size_t body_index, const Eigen::Vector3d &amp; direction) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_ghost"><strong>set_ghost</strong></a> (bool ghost=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_ghost"><strong>set_ghost</strong></a> (bool ghost=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_joint_name"><strong>set_joint_name</strong></a> (size_t joint_index, const std::string &amp; joint_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_joint_name"><strong>set_joint_name</strong></a> (size_t joint_index, const std::string &amp; joint_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_mimic"><strong>set_mimic</strong></a> (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.) <br></td>
+<td style="text-align: left;"><a href="#function-set_mimic"><strong>set_mimic</strong></a> (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_enforced-12"><strong>set_position_enforced</strong></a> (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_enforced-12"><strong>set_position_enforced</strong></a> (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_enforced-22"><strong>set_position_enforced</strong></a> (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_enforced-22"><strong>set_position_enforced</strong></a> (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_lower_limits"><strong>set_position_lower_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_lower_limits"><strong>set_position_lower_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_upper_limits"><strong>set_position_upper_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_upper_limits"><strong>set_position_upper_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_positions"><strong>set_positions</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_positions"><strong>set_positions</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeff-12"><strong>set_restitution_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeff-12"><strong>set_restitution_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeff-22"><strong>set_restitution_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeff-22"><strong>set_restitution_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeffs"><strong>set_restitution_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeffs"><strong>set_restitution_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-12"><strong>set_secondary_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeff-12"><strong>set_secondary_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-22"><strong>set_secondary_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeff-22"><strong>set_secondary_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeffs"><strong>set_secondary_friction_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeffs"><strong>set_secondary_friction_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_self_collision"><strong>set_self_collision</strong></a> (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_self_collision"><strong>set_self_collision</strong></a> (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-12"><strong>set_spring_stiffnesses</strong></a> (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_spring_stiffnesses-12"><strong>set_spring_stiffnesses</strong></a> (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-22"><strong>set_spring_stiffnesses</strong></a> (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_spring_stiffnesses-22"><strong>set_spring_stiffnesses</strong></a> (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocities"><strong>set_velocities</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocities"><strong>set_velocities</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocity_lower_limits"><strong>set_velocity_lower_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocity_lower_limits"><strong>set_velocity_lower_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocity_upper_limits"><strong>set_velocity_upper_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocity_upper_limits"><strong>set_velocity_upper_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-skeleton"><strong>skeleton</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-skeleton"><strong>skeleton</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-spring_stiffnesses"><strong>spring_stiffnesses</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-spring_stiffnesses"><strong>spring_stiffnesses</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-update"><strong>update</strong></a> (double t) <br></td>
+<td style="text-align: left;"><a href="#function-update"><strong>update</strong></a> (double t) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-update_joint_dof_maps"><strong>update_joint_dof_maps</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-update_joint_dof_maps"><strong>update_joint_dof_maps</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-vec_dof"><strong>vec_dof</strong></a> (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-vec_dof"><strong>vec_dof</strong></a> (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocities"><strong>velocities</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocities"><strong>velocities</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocity_lower_limits"><strong>velocity_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocity_lower_limits"><strong>velocity_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocity_upper_limits"><strong>velocity_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocity_upper_limits"><strong>velocity_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot"><strong>~Robot</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-robot"><strong>~Robot</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -2039,19 +2039,19 @@ <h2 id="public-static-functions-inherited-from-robot_dartrobot">Public Static Fu
 <tbody>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_box-12"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
+<td style="text-align: left;"><a href="#function-create_box-12"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_box-22"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
+<td style="text-align: left;"><a href="#function-create_box-22"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_ellipsoid-12"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
+<td style="text-align: left;"><a href="#function-create_ellipsoid-12"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_ellipsoid-22"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
+<td style="text-align: left;"><a href="#function-create_ellipsoid-22"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
 </tr>
 </tbody>
 </table>
@@ -2090,43 +2090,43 @@ <h2 id="protected-attributes-inherited-from-robot_dartrobot">Protected Attribute
 <tbody>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_axis_shapes"><strong>_axis_shapes</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_axis_shapes"><strong>_axis_shapes</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_cast_shadows"><strong>_cast_shadows</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_cast_shadows"><strong>_cast_shadows</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_controllers"><strong>_controllers</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_controllers"><strong>_controllers</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; std::string, size_t &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_dof_map"><strong>_dof_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_dof_map"><strong>_dof_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_is_ghost"><strong>_is_ghost</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_is_ghost"><strong>_is_ghost</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; std::string, size_t &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_joint_map"><strong>_joint_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_joint_map"><strong>_joint_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_model_filename"><strong>_model_filename</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_model_filename"><strong>_model_filename</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_packages"><strong>_packages</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_packages"><strong>_packages</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_robot_name"><strong>_robot_name</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_robot_name"><strong>_robot_name</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_skeleton"><strong>_skeleton</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_skeleton"><strong>_skeleton</strong></a>  <br></td>
 </tr>
 </tbody>
 </table>
@@ -2161,55 +2161,55 @@ <h2 id="protected-functions-inherited-from-robot_dartrobot">Protected Functions
 <tbody>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint::ActuatorType</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_actuator_type"><strong>_actuator_type</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-_actuator_type"><strong>_actuator_type</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; dart::dynamics::Joint::ActuatorType &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_actuator_types"><strong>_actuator_types</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-_actuator_types"><strong>_actuator_types</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_get_path"><strong>_get_path</strong></a> (const std::string &amp; filename) const<br></td>
+<td style="text-align: left;"><a href="#function-_get_path"><strong>_get_path</strong></a> (const std::string &amp; filename) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_jacobian"><strong>_jacobian</strong></a> (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-_jacobian"><strong>_jacobian</strong></a> (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_load_model"><strong>_load_model</strong></a> (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false) <br></td>
+<td style="text-align: left;"><a href="#function-_load_model"><strong>_load_model</strong></a> (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_mass_matrix"><strong>_mass_matrix</strong></a> (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-_mass_matrix"><strong>_mass_matrix</strong></a> (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_type"><strong>_set_actuator_type</strong></a> (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_type"><strong>_set_actuator_type</strong></a> (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_types-12"><strong>_set_actuator_types</strong></a> (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_types-12"><strong>_set_actuator_types</strong></a> (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_types-22"><strong>_set_actuator_types</strong></a> (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_types-22"><strong>_set_actuator_types</strong></a> (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_color_mode-12"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) <br></td>
+<td style="text-align: left;"><a href="#function-_set_color_mode-12"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_color_mode-22"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn) <br></td>
+<td style="text-align: left;"><a href="#function-_set_color_mode-22"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn) <br></td>
 </tr>
 </tbody>
 </table>
@@ -2294,14 +2294,14 @@ <h3 id="function-_post_removal">function _post_removal<a class="headerlink" href
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -2335,10 +2335,10 @@ <h3 id="function-_post_removal">function _post_removal<a class="headerlink" href
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1robots_1_1Iiwa/index.html b/docs/api/classrobot__dart_1_1robots_1_1Iiwa/index.html
index 9ebdb6af..391d4ca0 100644
--- a/docs/api/classrobot__dart_1_1robots_1_1Iiwa/index.html
+++ b/docs/api/classrobot__dart_1_1robots_1_1Iiwa/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
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@@ -58,7 +58,7 @@
       
     
     
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@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
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       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
       </label>
     
   
@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
       </label>
     
   
@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1274,699 +1274,699 @@ <h2 id="public-functions-inherited-from-robot_dartrobot">Public Functions inheri
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-13"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-13"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-23"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-23"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-33"><strong>Robot</strong></a> (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name="robot", bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-33"><strong>Robot</strong></a> (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name="robot", bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-acceleration_lower_limits"><strong>acceleration_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-acceleration_lower_limits"><strong>acceleration_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-acceleration_upper_limits"><strong>acceleration_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-acceleration_upper_limits"><strong>acceleration_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-accelerations"><strong>accelerations</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-accelerations"><strong>accelerations</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-active_controllers"><strong>active_controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-active_controllers"><strong>active_controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-actuator_type"><strong>actuator_type</strong></a> (const std::string &amp; joint_name) const<br></td>
+<td style="text-align: left;"><a href="#function-actuator_type"><strong>actuator_type</strong></a> (const std::string &amp; joint_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-actuator_types"><strong>actuator_types</strong></a> (const std::vector&lt; std::string &gt; &amp; joint_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-actuator_types"><strong>actuator_types</strong></a> (const std::vector&lt; std::string &gt; &amp; joint_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_body_mass-12"><strong>add_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-add_body_mass-12"><strong>add_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_body_mass-22"><strong>add_body_mass</strong></a> (size_t body_index, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-add_body_mass-22"><strong>add_body_mass</strong></a> (size_t body_index, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_controller"><strong>add_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller, double weight=1.0) <br></td>
+<td style="text-align: left;"><a href="#function-add_controller"><strong>add_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller, double weight=1.0) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_force-12"><strong>add_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_force-12"><strong>add_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_force-22"><strong>add_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_force-22"><strong>add_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_torque-12"><strong>add_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_torque-12"><strong>add_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_torque-22"><strong>add_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_torque-22"><strong>add_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-adjacent_colliding"><strong>adjacent_colliding</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-adjacent_colliding"><strong>adjacent_colliding</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-aug_mass_matrix"><strong>aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-aug_mass_matrix"><strong>aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-base_pose"><strong>base_pose</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-base_pose"><strong>base_pose</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-base_pose_vec"><strong>base_pose_vec</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-base_pose_vec"><strong>base_pose_vec</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_acceleration-12"><strong>body_acceleration</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_acceleration-12"><strong>body_acceleration</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_acceleration-22"><strong>body_acceleration</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_acceleration-22"><strong>body_acceleration</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_index"><strong>body_index</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_index"><strong>body_index</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_mass-12"><strong>body_mass</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_mass-12"><strong>body_mass</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_mass-22"><strong>body_mass</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_mass-22"><strong>body_mass</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_name"><strong>body_name</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_name"><strong>body_name</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_names"><strong>body_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-body_names"><strong>body_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_node-12"><strong>body_node</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-body_node-12"><strong>body_node</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_node-22"><strong>body_node</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-body_node-22"><strong>body_node</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose-12"><strong>body_pose</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose-12"><strong>body_pose</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose-22"><strong>body_pose</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose-22"><strong>body_pose</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose_vec-12"><strong>body_pose_vec</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose_vec-12"><strong>body_pose_vec</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose_vec-22"><strong>body_pose_vec</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose_vec-22"><strong>body_pose_vec</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_velocity-12"><strong>body_velocity</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_velocity-12"><strong>body_velocity</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_velocity-22"><strong>body_velocity</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_velocity-22"><strong>body_velocity</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-cast_shadows"><strong>cast_shadows</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-cast_shadows"><strong>cast_shadows</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_controllers"><strong>clear_controllers</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_controllers"><strong>clear_controllers</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_external_forces"><strong>clear_external_forces</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_external_forces"><strong>clear_external_forces</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_internal_forces"><strong>clear_internal_forces</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_internal_forces"><strong>clear_internal_forces</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clone"><strong>clone</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-clone"><strong>clone</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clone_ghost"><strong>clone_ghost</strong></a> (const std::string &amp; ghost_name="ghost", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const<br></td>
+<td style="text-align: left;"><a href="#function-clone_ghost"><strong>clone_ghost</strong></a> (const std::string &amp; ghost_name="ghost", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com"><strong>com</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com"><strong>com</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_acceleration"><strong>com_acceleration</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com_acceleration"><strong>com_acceleration</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_jacobian"><strong>com_jacobian</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-com_jacobian"><strong>com_jacobian</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_jacobian_deriv"><strong>com_jacobian_deriv</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-com_jacobian_deriv"><strong>com_jacobian_deriv</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_velocity"><strong>com_velocity</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com_velocity"><strong>com_velocity</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-commands"><strong>commands</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-commands"><strong>commands</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-constraint_forces"><strong>constraint_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-constraint_forces"><strong>constraint_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-controller"><strong>controller</strong></a> (size_t index) const<br></td>
+<td style="text-align: left;"><a href="#function-controller"><strong>controller</strong></a> (size_t index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-controllers"><strong>controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-controllers"><strong>controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coriolis_forces"><strong>coriolis_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coriolis_forces"><strong>coriolis_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coriolis_gravity_forces"><strong>coriolis_gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coriolis_gravity_forces"><strong>coriolis_gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coulomb_coeffs"><strong>coulomb_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coulomb_coeffs"><strong>coulomb_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-damping_coeffs"><strong>damping_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-damping_coeffs"><strong>damping_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::DegreeOfFreedom *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof-12"><strong>dof</strong></a> (const std::string &amp; dof_name) <br></td>
+<td style="text-align: left;"><a href="#function-dof-12"><strong>dof</strong></a> (const std::string &amp; dof_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::DegreeOfFreedom *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof-22"><strong>dof</strong></a> (size_t dof_index) <br></td>
+<td style="text-align: left;"><a href="#function-dof-22"><strong>dof</strong></a> (size_t dof_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_index"><strong>dof_index</strong></a> (const std::string &amp; dof_name) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_index"><strong>dof_index</strong></a> (const std::string &amp; dof_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::unordered_map&lt; std::string, size_t &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_map"><strong>dof_map</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-dof_map"><strong>dof_map</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_name"><strong>dof_name</strong></a> (size_t dof_index) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_name"><strong>dof_name</strong></a> (size_t dof_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_names"><strong>dof_names</strong></a> (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_names"><strong>dof_names</strong></a> (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-drawing_axes"><strong>drawing_axes</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-drawing_axes"><strong>drawing_axes</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-external_forces-12"><strong>external_forces</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-external_forces-12"><strong>external_forces</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-external_forces-22"><strong>external_forces</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-external_forces-22"><strong>external_forces</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-fix_to_world"><strong>fix_to_world</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-fix_to_world"><strong>fix_to_world</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-fixed"><strong>fixed</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-fixed"><strong>fixed</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_lower_limits"><strong>force_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-force_lower_limits"><strong>force_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_position_bounds"><strong>force_position_bounds</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-force_position_bounds"><strong>force_position_bounds</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_torque"><strong>force_torque</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-force_torque"><strong>force_torque</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_upper_limits"><strong>force_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-force_upper_limits"><strong>force_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-forces"><strong>forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-forces"><strong>forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-free"><strong>free</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-free"><strong>free</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-free_from_world"><strong>free_from_world</strong></a> (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()) <br></td>
+<td style="text-align: left;"><a href="#function-free_from_world"><strong>free_from_world</strong></a> (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_coeff-12"><strong>friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-friction_coeff-12"><strong>friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_coeff-22"><strong>friction_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-friction_coeff-22"><strong>friction_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_dir-12"><strong>friction_dir</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-friction_dir-12"><strong>friction_dir</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_dir-22"><strong>friction_dir</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-friction_dir-22"><strong>friction_dir</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-ghost"><strong>ghost</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-ghost"><strong>ghost</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-gravity_forces"><strong>gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-gravity_forces"><strong>gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-inv_aug_mass_matrix"><strong>inv_aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-inv_aug_mass_matrix"><strong>inv_aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-inv_mass_matrix"><strong>inv_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-inv_mass_matrix"><strong>inv_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-jacobian"><strong>jacobian</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-jacobian"><strong>jacobian</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-jacobian_deriv"><strong>jacobian_deriv</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-jacobian_deriv"><strong>jacobian_deriv</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint-12"><strong>joint</strong></a> (const std::string &amp; joint_name) <br></td>
+<td style="text-align: left;"><a href="#function-joint-12"><strong>joint</strong></a> (const std::string &amp; joint_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint-22"><strong>joint</strong></a> (size_t joint_index) <br></td>
+<td style="text-align: left;"><a href="#function-joint-22"><strong>joint</strong></a> (size_t joint_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_index"><strong>joint_index</strong></a> (const std::string &amp; joint_name) const<br></td>
+<td style="text-align: left;"><a href="#function-joint_index"><strong>joint_index</strong></a> (const std::string &amp; joint_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::unordered_map&lt; std::string, size_t &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_map"><strong>joint_map</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-joint_map"><strong>joint_map</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_name"><strong>joint_name</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-joint_name"><strong>joint_name</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_names"><strong>joint_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-joint_names"><strong>joint_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-locked_dof_names"><strong>locked_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-locked_dof_names"><strong>locked_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-mass_matrix"><strong>mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-mass_matrix"><strong>mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-mimic_dof_names"><strong>mimic_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-mimic_dof_names"><strong>mimic_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-model_filename"><strong>model_filename</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-model_filename"><strong>model_filename</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-model_packages"><strong>model_packages</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-model_packages"><strong>model_packages</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-name"><strong>name</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-name"><strong>name</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_bodies"><strong>num_bodies</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_bodies"><strong>num_bodies</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_controllers"><strong>num_controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_controllers"><strong>num_controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_dofs"><strong>num_dofs</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_dofs"><strong>num_dofs</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_joints"><strong>num_joints</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_joints"><strong>num_joints</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-passive_dof_names"><strong>passive_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-passive_dof_names"><strong>passive_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; bool &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_enforced"><strong>position_enforced</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_enforced"><strong>position_enforced</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_lower_limits"><strong>position_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_lower_limits"><strong>position_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_upper_limits"><strong>position_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_upper_limits"><strong>position_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-positions"><strong>positions</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-positions"><strong>positions</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reinit_controllers"><strong>reinit_controllers</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reinit_controllers"><strong>reinit_controllers</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_all_drawing_axis"><strong>remove_all_drawing_axis</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-remove_all_drawing_axis"><strong>remove_all_drawing_axis</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_controller-12"><strong>remove_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller) <br></td>
+<td style="text-align: left;"><a href="#function-remove_controller-12"><strong>remove_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_controller-22"><strong>remove_controller</strong></a> (size_t index) <br></td>
+<td style="text-align: left;"><a href="#function-remove_controller-22"><strong>remove_controller</strong></a> (size_t index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reset"><strong>reset</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reset"><strong>reset</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reset_commands"><strong>reset_commands</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reset_commands"><strong>reset_commands</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-restitution_coeff-12"><strong>restitution_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-restitution_coeff-12"><strong>restitution_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-restitution_coeff-22"><strong>restitution_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-restitution_coeff-22"><strong>restitution_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-secondary_friction_coeff-12"><strong>secondary_friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-secondary_friction_coeff-12"><strong>secondary_friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-secondary_friction_coeff-22"><strong>secondary_friction_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-secondary_friction_coeff-22"><strong>secondary_friction_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-self_colliding"><strong>self_colliding</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-self_colliding"><strong>self_colliding</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_acceleration_lower_limits"><strong>set_acceleration_lower_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_acceleration_lower_limits"><strong>set_acceleration_lower_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_acceleration_upper_limits"><strong>set_acceleration_upper_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_acceleration_upper_limits"><strong>set_acceleration_upper_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_accelerations"><strong>set_accelerations</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_accelerations"><strong>set_accelerations</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_actuator_type"><strong>set_actuator_type</strong></a> (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_actuator_type"><strong>set_actuator_type</strong></a> (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_actuator_types"><strong>set_actuator_types</strong></a> (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_actuator_types"><strong>set_actuator_types</strong></a> (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_base_pose-12"><strong>set_base_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
+<td style="text-align: left;"><a href="#function-set_base_pose-12"><strong>set_base_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_base_pose-22"><strong>set_base_pose</strong></a> (const Eigen::Vector6d &amp; pose) <br><em>set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)</em></td>
+<td style="text-align: left;"><a href="#function-set_base_pose-22"><strong>set_base_pose</strong></a> (const Eigen::Vector6d &amp; pose) <br><em>set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_mass-12"><strong>set_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_mass-12"><strong>set_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_mass-22"><strong>set_body_mass</strong></a> (size_t body_index, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_mass-22"><strong>set_body_mass</strong></a> (size_t body_index, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_name"><strong>set_body_name</strong></a> (size_t body_index, const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_name"><strong>set_body_name</strong></a> (size_t body_index, const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_cast_shadows"><strong>set_cast_shadows</strong></a> (bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_cast_shadows"><strong>set_cast_shadows</strong></a> (bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_color_mode-12"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode) <br></td>
+<td style="text-align: left;"><a href="#function-set_color_mode-12"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_color_mode-22"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode, const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_color_mode-22"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode, const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_commands"><strong>set_commands</strong></a> (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_commands"><strong>set_commands</strong></a> (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-12"><strong>set_coulomb_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_coulomb_coeffs-12"><strong>set_coulomb_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-22"><strong>set_coulomb_coeffs</strong></a> (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_coulomb_coeffs-22"><strong>set_coulomb_coeffs</strong></a> (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_damping_coeffs-12"><strong>set_damping_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_damping_coeffs-12"><strong>set_damping_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_damping_coeffs-22"><strong>set_damping_coeffs</strong></a> (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_damping_coeffs-22"><strong>set_damping_coeffs</strong></a> (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_draw_axis"><strong>set_draw_axis</strong></a> (const std::string &amp; body_name, double size=0.25) <br></td>
+<td style="text-align: left;"><a href="#function-set_draw_axis"><strong>set_draw_axis</strong></a> (const std::string &amp; body_name, double size=0.25) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_force-12"><strong>set_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_force-12"><strong>set_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_force-22"><strong>set_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_force-22"><strong>set_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_torque-12"><strong>set_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_torque-12"><strong>set_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_torque-22"><strong>set_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_torque-22"><strong>set_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_force_lower_limits"><strong>set_force_lower_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_force_lower_limits"><strong>set_force_lower_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_force_upper_limits"><strong>set_force_upper_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_force_upper_limits"><strong>set_force_upper_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_forces"><strong>set_forces</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_forces"><strong>set_forces</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeff-12"><strong>set_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeff-12"><strong>set_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeff-22"><strong>set_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeff-22"><strong>set_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeffs"><strong>set_friction_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeffs"><strong>set_friction_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_dir-12"><strong>set_friction_dir</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_dir-12"><strong>set_friction_dir</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_dir-22"><strong>set_friction_dir</strong></a> (size_t body_index, const Eigen::Vector3d &amp; direction) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_dir-22"><strong>set_friction_dir</strong></a> (size_t body_index, const Eigen::Vector3d &amp; direction) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_ghost"><strong>set_ghost</strong></a> (bool ghost=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_ghost"><strong>set_ghost</strong></a> (bool ghost=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_joint_name"><strong>set_joint_name</strong></a> (size_t joint_index, const std::string &amp; joint_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_joint_name"><strong>set_joint_name</strong></a> (size_t joint_index, const std::string &amp; joint_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_mimic"><strong>set_mimic</strong></a> (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.) <br></td>
+<td style="text-align: left;"><a href="#function-set_mimic"><strong>set_mimic</strong></a> (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_enforced-12"><strong>set_position_enforced</strong></a> (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_enforced-12"><strong>set_position_enforced</strong></a> (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_enforced-22"><strong>set_position_enforced</strong></a> (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_enforced-22"><strong>set_position_enforced</strong></a> (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_lower_limits"><strong>set_position_lower_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_lower_limits"><strong>set_position_lower_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_upper_limits"><strong>set_position_upper_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_upper_limits"><strong>set_position_upper_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_positions"><strong>set_positions</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_positions"><strong>set_positions</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeff-12"><strong>set_restitution_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeff-12"><strong>set_restitution_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeff-22"><strong>set_restitution_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeff-22"><strong>set_restitution_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeffs"><strong>set_restitution_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeffs"><strong>set_restitution_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-12"><strong>set_secondary_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeff-12"><strong>set_secondary_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-22"><strong>set_secondary_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeff-22"><strong>set_secondary_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeffs"><strong>set_secondary_friction_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeffs"><strong>set_secondary_friction_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_self_collision"><strong>set_self_collision</strong></a> (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_self_collision"><strong>set_self_collision</strong></a> (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-12"><strong>set_spring_stiffnesses</strong></a> (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_spring_stiffnesses-12"><strong>set_spring_stiffnesses</strong></a> (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-22"><strong>set_spring_stiffnesses</strong></a> (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_spring_stiffnesses-22"><strong>set_spring_stiffnesses</strong></a> (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocities"><strong>set_velocities</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocities"><strong>set_velocities</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocity_lower_limits"><strong>set_velocity_lower_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocity_lower_limits"><strong>set_velocity_lower_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocity_upper_limits"><strong>set_velocity_upper_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocity_upper_limits"><strong>set_velocity_upper_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-skeleton"><strong>skeleton</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-skeleton"><strong>skeleton</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-spring_stiffnesses"><strong>spring_stiffnesses</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-spring_stiffnesses"><strong>spring_stiffnesses</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-update"><strong>update</strong></a> (double t) <br></td>
+<td style="text-align: left;"><a href="#function-update"><strong>update</strong></a> (double t) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-update_joint_dof_maps"><strong>update_joint_dof_maps</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-update_joint_dof_maps"><strong>update_joint_dof_maps</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-vec_dof"><strong>vec_dof</strong></a> (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-vec_dof"><strong>vec_dof</strong></a> (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocities"><strong>velocities</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocities"><strong>velocities</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocity_lower_limits"><strong>velocity_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocity_lower_limits"><strong>velocity_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocity_upper_limits"><strong>velocity_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocity_upper_limits"><strong>velocity_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot"><strong>~Robot</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-robot"><strong>~Robot</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -1982,19 +1982,19 @@ <h2 id="public-static-functions-inherited-from-robot_dartrobot">Public Static Fu
 <tbody>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_box-12"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
+<td style="text-align: left;"><a href="#function-create_box-12"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_box-22"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
+<td style="text-align: left;"><a href="#function-create_box-22"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_ellipsoid-12"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
+<td style="text-align: left;"><a href="#function-create_ellipsoid-12"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_ellipsoid-22"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
+<td style="text-align: left;"><a href="#function-create_ellipsoid-22"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
 </tr>
 </tbody>
 </table>
@@ -2025,43 +2025,43 @@ <h2 id="protected-attributes-inherited-from-robot_dartrobot">Protected Attribute
 <tbody>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_axis_shapes"><strong>_axis_shapes</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_axis_shapes"><strong>_axis_shapes</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_cast_shadows"><strong>_cast_shadows</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_cast_shadows"><strong>_cast_shadows</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_controllers"><strong>_controllers</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_controllers"><strong>_controllers</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; std::string, size_t &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_dof_map"><strong>_dof_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_dof_map"><strong>_dof_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_is_ghost"><strong>_is_ghost</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_is_ghost"><strong>_is_ghost</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; std::string, size_t &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_joint_map"><strong>_joint_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_joint_map"><strong>_joint_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_model_filename"><strong>_model_filename</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_model_filename"><strong>_model_filename</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_packages"><strong>_packages</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_packages"><strong>_packages</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_robot_name"><strong>_robot_name</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_robot_name"><strong>_robot_name</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_skeleton"><strong>_skeleton</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_skeleton"><strong>_skeleton</strong></a>  <br></td>
 </tr>
 </tbody>
 </table>
@@ -2096,55 +2096,55 @@ <h2 id="protected-functions-inherited-from-robot_dartrobot">Protected Functions
 <tbody>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint::ActuatorType</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_actuator_type"><strong>_actuator_type</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-_actuator_type"><strong>_actuator_type</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; dart::dynamics::Joint::ActuatorType &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_actuator_types"><strong>_actuator_types</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-_actuator_types"><strong>_actuator_types</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_get_path"><strong>_get_path</strong></a> (const std::string &amp; filename) const<br></td>
+<td style="text-align: left;"><a href="#function-_get_path"><strong>_get_path</strong></a> (const std::string &amp; filename) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_jacobian"><strong>_jacobian</strong></a> (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-_jacobian"><strong>_jacobian</strong></a> (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_load_model"><strong>_load_model</strong></a> (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false) <br></td>
+<td style="text-align: left;"><a href="#function-_load_model"><strong>_load_model</strong></a> (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_mass_matrix"><strong>_mass_matrix</strong></a> (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-_mass_matrix"><strong>_mass_matrix</strong></a> (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_type"><strong>_set_actuator_type</strong></a> (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_type"><strong>_set_actuator_type</strong></a> (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_types-12"><strong>_set_actuator_types</strong></a> (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_types-12"><strong>_set_actuator_types</strong></a> (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_types-22"><strong>_set_actuator_types</strong></a> (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_types-22"><strong>_set_actuator_types</strong></a> (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_color_mode-12"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) <br></td>
+<td style="text-align: left;"><a href="#function-_set_color_mode-12"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_color_mode-22"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn) <br></td>
+<td style="text-align: left;"><a href="#function-_set_color_mode-22"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn) <br></td>
 </tr>
 </tbody>
 </table>
@@ -2203,14 +2203,14 @@ <h3 id="function-_post_removal">function _post_removal<a class="headerlink" href
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -2244,10 +2244,10 @@ <h3 id="function-_post_removal">function _post_removal<a class="headerlink" href
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1robots_1_1Pendulum/index.html b/docs/api/classrobot__dart_1_1robots_1_1Pendulum/index.html
index 61f286ae..1a765f9b 100644
--- a/docs/api/classrobot__dart_1_1robots_1_1Pendulum/index.html
+++ b/docs/api/classrobot__dart_1_1robots_1_1Pendulum/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
-  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4V7Z"/></svg>');}</style>
+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -58,7 +58,7 @@
       
     
     
-    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce((e,_)=>(e<<5)-e+_.charCodeAt(0),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
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+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
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+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1186,699 +1186,699 @@ <h2 id="public-functions-inherited-from-robot_dartrobot">Public Functions inheri
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-13"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-13"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-23"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-23"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-33"><strong>Robot</strong></a> (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name="robot", bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-33"><strong>Robot</strong></a> (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name="robot", bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-acceleration_lower_limits"><strong>acceleration_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-acceleration_lower_limits"><strong>acceleration_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-acceleration_upper_limits"><strong>acceleration_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-acceleration_upper_limits"><strong>acceleration_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-accelerations"><strong>accelerations</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-accelerations"><strong>accelerations</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-active_controllers"><strong>active_controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-active_controllers"><strong>active_controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-actuator_type"><strong>actuator_type</strong></a> (const std::string &amp; joint_name) const<br></td>
+<td style="text-align: left;"><a href="#function-actuator_type"><strong>actuator_type</strong></a> (const std::string &amp; joint_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-actuator_types"><strong>actuator_types</strong></a> (const std::vector&lt; std::string &gt; &amp; joint_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-actuator_types"><strong>actuator_types</strong></a> (const std::vector&lt; std::string &gt; &amp; joint_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_body_mass-12"><strong>add_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-add_body_mass-12"><strong>add_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_body_mass-22"><strong>add_body_mass</strong></a> (size_t body_index, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-add_body_mass-22"><strong>add_body_mass</strong></a> (size_t body_index, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_controller"><strong>add_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller, double weight=1.0) <br></td>
+<td style="text-align: left;"><a href="#function-add_controller"><strong>add_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller, double weight=1.0) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_force-12"><strong>add_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_force-12"><strong>add_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_force-22"><strong>add_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_force-22"><strong>add_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_torque-12"><strong>add_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_torque-12"><strong>add_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_torque-22"><strong>add_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_torque-22"><strong>add_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-adjacent_colliding"><strong>adjacent_colliding</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-adjacent_colliding"><strong>adjacent_colliding</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-aug_mass_matrix"><strong>aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-aug_mass_matrix"><strong>aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-base_pose"><strong>base_pose</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-base_pose"><strong>base_pose</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-base_pose_vec"><strong>base_pose_vec</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-base_pose_vec"><strong>base_pose_vec</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_acceleration-12"><strong>body_acceleration</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_acceleration-12"><strong>body_acceleration</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_acceleration-22"><strong>body_acceleration</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_acceleration-22"><strong>body_acceleration</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_index"><strong>body_index</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_index"><strong>body_index</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_mass-12"><strong>body_mass</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_mass-12"><strong>body_mass</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_mass-22"><strong>body_mass</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_mass-22"><strong>body_mass</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_name"><strong>body_name</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_name"><strong>body_name</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_names"><strong>body_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-body_names"><strong>body_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_node-12"><strong>body_node</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-body_node-12"><strong>body_node</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_node-22"><strong>body_node</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-body_node-22"><strong>body_node</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose-12"><strong>body_pose</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose-12"><strong>body_pose</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose-22"><strong>body_pose</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose-22"><strong>body_pose</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose_vec-12"><strong>body_pose_vec</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose_vec-12"><strong>body_pose_vec</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose_vec-22"><strong>body_pose_vec</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose_vec-22"><strong>body_pose_vec</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_velocity-12"><strong>body_velocity</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_velocity-12"><strong>body_velocity</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_velocity-22"><strong>body_velocity</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_velocity-22"><strong>body_velocity</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-cast_shadows"><strong>cast_shadows</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-cast_shadows"><strong>cast_shadows</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_controllers"><strong>clear_controllers</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_controllers"><strong>clear_controllers</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_external_forces"><strong>clear_external_forces</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_external_forces"><strong>clear_external_forces</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_internal_forces"><strong>clear_internal_forces</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_internal_forces"><strong>clear_internal_forces</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clone"><strong>clone</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-clone"><strong>clone</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clone_ghost"><strong>clone_ghost</strong></a> (const std::string &amp; ghost_name="ghost", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const<br></td>
+<td style="text-align: left;"><a href="#function-clone_ghost"><strong>clone_ghost</strong></a> (const std::string &amp; ghost_name="ghost", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com"><strong>com</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com"><strong>com</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_acceleration"><strong>com_acceleration</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com_acceleration"><strong>com_acceleration</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_jacobian"><strong>com_jacobian</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-com_jacobian"><strong>com_jacobian</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_jacobian_deriv"><strong>com_jacobian_deriv</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-com_jacobian_deriv"><strong>com_jacobian_deriv</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_velocity"><strong>com_velocity</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com_velocity"><strong>com_velocity</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-commands"><strong>commands</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-commands"><strong>commands</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-constraint_forces"><strong>constraint_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-constraint_forces"><strong>constraint_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-controller"><strong>controller</strong></a> (size_t index) const<br></td>
+<td style="text-align: left;"><a href="#function-controller"><strong>controller</strong></a> (size_t index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-controllers"><strong>controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-controllers"><strong>controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coriolis_forces"><strong>coriolis_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coriolis_forces"><strong>coriolis_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coriolis_gravity_forces"><strong>coriolis_gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coriolis_gravity_forces"><strong>coriolis_gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coulomb_coeffs"><strong>coulomb_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coulomb_coeffs"><strong>coulomb_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-damping_coeffs"><strong>damping_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-damping_coeffs"><strong>damping_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::DegreeOfFreedom *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof-12"><strong>dof</strong></a> (const std::string &amp; dof_name) <br></td>
+<td style="text-align: left;"><a href="#function-dof-12"><strong>dof</strong></a> (const std::string &amp; dof_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::DegreeOfFreedom *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof-22"><strong>dof</strong></a> (size_t dof_index) <br></td>
+<td style="text-align: left;"><a href="#function-dof-22"><strong>dof</strong></a> (size_t dof_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_index"><strong>dof_index</strong></a> (const std::string &amp; dof_name) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_index"><strong>dof_index</strong></a> (const std::string &amp; dof_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::unordered_map&lt; std::string, size_t &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_map"><strong>dof_map</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-dof_map"><strong>dof_map</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_name"><strong>dof_name</strong></a> (size_t dof_index) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_name"><strong>dof_name</strong></a> (size_t dof_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_names"><strong>dof_names</strong></a> (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_names"><strong>dof_names</strong></a> (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-drawing_axes"><strong>drawing_axes</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-drawing_axes"><strong>drawing_axes</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-external_forces-12"><strong>external_forces</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-external_forces-12"><strong>external_forces</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-external_forces-22"><strong>external_forces</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-external_forces-22"><strong>external_forces</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-fix_to_world"><strong>fix_to_world</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-fix_to_world"><strong>fix_to_world</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-fixed"><strong>fixed</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-fixed"><strong>fixed</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_lower_limits"><strong>force_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-force_lower_limits"><strong>force_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_position_bounds"><strong>force_position_bounds</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-force_position_bounds"><strong>force_position_bounds</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_torque"><strong>force_torque</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-force_torque"><strong>force_torque</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_upper_limits"><strong>force_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-force_upper_limits"><strong>force_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-forces"><strong>forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-forces"><strong>forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-free"><strong>free</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-free"><strong>free</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-free_from_world"><strong>free_from_world</strong></a> (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()) <br></td>
+<td style="text-align: left;"><a href="#function-free_from_world"><strong>free_from_world</strong></a> (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_coeff-12"><strong>friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-friction_coeff-12"><strong>friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_coeff-22"><strong>friction_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-friction_coeff-22"><strong>friction_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_dir-12"><strong>friction_dir</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-friction_dir-12"><strong>friction_dir</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_dir-22"><strong>friction_dir</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-friction_dir-22"><strong>friction_dir</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-ghost"><strong>ghost</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-ghost"><strong>ghost</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-gravity_forces"><strong>gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-gravity_forces"><strong>gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-inv_aug_mass_matrix"><strong>inv_aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-inv_aug_mass_matrix"><strong>inv_aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-inv_mass_matrix"><strong>inv_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-inv_mass_matrix"><strong>inv_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-jacobian"><strong>jacobian</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-jacobian"><strong>jacobian</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-jacobian_deriv"><strong>jacobian_deriv</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-jacobian_deriv"><strong>jacobian_deriv</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint-12"><strong>joint</strong></a> (const std::string &amp; joint_name) <br></td>
+<td style="text-align: left;"><a href="#function-joint-12"><strong>joint</strong></a> (const std::string &amp; joint_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint-22"><strong>joint</strong></a> (size_t joint_index) <br></td>
+<td style="text-align: left;"><a href="#function-joint-22"><strong>joint</strong></a> (size_t joint_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_index"><strong>joint_index</strong></a> (const std::string &amp; joint_name) const<br></td>
+<td style="text-align: left;"><a href="#function-joint_index"><strong>joint_index</strong></a> (const std::string &amp; joint_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::unordered_map&lt; std::string, size_t &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_map"><strong>joint_map</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-joint_map"><strong>joint_map</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_name"><strong>joint_name</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-joint_name"><strong>joint_name</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_names"><strong>joint_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-joint_names"><strong>joint_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-locked_dof_names"><strong>locked_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-locked_dof_names"><strong>locked_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-mass_matrix"><strong>mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-mass_matrix"><strong>mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-mimic_dof_names"><strong>mimic_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-mimic_dof_names"><strong>mimic_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-model_filename"><strong>model_filename</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-model_filename"><strong>model_filename</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-model_packages"><strong>model_packages</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-model_packages"><strong>model_packages</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-name"><strong>name</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-name"><strong>name</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_bodies"><strong>num_bodies</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_bodies"><strong>num_bodies</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_controllers"><strong>num_controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_controllers"><strong>num_controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_dofs"><strong>num_dofs</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_dofs"><strong>num_dofs</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_joints"><strong>num_joints</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_joints"><strong>num_joints</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-passive_dof_names"><strong>passive_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-passive_dof_names"><strong>passive_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; bool &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_enforced"><strong>position_enforced</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_enforced"><strong>position_enforced</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_lower_limits"><strong>position_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_lower_limits"><strong>position_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_upper_limits"><strong>position_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_upper_limits"><strong>position_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-positions"><strong>positions</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-positions"><strong>positions</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reinit_controllers"><strong>reinit_controllers</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reinit_controllers"><strong>reinit_controllers</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_all_drawing_axis"><strong>remove_all_drawing_axis</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-remove_all_drawing_axis"><strong>remove_all_drawing_axis</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_controller-12"><strong>remove_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller) <br></td>
+<td style="text-align: left;"><a href="#function-remove_controller-12"><strong>remove_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_controller-22"><strong>remove_controller</strong></a> (size_t index) <br></td>
+<td style="text-align: left;"><a href="#function-remove_controller-22"><strong>remove_controller</strong></a> (size_t index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reset"><strong>reset</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reset"><strong>reset</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reset_commands"><strong>reset_commands</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reset_commands"><strong>reset_commands</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-restitution_coeff-12"><strong>restitution_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-restitution_coeff-12"><strong>restitution_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-restitution_coeff-22"><strong>restitution_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-restitution_coeff-22"><strong>restitution_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-secondary_friction_coeff-12"><strong>secondary_friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-secondary_friction_coeff-12"><strong>secondary_friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-secondary_friction_coeff-22"><strong>secondary_friction_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-secondary_friction_coeff-22"><strong>secondary_friction_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-self_colliding"><strong>self_colliding</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-self_colliding"><strong>self_colliding</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_acceleration_lower_limits"><strong>set_acceleration_lower_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_acceleration_lower_limits"><strong>set_acceleration_lower_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_acceleration_upper_limits"><strong>set_acceleration_upper_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_acceleration_upper_limits"><strong>set_acceleration_upper_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_accelerations"><strong>set_accelerations</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_accelerations"><strong>set_accelerations</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_actuator_type"><strong>set_actuator_type</strong></a> (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_actuator_type"><strong>set_actuator_type</strong></a> (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_actuator_types"><strong>set_actuator_types</strong></a> (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_actuator_types"><strong>set_actuator_types</strong></a> (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_base_pose-12"><strong>set_base_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
+<td style="text-align: left;"><a href="#function-set_base_pose-12"><strong>set_base_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_base_pose-22"><strong>set_base_pose</strong></a> (const Eigen::Vector6d &amp; pose) <br><em>set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)</em></td>
+<td style="text-align: left;"><a href="#function-set_base_pose-22"><strong>set_base_pose</strong></a> (const Eigen::Vector6d &amp; pose) <br><em>set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_mass-12"><strong>set_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_mass-12"><strong>set_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_mass-22"><strong>set_body_mass</strong></a> (size_t body_index, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_mass-22"><strong>set_body_mass</strong></a> (size_t body_index, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_name"><strong>set_body_name</strong></a> (size_t body_index, const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_name"><strong>set_body_name</strong></a> (size_t body_index, const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_cast_shadows"><strong>set_cast_shadows</strong></a> (bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_cast_shadows"><strong>set_cast_shadows</strong></a> (bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_color_mode-12"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode) <br></td>
+<td style="text-align: left;"><a href="#function-set_color_mode-12"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_color_mode-22"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode, const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_color_mode-22"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode, const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_commands"><strong>set_commands</strong></a> (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_commands"><strong>set_commands</strong></a> (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-12"><strong>set_coulomb_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_coulomb_coeffs-12"><strong>set_coulomb_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-22"><strong>set_coulomb_coeffs</strong></a> (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_coulomb_coeffs-22"><strong>set_coulomb_coeffs</strong></a> (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_damping_coeffs-12"><strong>set_damping_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_damping_coeffs-12"><strong>set_damping_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_damping_coeffs-22"><strong>set_damping_coeffs</strong></a> (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_damping_coeffs-22"><strong>set_damping_coeffs</strong></a> (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_draw_axis"><strong>set_draw_axis</strong></a> (const std::string &amp; body_name, double size=0.25) <br></td>
+<td style="text-align: left;"><a href="#function-set_draw_axis"><strong>set_draw_axis</strong></a> (const std::string &amp; body_name, double size=0.25) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_force-12"><strong>set_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_force-12"><strong>set_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_force-22"><strong>set_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_force-22"><strong>set_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_torque-12"><strong>set_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_torque-12"><strong>set_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_torque-22"><strong>set_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_torque-22"><strong>set_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_force_lower_limits"><strong>set_force_lower_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_force_lower_limits"><strong>set_force_lower_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_force_upper_limits"><strong>set_force_upper_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_force_upper_limits"><strong>set_force_upper_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_forces"><strong>set_forces</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_forces"><strong>set_forces</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeff-12"><strong>set_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeff-12"><strong>set_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeff-22"><strong>set_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeff-22"><strong>set_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeffs"><strong>set_friction_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeffs"><strong>set_friction_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_dir-12"><strong>set_friction_dir</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_dir-12"><strong>set_friction_dir</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_dir-22"><strong>set_friction_dir</strong></a> (size_t body_index, const Eigen::Vector3d &amp; direction) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_dir-22"><strong>set_friction_dir</strong></a> (size_t body_index, const Eigen::Vector3d &amp; direction) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_ghost"><strong>set_ghost</strong></a> (bool ghost=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_ghost"><strong>set_ghost</strong></a> (bool ghost=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_joint_name"><strong>set_joint_name</strong></a> (size_t joint_index, const std::string &amp; joint_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_joint_name"><strong>set_joint_name</strong></a> (size_t joint_index, const std::string &amp; joint_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_mimic"><strong>set_mimic</strong></a> (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.) <br></td>
+<td style="text-align: left;"><a href="#function-set_mimic"><strong>set_mimic</strong></a> (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_enforced-12"><strong>set_position_enforced</strong></a> (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_enforced-12"><strong>set_position_enforced</strong></a> (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_enforced-22"><strong>set_position_enforced</strong></a> (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_enforced-22"><strong>set_position_enforced</strong></a> (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_lower_limits"><strong>set_position_lower_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_lower_limits"><strong>set_position_lower_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_upper_limits"><strong>set_position_upper_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_upper_limits"><strong>set_position_upper_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_positions"><strong>set_positions</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_positions"><strong>set_positions</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeff-12"><strong>set_restitution_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeff-12"><strong>set_restitution_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeff-22"><strong>set_restitution_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeff-22"><strong>set_restitution_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeffs"><strong>set_restitution_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeffs"><strong>set_restitution_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-12"><strong>set_secondary_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeff-12"><strong>set_secondary_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-22"><strong>set_secondary_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeff-22"><strong>set_secondary_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeffs"><strong>set_secondary_friction_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeffs"><strong>set_secondary_friction_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_self_collision"><strong>set_self_collision</strong></a> (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_self_collision"><strong>set_self_collision</strong></a> (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-12"><strong>set_spring_stiffnesses</strong></a> (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_spring_stiffnesses-12"><strong>set_spring_stiffnesses</strong></a> (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-22"><strong>set_spring_stiffnesses</strong></a> (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_spring_stiffnesses-22"><strong>set_spring_stiffnesses</strong></a> (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocities"><strong>set_velocities</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocities"><strong>set_velocities</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocity_lower_limits"><strong>set_velocity_lower_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocity_lower_limits"><strong>set_velocity_lower_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocity_upper_limits"><strong>set_velocity_upper_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocity_upper_limits"><strong>set_velocity_upper_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-skeleton"><strong>skeleton</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-skeleton"><strong>skeleton</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-spring_stiffnesses"><strong>spring_stiffnesses</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-spring_stiffnesses"><strong>spring_stiffnesses</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-update"><strong>update</strong></a> (double t) <br></td>
+<td style="text-align: left;"><a href="#function-update"><strong>update</strong></a> (double t) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-update_joint_dof_maps"><strong>update_joint_dof_maps</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-update_joint_dof_maps"><strong>update_joint_dof_maps</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-vec_dof"><strong>vec_dof</strong></a> (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-vec_dof"><strong>vec_dof</strong></a> (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocities"><strong>velocities</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocities"><strong>velocities</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocity_lower_limits"><strong>velocity_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocity_lower_limits"><strong>velocity_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocity_upper_limits"><strong>velocity_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocity_upper_limits"><strong>velocity_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot"><strong>~Robot</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-robot"><strong>~Robot</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -1894,19 +1894,19 @@ <h2 id="public-static-functions-inherited-from-robot_dartrobot">Public Static Fu
 <tbody>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_box-12"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
+<td style="text-align: left;"><a href="#function-create_box-12"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_box-22"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
+<td style="text-align: left;"><a href="#function-create_box-22"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_ellipsoid-12"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
+<td style="text-align: left;"><a href="#function-create_ellipsoid-12"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_ellipsoid-22"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
+<td style="text-align: left;"><a href="#function-create_ellipsoid-22"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
 </tr>
 </tbody>
 </table>
@@ -1922,43 +1922,43 @@ <h2 id="protected-attributes-inherited-from-robot_dartrobot">Protected Attribute
 <tbody>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_axis_shapes"><strong>_axis_shapes</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_axis_shapes"><strong>_axis_shapes</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_cast_shadows"><strong>_cast_shadows</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_cast_shadows"><strong>_cast_shadows</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_controllers"><strong>_controllers</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_controllers"><strong>_controllers</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; std::string, size_t &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_dof_map"><strong>_dof_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_dof_map"><strong>_dof_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_is_ghost"><strong>_is_ghost</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_is_ghost"><strong>_is_ghost</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; std::string, size_t &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_joint_map"><strong>_joint_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_joint_map"><strong>_joint_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_model_filename"><strong>_model_filename</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_model_filename"><strong>_model_filename</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_packages"><strong>_packages</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_packages"><strong>_packages</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_robot_name"><strong>_robot_name</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_robot_name"><strong>_robot_name</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_skeleton"><strong>_skeleton</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_skeleton"><strong>_skeleton</strong></a>  <br></td>
 </tr>
 </tbody>
 </table>
@@ -1974,55 +1974,55 @@ <h2 id="protected-functions-inherited-from-robot_dartrobot">Protected Functions
 <tbody>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint::ActuatorType</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_actuator_type"><strong>_actuator_type</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-_actuator_type"><strong>_actuator_type</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; dart::dynamics::Joint::ActuatorType &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_actuator_types"><strong>_actuator_types</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-_actuator_types"><strong>_actuator_types</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_get_path"><strong>_get_path</strong></a> (const std::string &amp; filename) const<br></td>
+<td style="text-align: left;"><a href="#function-_get_path"><strong>_get_path</strong></a> (const std::string &amp; filename) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_jacobian"><strong>_jacobian</strong></a> (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-_jacobian"><strong>_jacobian</strong></a> (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_load_model"><strong>_load_model</strong></a> (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false) <br></td>
+<td style="text-align: left;"><a href="#function-_load_model"><strong>_load_model</strong></a> (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_mass_matrix"><strong>_mass_matrix</strong></a> (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-_mass_matrix"><strong>_mass_matrix</strong></a> (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_type"><strong>_set_actuator_type</strong></a> (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_type"><strong>_set_actuator_type</strong></a> (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_types-12"><strong>_set_actuator_types</strong></a> (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_types-12"><strong>_set_actuator_types</strong></a> (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_types-22"><strong>_set_actuator_types</strong></a> (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_types-22"><strong>_set_actuator_types</strong></a> (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_color_mode-12"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) <br></td>
+<td style="text-align: left;"><a href="#function-_set_color_mode-12"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_color_mode-22"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn) <br></td>
+<td style="text-align: left;"><a href="#function-_set_color_mode-22"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn) <br></td>
 </tr>
 </tbody>
 </table>
@@ -2053,14 +2053,14 @@ <h3 id="function-pendulum">function Pendulum<a class="headerlink" href="#functio
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -2094,10 +2094,10 @@ <h3 id="function-pendulum">function Pendulum<a class="headerlink" href="#functio
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1robots_1_1Talos/index.html b/docs/api/classrobot__dart_1_1robots_1_1Talos/index.html
index e201d1bd..6b15ec3b 100644
--- a/docs/api/classrobot__dart_1_1robots_1_1Talos/index.html
+++ b/docs/api/classrobot__dart_1_1robots_1_1Talos/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
-  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6zm80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3z"/></svg>');}</style>
+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
-  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4V7Z"/></svg>');}</style>
+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -58,7 +58,7 @@
       
     
     
-    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce((e,_)=>(e<<5)-e+_.charCodeAt(0),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
       </label>
     
   
@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     Documentation of RobotDART
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     NOSALRO/robot_dart
@@ -1459,699 +1459,699 @@ <h2 id="public-functions-inherited-from-robot_dartrobot">Public Functions inheri
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-13"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-13"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-23"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-23"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-33"><strong>Robot</strong></a> (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name="robot", bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-33"><strong>Robot</strong></a> (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name="robot", bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-acceleration_lower_limits"><strong>acceleration_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-acceleration_lower_limits"><strong>acceleration_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-acceleration_upper_limits"><strong>acceleration_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-acceleration_upper_limits"><strong>acceleration_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-accelerations"><strong>accelerations</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-accelerations"><strong>accelerations</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-active_controllers"><strong>active_controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-active_controllers"><strong>active_controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-actuator_type"><strong>actuator_type</strong></a> (const std::string &amp; joint_name) const<br></td>
+<td style="text-align: left;"><a href="#function-actuator_type"><strong>actuator_type</strong></a> (const std::string &amp; joint_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-actuator_types"><strong>actuator_types</strong></a> (const std::vector&lt; std::string &gt; &amp; joint_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-actuator_types"><strong>actuator_types</strong></a> (const std::vector&lt; std::string &gt; &amp; joint_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_body_mass-12"><strong>add_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-add_body_mass-12"><strong>add_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_body_mass-22"><strong>add_body_mass</strong></a> (size_t body_index, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-add_body_mass-22"><strong>add_body_mass</strong></a> (size_t body_index, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_controller"><strong>add_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller, double weight=1.0) <br></td>
+<td style="text-align: left;"><a href="#function-add_controller"><strong>add_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller, double weight=1.0) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_force-12"><strong>add_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_force-12"><strong>add_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_force-22"><strong>add_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_force-22"><strong>add_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_torque-12"><strong>add_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_torque-12"><strong>add_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_torque-22"><strong>add_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_torque-22"><strong>add_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-adjacent_colliding"><strong>adjacent_colliding</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-adjacent_colliding"><strong>adjacent_colliding</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-aug_mass_matrix"><strong>aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-aug_mass_matrix"><strong>aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-base_pose"><strong>base_pose</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-base_pose"><strong>base_pose</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-base_pose_vec"><strong>base_pose_vec</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-base_pose_vec"><strong>base_pose_vec</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_acceleration-12"><strong>body_acceleration</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_acceleration-12"><strong>body_acceleration</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_acceleration-22"><strong>body_acceleration</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_acceleration-22"><strong>body_acceleration</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_index"><strong>body_index</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_index"><strong>body_index</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_mass-12"><strong>body_mass</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_mass-12"><strong>body_mass</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_mass-22"><strong>body_mass</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_mass-22"><strong>body_mass</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_name"><strong>body_name</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_name"><strong>body_name</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_names"><strong>body_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-body_names"><strong>body_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_node-12"><strong>body_node</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-body_node-12"><strong>body_node</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_node-22"><strong>body_node</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-body_node-22"><strong>body_node</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose-12"><strong>body_pose</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose-12"><strong>body_pose</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose-22"><strong>body_pose</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose-22"><strong>body_pose</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose_vec-12"><strong>body_pose_vec</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose_vec-12"><strong>body_pose_vec</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose_vec-22"><strong>body_pose_vec</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose_vec-22"><strong>body_pose_vec</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_velocity-12"><strong>body_velocity</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_velocity-12"><strong>body_velocity</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_velocity-22"><strong>body_velocity</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_velocity-22"><strong>body_velocity</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-cast_shadows"><strong>cast_shadows</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-cast_shadows"><strong>cast_shadows</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_controllers"><strong>clear_controllers</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_controllers"><strong>clear_controllers</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_external_forces"><strong>clear_external_forces</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_external_forces"><strong>clear_external_forces</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_internal_forces"><strong>clear_internal_forces</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_internal_forces"><strong>clear_internal_forces</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clone"><strong>clone</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-clone"><strong>clone</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clone_ghost"><strong>clone_ghost</strong></a> (const std::string &amp; ghost_name="ghost", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const<br></td>
+<td style="text-align: left;"><a href="#function-clone_ghost"><strong>clone_ghost</strong></a> (const std::string &amp; ghost_name="ghost", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com"><strong>com</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com"><strong>com</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_acceleration"><strong>com_acceleration</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com_acceleration"><strong>com_acceleration</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_jacobian"><strong>com_jacobian</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-com_jacobian"><strong>com_jacobian</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_jacobian_deriv"><strong>com_jacobian_deriv</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-com_jacobian_deriv"><strong>com_jacobian_deriv</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_velocity"><strong>com_velocity</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com_velocity"><strong>com_velocity</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-commands"><strong>commands</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-commands"><strong>commands</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-constraint_forces"><strong>constraint_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-constraint_forces"><strong>constraint_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-controller"><strong>controller</strong></a> (size_t index) const<br></td>
+<td style="text-align: left;"><a href="#function-controller"><strong>controller</strong></a> (size_t index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-controllers"><strong>controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-controllers"><strong>controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coriolis_forces"><strong>coriolis_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coriolis_forces"><strong>coriolis_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coriolis_gravity_forces"><strong>coriolis_gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coriolis_gravity_forces"><strong>coriolis_gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coulomb_coeffs"><strong>coulomb_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coulomb_coeffs"><strong>coulomb_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-damping_coeffs"><strong>damping_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-damping_coeffs"><strong>damping_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::DegreeOfFreedom *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof-12"><strong>dof</strong></a> (const std::string &amp; dof_name) <br></td>
+<td style="text-align: left;"><a href="#function-dof-12"><strong>dof</strong></a> (const std::string &amp; dof_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::DegreeOfFreedom *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof-22"><strong>dof</strong></a> (size_t dof_index) <br></td>
+<td style="text-align: left;"><a href="#function-dof-22"><strong>dof</strong></a> (size_t dof_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_index"><strong>dof_index</strong></a> (const std::string &amp; dof_name) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_index"><strong>dof_index</strong></a> (const std::string &amp; dof_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::unordered_map&lt; std::string, size_t &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_map"><strong>dof_map</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-dof_map"><strong>dof_map</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_name"><strong>dof_name</strong></a> (size_t dof_index) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_name"><strong>dof_name</strong></a> (size_t dof_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_names"><strong>dof_names</strong></a> (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_names"><strong>dof_names</strong></a> (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-drawing_axes"><strong>drawing_axes</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-drawing_axes"><strong>drawing_axes</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-external_forces-12"><strong>external_forces</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-external_forces-12"><strong>external_forces</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-external_forces-22"><strong>external_forces</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-external_forces-22"><strong>external_forces</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-fix_to_world"><strong>fix_to_world</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-fix_to_world"><strong>fix_to_world</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-fixed"><strong>fixed</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-fixed"><strong>fixed</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_lower_limits"><strong>force_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-force_lower_limits"><strong>force_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_position_bounds"><strong>force_position_bounds</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-force_position_bounds"><strong>force_position_bounds</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_torque"><strong>force_torque</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-force_torque"><strong>force_torque</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_upper_limits"><strong>force_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-force_upper_limits"><strong>force_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-forces"><strong>forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-forces"><strong>forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-free"><strong>free</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-free"><strong>free</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-free_from_world"><strong>free_from_world</strong></a> (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()) <br></td>
+<td style="text-align: left;"><a href="#function-free_from_world"><strong>free_from_world</strong></a> (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_coeff-12"><strong>friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-friction_coeff-12"><strong>friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_coeff-22"><strong>friction_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-friction_coeff-22"><strong>friction_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_dir-12"><strong>friction_dir</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-friction_dir-12"><strong>friction_dir</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_dir-22"><strong>friction_dir</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-friction_dir-22"><strong>friction_dir</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-ghost"><strong>ghost</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-ghost"><strong>ghost</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-gravity_forces"><strong>gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-gravity_forces"><strong>gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-inv_aug_mass_matrix"><strong>inv_aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-inv_aug_mass_matrix"><strong>inv_aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-inv_mass_matrix"><strong>inv_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-inv_mass_matrix"><strong>inv_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-jacobian"><strong>jacobian</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-jacobian"><strong>jacobian</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-jacobian_deriv"><strong>jacobian_deriv</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-jacobian_deriv"><strong>jacobian_deriv</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint-12"><strong>joint</strong></a> (const std::string &amp; joint_name) <br></td>
+<td style="text-align: left;"><a href="#function-joint-12"><strong>joint</strong></a> (const std::string &amp; joint_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint-22"><strong>joint</strong></a> (size_t joint_index) <br></td>
+<td style="text-align: left;"><a href="#function-joint-22"><strong>joint</strong></a> (size_t joint_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_index"><strong>joint_index</strong></a> (const std::string &amp; joint_name) const<br></td>
+<td style="text-align: left;"><a href="#function-joint_index"><strong>joint_index</strong></a> (const std::string &amp; joint_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::unordered_map&lt; std::string, size_t &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_map"><strong>joint_map</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-joint_map"><strong>joint_map</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_name"><strong>joint_name</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-joint_name"><strong>joint_name</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_names"><strong>joint_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-joint_names"><strong>joint_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-locked_dof_names"><strong>locked_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-locked_dof_names"><strong>locked_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-mass_matrix"><strong>mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-mass_matrix"><strong>mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-mimic_dof_names"><strong>mimic_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-mimic_dof_names"><strong>mimic_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-model_filename"><strong>model_filename</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-model_filename"><strong>model_filename</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-model_packages"><strong>model_packages</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-model_packages"><strong>model_packages</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-name"><strong>name</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-name"><strong>name</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_bodies"><strong>num_bodies</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_bodies"><strong>num_bodies</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_controllers"><strong>num_controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_controllers"><strong>num_controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_dofs"><strong>num_dofs</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_dofs"><strong>num_dofs</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_joints"><strong>num_joints</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_joints"><strong>num_joints</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-passive_dof_names"><strong>passive_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-passive_dof_names"><strong>passive_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; bool &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_enforced"><strong>position_enforced</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_enforced"><strong>position_enforced</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_lower_limits"><strong>position_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_lower_limits"><strong>position_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_upper_limits"><strong>position_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_upper_limits"><strong>position_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-positions"><strong>positions</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-positions"><strong>positions</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reinit_controllers"><strong>reinit_controllers</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reinit_controllers"><strong>reinit_controllers</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_all_drawing_axis"><strong>remove_all_drawing_axis</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-remove_all_drawing_axis"><strong>remove_all_drawing_axis</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_controller-12"><strong>remove_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller) <br></td>
+<td style="text-align: left;"><a href="#function-remove_controller-12"><strong>remove_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_controller-22"><strong>remove_controller</strong></a> (size_t index) <br></td>
+<td style="text-align: left;"><a href="#function-remove_controller-22"><strong>remove_controller</strong></a> (size_t index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reset"><strong>reset</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reset"><strong>reset</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reset_commands"><strong>reset_commands</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reset_commands"><strong>reset_commands</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-restitution_coeff-12"><strong>restitution_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-restitution_coeff-12"><strong>restitution_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-restitution_coeff-22"><strong>restitution_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-restitution_coeff-22"><strong>restitution_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-secondary_friction_coeff-12"><strong>secondary_friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-secondary_friction_coeff-12"><strong>secondary_friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-secondary_friction_coeff-22"><strong>secondary_friction_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-secondary_friction_coeff-22"><strong>secondary_friction_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-self_colliding"><strong>self_colliding</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-self_colliding"><strong>self_colliding</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_acceleration_lower_limits"><strong>set_acceleration_lower_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_acceleration_lower_limits"><strong>set_acceleration_lower_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_acceleration_upper_limits"><strong>set_acceleration_upper_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_acceleration_upper_limits"><strong>set_acceleration_upper_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_accelerations"><strong>set_accelerations</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_accelerations"><strong>set_accelerations</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_actuator_type"><strong>set_actuator_type</strong></a> (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_actuator_type"><strong>set_actuator_type</strong></a> (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_actuator_types"><strong>set_actuator_types</strong></a> (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_actuator_types"><strong>set_actuator_types</strong></a> (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_base_pose-12"><strong>set_base_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
+<td style="text-align: left;"><a href="#function-set_base_pose-12"><strong>set_base_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_base_pose-22"><strong>set_base_pose</strong></a> (const Eigen::Vector6d &amp; pose) <br><em>set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)</em></td>
+<td style="text-align: left;"><a href="#function-set_base_pose-22"><strong>set_base_pose</strong></a> (const Eigen::Vector6d &amp; pose) <br><em>set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_mass-12"><strong>set_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_mass-12"><strong>set_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_mass-22"><strong>set_body_mass</strong></a> (size_t body_index, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_mass-22"><strong>set_body_mass</strong></a> (size_t body_index, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_name"><strong>set_body_name</strong></a> (size_t body_index, const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_name"><strong>set_body_name</strong></a> (size_t body_index, const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_cast_shadows"><strong>set_cast_shadows</strong></a> (bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_cast_shadows"><strong>set_cast_shadows</strong></a> (bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_color_mode-12"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode) <br></td>
+<td style="text-align: left;"><a href="#function-set_color_mode-12"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_color_mode-22"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode, const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_color_mode-22"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode, const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_commands"><strong>set_commands</strong></a> (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_commands"><strong>set_commands</strong></a> (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-12"><strong>set_coulomb_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_coulomb_coeffs-12"><strong>set_coulomb_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-22"><strong>set_coulomb_coeffs</strong></a> (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_coulomb_coeffs-22"><strong>set_coulomb_coeffs</strong></a> (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_damping_coeffs-12"><strong>set_damping_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_damping_coeffs-12"><strong>set_damping_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_damping_coeffs-22"><strong>set_damping_coeffs</strong></a> (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_damping_coeffs-22"><strong>set_damping_coeffs</strong></a> (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_draw_axis"><strong>set_draw_axis</strong></a> (const std::string &amp; body_name, double size=0.25) <br></td>
+<td style="text-align: left;"><a href="#function-set_draw_axis"><strong>set_draw_axis</strong></a> (const std::string &amp; body_name, double size=0.25) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_force-12"><strong>set_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_force-12"><strong>set_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_force-22"><strong>set_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_force-22"><strong>set_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_torque-12"><strong>set_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_torque-12"><strong>set_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_torque-22"><strong>set_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_torque-22"><strong>set_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_force_lower_limits"><strong>set_force_lower_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_force_lower_limits"><strong>set_force_lower_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_force_upper_limits"><strong>set_force_upper_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_force_upper_limits"><strong>set_force_upper_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_forces"><strong>set_forces</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_forces"><strong>set_forces</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeff-12"><strong>set_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeff-12"><strong>set_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeff-22"><strong>set_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeff-22"><strong>set_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeffs"><strong>set_friction_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeffs"><strong>set_friction_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_dir-12"><strong>set_friction_dir</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_dir-12"><strong>set_friction_dir</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_dir-22"><strong>set_friction_dir</strong></a> (size_t body_index, const Eigen::Vector3d &amp; direction) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_dir-22"><strong>set_friction_dir</strong></a> (size_t body_index, const Eigen::Vector3d &amp; direction) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_ghost"><strong>set_ghost</strong></a> (bool ghost=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_ghost"><strong>set_ghost</strong></a> (bool ghost=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_joint_name"><strong>set_joint_name</strong></a> (size_t joint_index, const std::string &amp; joint_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_joint_name"><strong>set_joint_name</strong></a> (size_t joint_index, const std::string &amp; joint_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_mimic"><strong>set_mimic</strong></a> (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.) <br></td>
+<td style="text-align: left;"><a href="#function-set_mimic"><strong>set_mimic</strong></a> (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_enforced-12"><strong>set_position_enforced</strong></a> (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_enforced-12"><strong>set_position_enforced</strong></a> (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_enforced-22"><strong>set_position_enforced</strong></a> (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_enforced-22"><strong>set_position_enforced</strong></a> (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_lower_limits"><strong>set_position_lower_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_lower_limits"><strong>set_position_lower_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_upper_limits"><strong>set_position_upper_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_upper_limits"><strong>set_position_upper_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_positions"><strong>set_positions</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_positions"><strong>set_positions</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeff-12"><strong>set_restitution_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeff-12"><strong>set_restitution_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeff-22"><strong>set_restitution_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeff-22"><strong>set_restitution_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeffs"><strong>set_restitution_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeffs"><strong>set_restitution_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-12"><strong>set_secondary_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeff-12"><strong>set_secondary_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-22"><strong>set_secondary_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeff-22"><strong>set_secondary_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeffs"><strong>set_secondary_friction_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeffs"><strong>set_secondary_friction_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_self_collision"><strong>set_self_collision</strong></a> (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_self_collision"><strong>set_self_collision</strong></a> (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-12"><strong>set_spring_stiffnesses</strong></a> (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_spring_stiffnesses-12"><strong>set_spring_stiffnesses</strong></a> (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-22"><strong>set_spring_stiffnesses</strong></a> (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_spring_stiffnesses-22"><strong>set_spring_stiffnesses</strong></a> (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocities"><strong>set_velocities</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocities"><strong>set_velocities</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocity_lower_limits"><strong>set_velocity_lower_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocity_lower_limits"><strong>set_velocity_lower_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocity_upper_limits"><strong>set_velocity_upper_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocity_upper_limits"><strong>set_velocity_upper_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-skeleton"><strong>skeleton</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-skeleton"><strong>skeleton</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-spring_stiffnesses"><strong>spring_stiffnesses</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-spring_stiffnesses"><strong>spring_stiffnesses</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-update"><strong>update</strong></a> (double t) <br></td>
+<td style="text-align: left;"><a href="#function-update"><strong>update</strong></a> (double t) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-update_joint_dof_maps"><strong>update_joint_dof_maps</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-update_joint_dof_maps"><strong>update_joint_dof_maps</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-vec_dof"><strong>vec_dof</strong></a> (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-vec_dof"><strong>vec_dof</strong></a> (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocities"><strong>velocities</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocities"><strong>velocities</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocity_lower_limits"><strong>velocity_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocity_lower_limits"><strong>velocity_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocity_upper_limits"><strong>velocity_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocity_upper_limits"><strong>velocity_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot"><strong>~Robot</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-robot"><strong>~Robot</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -2167,19 +2167,19 @@ <h2 id="public-static-functions-inherited-from-robot_dartrobot">Public Static Fu
 <tbody>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_box-12"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
+<td style="text-align: left;"><a href="#function-create_box-12"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_box-22"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
+<td style="text-align: left;"><a href="#function-create_box-22"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_ellipsoid-12"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
+<td style="text-align: left;"><a href="#function-create_ellipsoid-12"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_ellipsoid-22"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
+<td style="text-align: left;"><a href="#function-create_ellipsoid-22"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
 </tr>
 </tbody>
 </table>
@@ -2234,43 +2234,43 @@ <h2 id="protected-attributes-inherited-from-robot_dartrobot">Protected Attribute
 <tbody>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_axis_shapes"><strong>_axis_shapes</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_axis_shapes"><strong>_axis_shapes</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_cast_shadows"><strong>_cast_shadows</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_cast_shadows"><strong>_cast_shadows</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_controllers"><strong>_controllers</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_controllers"><strong>_controllers</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; std::string, size_t &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_dof_map"><strong>_dof_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_dof_map"><strong>_dof_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_is_ghost"><strong>_is_ghost</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_is_ghost"><strong>_is_ghost</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; std::string, size_t &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_joint_map"><strong>_joint_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_joint_map"><strong>_joint_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_model_filename"><strong>_model_filename</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_model_filename"><strong>_model_filename</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_packages"><strong>_packages</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_packages"><strong>_packages</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_robot_name"><strong>_robot_name</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_robot_name"><strong>_robot_name</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_skeleton"><strong>_skeleton</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_skeleton"><strong>_skeleton</strong></a>  <br></td>
 </tr>
 </tbody>
 </table>
@@ -2305,55 +2305,55 @@ <h2 id="protected-functions-inherited-from-robot_dartrobot">Protected Functions
 <tbody>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint::ActuatorType</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_actuator_type"><strong>_actuator_type</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-_actuator_type"><strong>_actuator_type</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; dart::dynamics::Joint::ActuatorType &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_actuator_types"><strong>_actuator_types</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-_actuator_types"><strong>_actuator_types</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_get_path"><strong>_get_path</strong></a> (const std::string &amp; filename) const<br></td>
+<td style="text-align: left;"><a href="#function-_get_path"><strong>_get_path</strong></a> (const std::string &amp; filename) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_jacobian"><strong>_jacobian</strong></a> (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-_jacobian"><strong>_jacobian</strong></a> (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_load_model"><strong>_load_model</strong></a> (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false) <br></td>
+<td style="text-align: left;"><a href="#function-_load_model"><strong>_load_model</strong></a> (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_mass_matrix"><strong>_mass_matrix</strong></a> (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-_mass_matrix"><strong>_mass_matrix</strong></a> (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_type"><strong>_set_actuator_type</strong></a> (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_type"><strong>_set_actuator_type</strong></a> (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_types-12"><strong>_set_actuator_types</strong></a> (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_types-12"><strong>_set_actuator_types</strong></a> (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_types-22"><strong>_set_actuator_types</strong></a> (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_types-22"><strong>_set_actuator_types</strong></a> (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_color_mode-12"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) <br></td>
+<td style="text-align: left;"><a href="#function-_set_color_mode-12"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_color_mode-22"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn) <br></td>
+<td style="text-align: left;"><a href="#function-_set_color_mode-22"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn) <br></td>
 </tr>
 </tbody>
 </table>
@@ -2478,14 +2478,14 @@ <h3 id="function-_post_removal">function _post_removal<a class="headerlink" href
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
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           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -2519,10 +2519,10 @@ <h3 id="function-_post_removal">function _post_removal<a class="headerlink" href
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1robots_1_1TalosFastCollision/index.html b/docs/api/classrobot__dart_1_1robots_1_1TalosFastCollision/index.html
index 5ff5967c..f4c8f250 100644
--- a/docs/api/classrobot__dart_1_1robots_1_1TalosFastCollision/index.html
+++ b/docs/api/classrobot__dart_1_1robots_1_1TalosFastCollision/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -58,7 +58,7 @@
       
     
     
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@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
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@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
       </label>
     
   
@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1273,7 +1273,7 @@ <h2 id="public-types-inherited-from-robot_dartrobotstalos">Public Types inherite
 <tbody>
 <tr>
 <td style="text-align: right;">typedef std::unordered_map&lt; std::string, std::shared_ptr&lt; <a href="../classrobot__dart_1_1sensor_1_1Torque/"><strong>sensor::Torque</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#typedef-torque_map_t"><strong>torque_map_t</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#typedef-torque_map_t"><strong>torque_map_t</strong></a>  <br></td>
 </tr>
 </tbody>
 </table>
@@ -1304,35 +1304,35 @@ <h2 id="public-functions-inherited-from-robot_dartrobotstalos">Public Functions
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#function-talos"><strong>Talos</strong></a> (size_t frequency=1000, const std::string &amp; urdf="talos/talos.urdf", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('talos\_description', 'talos/talos\_description')) <br></td>
+<td style="text-align: left;"><a href="#function-talos"><strong>Talos</strong></a> (size_t frequency=1000, const std::string &amp; urdf="talos/talos.urdf", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('talos\_description', 'talos/talos\_description')) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const <a href="../classrobot__dart_1_1sensor_1_1ForceTorque/"><strong>sensor::ForceTorque</strong></a> &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#function-ft_foot_left"><strong>ft_foot_left</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-ft_foot_left"><strong>ft_foot_left</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const <a href="../classrobot__dart_1_1sensor_1_1ForceTorque/"><strong>sensor::ForceTorque</strong></a> &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#function-ft_foot_right"><strong>ft_foot_right</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-ft_foot_right"><strong>ft_foot_right</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const <a href="../classrobot__dart_1_1sensor_1_1ForceTorque/"><strong>sensor::ForceTorque</strong></a> &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#function-ft_wrist_left"><strong>ft_wrist_left</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-ft_wrist_left"><strong>ft_wrist_left</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const <a href="../classrobot__dart_1_1sensor_1_1ForceTorque/"><strong>sensor::ForceTorque</strong></a> &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#function-ft_wrist_right"><strong>ft_wrist_right</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-ft_wrist_right"><strong>ft_wrist_right</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const <a href="../classrobot__dart_1_1sensor_1_1IMU/"><strong>sensor::IMU</strong></a> &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#function-imu"><strong>imu</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-imu"><strong>imu</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#function-reset"><strong>reset</strong></a> () override<br></td>
+<td style="text-align: left;"><a href="#function-reset"><strong>reset</strong></a> () override<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const torque_map_t &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#function-torques"><strong>torques</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-torques"><strong>torques</strong></a> () const<br></td>
 </tr>
 </tbody>
 </table>
@@ -1348,699 +1348,699 @@ <h2 id="public-functions-inherited-from-robot_dartrobot">Public Functions inheri
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-13"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-13"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-23"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-23"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-33"><strong>Robot</strong></a> (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name="robot", bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-33"><strong>Robot</strong></a> (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name="robot", bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-acceleration_lower_limits"><strong>acceleration_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-acceleration_lower_limits"><strong>acceleration_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-acceleration_upper_limits"><strong>acceleration_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-acceleration_upper_limits"><strong>acceleration_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-accelerations"><strong>accelerations</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-accelerations"><strong>accelerations</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-active_controllers"><strong>active_controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-active_controllers"><strong>active_controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-actuator_type"><strong>actuator_type</strong></a> (const std::string &amp; joint_name) const<br></td>
+<td style="text-align: left;"><a href="#function-actuator_type"><strong>actuator_type</strong></a> (const std::string &amp; joint_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-actuator_types"><strong>actuator_types</strong></a> (const std::vector&lt; std::string &gt; &amp; joint_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-actuator_types"><strong>actuator_types</strong></a> (const std::vector&lt; std::string &gt; &amp; joint_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_body_mass-12"><strong>add_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-add_body_mass-12"><strong>add_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_body_mass-22"><strong>add_body_mass</strong></a> (size_t body_index, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-add_body_mass-22"><strong>add_body_mass</strong></a> (size_t body_index, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_controller"><strong>add_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller, double weight=1.0) <br></td>
+<td style="text-align: left;"><a href="#function-add_controller"><strong>add_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller, double weight=1.0) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_force-12"><strong>add_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_force-12"><strong>add_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_force-22"><strong>add_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_force-22"><strong>add_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_torque-12"><strong>add_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_torque-12"><strong>add_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_torque-22"><strong>add_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_torque-22"><strong>add_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-adjacent_colliding"><strong>adjacent_colliding</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-adjacent_colliding"><strong>adjacent_colliding</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-aug_mass_matrix"><strong>aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-aug_mass_matrix"><strong>aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-base_pose"><strong>base_pose</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-base_pose"><strong>base_pose</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-base_pose_vec"><strong>base_pose_vec</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-base_pose_vec"><strong>base_pose_vec</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_acceleration-12"><strong>body_acceleration</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_acceleration-12"><strong>body_acceleration</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_acceleration-22"><strong>body_acceleration</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_acceleration-22"><strong>body_acceleration</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_index"><strong>body_index</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_index"><strong>body_index</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_mass-12"><strong>body_mass</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_mass-12"><strong>body_mass</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_mass-22"><strong>body_mass</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_mass-22"><strong>body_mass</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_name"><strong>body_name</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_name"><strong>body_name</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_names"><strong>body_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-body_names"><strong>body_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_node-12"><strong>body_node</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-body_node-12"><strong>body_node</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_node-22"><strong>body_node</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-body_node-22"><strong>body_node</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose-12"><strong>body_pose</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose-12"><strong>body_pose</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose-22"><strong>body_pose</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose-22"><strong>body_pose</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose_vec-12"><strong>body_pose_vec</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose_vec-12"><strong>body_pose_vec</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose_vec-22"><strong>body_pose_vec</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose_vec-22"><strong>body_pose_vec</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_velocity-12"><strong>body_velocity</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_velocity-12"><strong>body_velocity</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_velocity-22"><strong>body_velocity</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_velocity-22"><strong>body_velocity</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-cast_shadows"><strong>cast_shadows</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-cast_shadows"><strong>cast_shadows</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_controllers"><strong>clear_controllers</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_controllers"><strong>clear_controllers</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_external_forces"><strong>clear_external_forces</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_external_forces"><strong>clear_external_forces</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_internal_forces"><strong>clear_internal_forces</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_internal_forces"><strong>clear_internal_forces</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clone"><strong>clone</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-clone"><strong>clone</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clone_ghost"><strong>clone_ghost</strong></a> (const std::string &amp; ghost_name="ghost", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const<br></td>
+<td style="text-align: left;"><a href="#function-clone_ghost"><strong>clone_ghost</strong></a> (const std::string &amp; ghost_name="ghost", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com"><strong>com</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com"><strong>com</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_acceleration"><strong>com_acceleration</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com_acceleration"><strong>com_acceleration</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_jacobian"><strong>com_jacobian</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-com_jacobian"><strong>com_jacobian</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_jacobian_deriv"><strong>com_jacobian_deriv</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-com_jacobian_deriv"><strong>com_jacobian_deriv</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_velocity"><strong>com_velocity</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com_velocity"><strong>com_velocity</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-commands"><strong>commands</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-commands"><strong>commands</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-constraint_forces"><strong>constraint_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-constraint_forces"><strong>constraint_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-controller"><strong>controller</strong></a> (size_t index) const<br></td>
+<td style="text-align: left;"><a href="#function-controller"><strong>controller</strong></a> (size_t index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-controllers"><strong>controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-controllers"><strong>controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coriolis_forces"><strong>coriolis_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coriolis_forces"><strong>coriolis_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coriolis_gravity_forces"><strong>coriolis_gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coriolis_gravity_forces"><strong>coriolis_gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coulomb_coeffs"><strong>coulomb_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coulomb_coeffs"><strong>coulomb_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-damping_coeffs"><strong>damping_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-damping_coeffs"><strong>damping_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::DegreeOfFreedom *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof-12"><strong>dof</strong></a> (const std::string &amp; dof_name) <br></td>
+<td style="text-align: left;"><a href="#function-dof-12"><strong>dof</strong></a> (const std::string &amp; dof_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::DegreeOfFreedom *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof-22"><strong>dof</strong></a> (size_t dof_index) <br></td>
+<td style="text-align: left;"><a href="#function-dof-22"><strong>dof</strong></a> (size_t dof_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_index"><strong>dof_index</strong></a> (const std::string &amp; dof_name) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_index"><strong>dof_index</strong></a> (const std::string &amp; dof_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::unordered_map&lt; std::string, size_t &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_map"><strong>dof_map</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-dof_map"><strong>dof_map</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_name"><strong>dof_name</strong></a> (size_t dof_index) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_name"><strong>dof_name</strong></a> (size_t dof_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_names"><strong>dof_names</strong></a> (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_names"><strong>dof_names</strong></a> (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-drawing_axes"><strong>drawing_axes</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-drawing_axes"><strong>drawing_axes</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-external_forces-12"><strong>external_forces</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-external_forces-12"><strong>external_forces</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-external_forces-22"><strong>external_forces</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-external_forces-22"><strong>external_forces</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-fix_to_world"><strong>fix_to_world</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-fix_to_world"><strong>fix_to_world</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-fixed"><strong>fixed</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-fixed"><strong>fixed</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_lower_limits"><strong>force_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-force_lower_limits"><strong>force_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_position_bounds"><strong>force_position_bounds</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-force_position_bounds"><strong>force_position_bounds</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_torque"><strong>force_torque</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-force_torque"><strong>force_torque</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_upper_limits"><strong>force_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-force_upper_limits"><strong>force_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-forces"><strong>forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-forces"><strong>forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-free"><strong>free</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-free"><strong>free</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-free_from_world"><strong>free_from_world</strong></a> (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()) <br></td>
+<td style="text-align: left;"><a href="#function-free_from_world"><strong>free_from_world</strong></a> (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_coeff-12"><strong>friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-friction_coeff-12"><strong>friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_coeff-22"><strong>friction_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-friction_coeff-22"><strong>friction_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_dir-12"><strong>friction_dir</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-friction_dir-12"><strong>friction_dir</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_dir-22"><strong>friction_dir</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-friction_dir-22"><strong>friction_dir</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-ghost"><strong>ghost</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-ghost"><strong>ghost</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-gravity_forces"><strong>gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-gravity_forces"><strong>gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-inv_aug_mass_matrix"><strong>inv_aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-inv_aug_mass_matrix"><strong>inv_aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-inv_mass_matrix"><strong>inv_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-inv_mass_matrix"><strong>inv_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-jacobian"><strong>jacobian</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-jacobian"><strong>jacobian</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-jacobian_deriv"><strong>jacobian_deriv</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-jacobian_deriv"><strong>jacobian_deriv</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint-12"><strong>joint</strong></a> (const std::string &amp; joint_name) <br></td>
+<td style="text-align: left;"><a href="#function-joint-12"><strong>joint</strong></a> (const std::string &amp; joint_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint-22"><strong>joint</strong></a> (size_t joint_index) <br></td>
+<td style="text-align: left;"><a href="#function-joint-22"><strong>joint</strong></a> (size_t joint_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_index"><strong>joint_index</strong></a> (const std::string &amp; joint_name) const<br></td>
+<td style="text-align: left;"><a href="#function-joint_index"><strong>joint_index</strong></a> (const std::string &amp; joint_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::unordered_map&lt; std::string, size_t &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_map"><strong>joint_map</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-joint_map"><strong>joint_map</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_name"><strong>joint_name</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-joint_name"><strong>joint_name</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_names"><strong>joint_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-joint_names"><strong>joint_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-locked_dof_names"><strong>locked_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-locked_dof_names"><strong>locked_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-mass_matrix"><strong>mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-mass_matrix"><strong>mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-mimic_dof_names"><strong>mimic_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-mimic_dof_names"><strong>mimic_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-model_filename"><strong>model_filename</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-model_filename"><strong>model_filename</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-model_packages"><strong>model_packages</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-model_packages"><strong>model_packages</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-name"><strong>name</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-name"><strong>name</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_bodies"><strong>num_bodies</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_bodies"><strong>num_bodies</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_controllers"><strong>num_controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_controllers"><strong>num_controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_dofs"><strong>num_dofs</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_dofs"><strong>num_dofs</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_joints"><strong>num_joints</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_joints"><strong>num_joints</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-passive_dof_names"><strong>passive_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-passive_dof_names"><strong>passive_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; bool &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_enforced"><strong>position_enforced</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_enforced"><strong>position_enforced</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_lower_limits"><strong>position_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_lower_limits"><strong>position_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_upper_limits"><strong>position_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_upper_limits"><strong>position_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-positions"><strong>positions</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-positions"><strong>positions</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reinit_controllers"><strong>reinit_controllers</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reinit_controllers"><strong>reinit_controllers</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_all_drawing_axis"><strong>remove_all_drawing_axis</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-remove_all_drawing_axis"><strong>remove_all_drawing_axis</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_controller-12"><strong>remove_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller) <br></td>
+<td style="text-align: left;"><a href="#function-remove_controller-12"><strong>remove_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_controller-22"><strong>remove_controller</strong></a> (size_t index) <br></td>
+<td style="text-align: left;"><a href="#function-remove_controller-22"><strong>remove_controller</strong></a> (size_t index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reset"><strong>reset</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reset"><strong>reset</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reset_commands"><strong>reset_commands</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reset_commands"><strong>reset_commands</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-restitution_coeff-12"><strong>restitution_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-restitution_coeff-12"><strong>restitution_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-restitution_coeff-22"><strong>restitution_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-restitution_coeff-22"><strong>restitution_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-secondary_friction_coeff-12"><strong>secondary_friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-secondary_friction_coeff-12"><strong>secondary_friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-secondary_friction_coeff-22"><strong>secondary_friction_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-secondary_friction_coeff-22"><strong>secondary_friction_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-self_colliding"><strong>self_colliding</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-self_colliding"><strong>self_colliding</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_acceleration_lower_limits"><strong>set_acceleration_lower_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_acceleration_lower_limits"><strong>set_acceleration_lower_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_acceleration_upper_limits"><strong>set_acceleration_upper_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_acceleration_upper_limits"><strong>set_acceleration_upper_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_accelerations"><strong>set_accelerations</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_accelerations"><strong>set_accelerations</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_actuator_type"><strong>set_actuator_type</strong></a> (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_actuator_type"><strong>set_actuator_type</strong></a> (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_actuator_types"><strong>set_actuator_types</strong></a> (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_actuator_types"><strong>set_actuator_types</strong></a> (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_base_pose-12"><strong>set_base_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
+<td style="text-align: left;"><a href="#function-set_base_pose-12"><strong>set_base_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_base_pose-22"><strong>set_base_pose</strong></a> (const Eigen::Vector6d &amp; pose) <br><em>set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)</em></td>
+<td style="text-align: left;"><a href="#function-set_base_pose-22"><strong>set_base_pose</strong></a> (const Eigen::Vector6d &amp; pose) <br><em>set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_mass-12"><strong>set_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_mass-12"><strong>set_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_mass-22"><strong>set_body_mass</strong></a> (size_t body_index, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_mass-22"><strong>set_body_mass</strong></a> (size_t body_index, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_name"><strong>set_body_name</strong></a> (size_t body_index, const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_name"><strong>set_body_name</strong></a> (size_t body_index, const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_cast_shadows"><strong>set_cast_shadows</strong></a> (bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_cast_shadows"><strong>set_cast_shadows</strong></a> (bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_color_mode-12"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode) <br></td>
+<td style="text-align: left;"><a href="#function-set_color_mode-12"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_color_mode-22"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode, const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_color_mode-22"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode, const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_commands"><strong>set_commands</strong></a> (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_commands"><strong>set_commands</strong></a> (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-12"><strong>set_coulomb_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_coulomb_coeffs-12"><strong>set_coulomb_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-22"><strong>set_coulomb_coeffs</strong></a> (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_coulomb_coeffs-22"><strong>set_coulomb_coeffs</strong></a> (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_damping_coeffs-12"><strong>set_damping_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_damping_coeffs-12"><strong>set_damping_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_damping_coeffs-22"><strong>set_damping_coeffs</strong></a> (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_damping_coeffs-22"><strong>set_damping_coeffs</strong></a> (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_draw_axis"><strong>set_draw_axis</strong></a> (const std::string &amp; body_name, double size=0.25) <br></td>
+<td style="text-align: left;"><a href="#function-set_draw_axis"><strong>set_draw_axis</strong></a> (const std::string &amp; body_name, double size=0.25) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_force-12"><strong>set_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_force-12"><strong>set_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_force-22"><strong>set_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_force-22"><strong>set_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_torque-12"><strong>set_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_torque-12"><strong>set_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_torque-22"><strong>set_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_torque-22"><strong>set_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_force_lower_limits"><strong>set_force_lower_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_force_lower_limits"><strong>set_force_lower_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_force_upper_limits"><strong>set_force_upper_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_force_upper_limits"><strong>set_force_upper_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_forces"><strong>set_forces</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_forces"><strong>set_forces</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeff-12"><strong>set_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeff-12"><strong>set_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeff-22"><strong>set_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeff-22"><strong>set_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeffs"><strong>set_friction_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeffs"><strong>set_friction_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_dir-12"><strong>set_friction_dir</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_dir-12"><strong>set_friction_dir</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_dir-22"><strong>set_friction_dir</strong></a> (size_t body_index, const Eigen::Vector3d &amp; direction) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_dir-22"><strong>set_friction_dir</strong></a> (size_t body_index, const Eigen::Vector3d &amp; direction) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_ghost"><strong>set_ghost</strong></a> (bool ghost=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_ghost"><strong>set_ghost</strong></a> (bool ghost=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_joint_name"><strong>set_joint_name</strong></a> (size_t joint_index, const std::string &amp; joint_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_joint_name"><strong>set_joint_name</strong></a> (size_t joint_index, const std::string &amp; joint_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_mimic"><strong>set_mimic</strong></a> (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.) <br></td>
+<td style="text-align: left;"><a href="#function-set_mimic"><strong>set_mimic</strong></a> (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_enforced-12"><strong>set_position_enforced</strong></a> (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_enforced-12"><strong>set_position_enforced</strong></a> (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_enforced-22"><strong>set_position_enforced</strong></a> (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_enforced-22"><strong>set_position_enforced</strong></a> (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_lower_limits"><strong>set_position_lower_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_lower_limits"><strong>set_position_lower_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_upper_limits"><strong>set_position_upper_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_upper_limits"><strong>set_position_upper_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_positions"><strong>set_positions</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_positions"><strong>set_positions</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeff-12"><strong>set_restitution_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeff-12"><strong>set_restitution_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeff-22"><strong>set_restitution_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeff-22"><strong>set_restitution_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeffs"><strong>set_restitution_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeffs"><strong>set_restitution_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-12"><strong>set_secondary_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeff-12"><strong>set_secondary_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-22"><strong>set_secondary_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeff-22"><strong>set_secondary_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeffs"><strong>set_secondary_friction_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeffs"><strong>set_secondary_friction_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_self_collision"><strong>set_self_collision</strong></a> (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_self_collision"><strong>set_self_collision</strong></a> (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-12"><strong>set_spring_stiffnesses</strong></a> (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_spring_stiffnesses-12"><strong>set_spring_stiffnesses</strong></a> (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-22"><strong>set_spring_stiffnesses</strong></a> (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_spring_stiffnesses-22"><strong>set_spring_stiffnesses</strong></a> (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocities"><strong>set_velocities</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocities"><strong>set_velocities</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocity_lower_limits"><strong>set_velocity_lower_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocity_lower_limits"><strong>set_velocity_lower_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocity_upper_limits"><strong>set_velocity_upper_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocity_upper_limits"><strong>set_velocity_upper_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-skeleton"><strong>skeleton</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-skeleton"><strong>skeleton</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-spring_stiffnesses"><strong>spring_stiffnesses</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-spring_stiffnesses"><strong>spring_stiffnesses</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-update"><strong>update</strong></a> (double t) <br></td>
+<td style="text-align: left;"><a href="#function-update"><strong>update</strong></a> (double t) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-update_joint_dof_maps"><strong>update_joint_dof_maps</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-update_joint_dof_maps"><strong>update_joint_dof_maps</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-vec_dof"><strong>vec_dof</strong></a> (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-vec_dof"><strong>vec_dof</strong></a> (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocities"><strong>velocities</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocities"><strong>velocities</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocity_lower_limits"><strong>velocity_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocity_lower_limits"><strong>velocity_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocity_upper_limits"><strong>velocity_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocity_upper_limits"><strong>velocity_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot"><strong>~Robot</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-robot"><strong>~Robot</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -2071,19 +2071,19 @@ <h2 id="public-static-functions-inherited-from-robot_dartrobot">Public Static Fu
 <tbody>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_box-12"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
+<td style="text-align: left;"><a href="#function-create_box-12"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_box-22"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
+<td style="text-align: left;"><a href="#function-create_box-22"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_ellipsoid-12"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
+<td style="text-align: left;"><a href="#function-create_ellipsoid-12"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_ellipsoid-22"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
+<td style="text-align: left;"><a href="#function-create_ellipsoid-22"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
 </tr>
 </tbody>
 </table>
@@ -2099,31 +2099,31 @@ <h2 id="protected-attributes-inherited-from-robot_dartrobotstalos">Protected Att
 <tbody>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#variable-_frequency"><strong>_frequency</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_frequency"><strong>_frequency</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1sensor_1_1ForceTorque/"><strong>sensor::ForceTorque</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#variable-_ft_foot_left"><strong>_ft_foot_left</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_ft_foot_left"><strong>_ft_foot_left</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1sensor_1_1ForceTorque/"><strong>sensor::ForceTorque</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#variable-_ft_foot_right"><strong>_ft_foot_right</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_ft_foot_right"><strong>_ft_foot_right</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1sensor_1_1ForceTorque/"><strong>sensor::ForceTorque</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#variable-_ft_wrist_left"><strong>_ft_wrist_left</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_ft_wrist_left"><strong>_ft_wrist_left</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1sensor_1_1ForceTorque/"><strong>sensor::ForceTorque</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#variable-_ft_wrist_right"><strong>_ft_wrist_right</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_ft_wrist_right"><strong>_ft_wrist_right</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1sensor_1_1IMU/"><strong>sensor::IMU</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#variable-_imu"><strong>_imu</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_imu"><strong>_imu</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">torque_map_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#variable-_torques"><strong>_torques</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_torques"><strong>_torques</strong></a>  <br></td>
 </tr>
 </tbody>
 </table>
@@ -2139,43 +2139,43 @@ <h2 id="protected-attributes-inherited-from-robot_dartrobot">Protected Attribute
 <tbody>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_axis_shapes"><strong>_axis_shapes</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_axis_shapes"><strong>_axis_shapes</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_cast_shadows"><strong>_cast_shadows</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_cast_shadows"><strong>_cast_shadows</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_controllers"><strong>_controllers</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_controllers"><strong>_controllers</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; std::string, size_t &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_dof_map"><strong>_dof_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_dof_map"><strong>_dof_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_is_ghost"><strong>_is_ghost</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_is_ghost"><strong>_is_ghost</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; std::string, size_t &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_joint_map"><strong>_joint_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_joint_map"><strong>_joint_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_model_filename"><strong>_model_filename</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_model_filename"><strong>_model_filename</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_packages"><strong>_packages</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_packages"><strong>_packages</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_robot_name"><strong>_robot_name</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_robot_name"><strong>_robot_name</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_skeleton"><strong>_skeleton</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_skeleton"><strong>_skeleton</strong></a>  <br></td>
 </tr>
 </tbody>
 </table>
@@ -2206,11 +2206,11 @@ <h2 id="protected-functions-inherited-from-robot_dartrobotstalos">Protected Func
 <tbody>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) override<br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) override<br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) override<br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) override<br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
 </tr>
 </tbody>
 </table>
@@ -2226,55 +2226,55 @@ <h2 id="protected-functions-inherited-from-robot_dartrobot">Protected Functions
 <tbody>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint::ActuatorType</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_actuator_type"><strong>_actuator_type</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-_actuator_type"><strong>_actuator_type</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; dart::dynamics::Joint::ActuatorType &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_actuator_types"><strong>_actuator_types</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-_actuator_types"><strong>_actuator_types</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_get_path"><strong>_get_path</strong></a> (const std::string &amp; filename) const<br></td>
+<td style="text-align: left;"><a href="#function-_get_path"><strong>_get_path</strong></a> (const std::string &amp; filename) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_jacobian"><strong>_jacobian</strong></a> (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-_jacobian"><strong>_jacobian</strong></a> (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_load_model"><strong>_load_model</strong></a> (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false) <br></td>
+<td style="text-align: left;"><a href="#function-_load_model"><strong>_load_model</strong></a> (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_mass_matrix"><strong>_mass_matrix</strong></a> (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-_mass_matrix"><strong>_mass_matrix</strong></a> (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_type"><strong>_set_actuator_type</strong></a> (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_type"><strong>_set_actuator_type</strong></a> (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_types-12"><strong>_set_actuator_types</strong></a> (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_types-12"><strong>_set_actuator_types</strong></a> (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_types-22"><strong>_set_actuator_types</strong></a> (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_types-22"><strong>_set_actuator_types</strong></a> (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_color_mode-12"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) <br></td>
+<td style="text-align: left;"><a href="#function-_set_color_mode-12"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_color_mode-22"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn) <br></td>
+<td style="text-align: left;"><a href="#function-_set_color_mode-22"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn) <br></td>
 </tr>
 </tbody>
 </table>
@@ -2320,14 +2320,14 @@ <h3 id="function-_post_addition">function _post_addition<a class="headerlink" hr
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
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           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
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+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -2361,10 +2361,10 @@ <h3 id="function-_post_addition">function _post_addition<a class="headerlink" hr
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/classrobot__dart_1_1robots_1_1TalosLight/index.html b/docs/api/classrobot__dart_1_1robots_1_1TalosLight/index.html
index fb4d59c6..ae18e031 100644
--- a/docs/api/classrobot__dart_1_1robots_1_1TalosLight/index.html
+++ b/docs/api/classrobot__dart_1_1robots_1_1TalosLight/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -34,14 +34,14 @@
     
   
   
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@@ -58,7 +58,7 @@
       
     
     
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@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
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+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
       </label>
     
   
@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
       </label>
     
   
@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1207,7 +1207,7 @@ <h2 id="public-types-inherited-from-robot_dartrobotstalos">Public Types inherite
 <tbody>
 <tr>
 <td style="text-align: right;">typedef std::unordered_map&lt; std::string, std::shared_ptr&lt; <a href="../classrobot__dart_1_1sensor_1_1Torque/"><strong>sensor::Torque</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#typedef-torque_map_t"><strong>torque_map_t</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#typedef-torque_map_t"><strong>torque_map_t</strong></a>  <br></td>
 </tr>
 </tbody>
 </table>
@@ -1238,35 +1238,35 @@ <h2 id="public-functions-inherited-from-robot_dartrobotstalos">Public Functions
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#function-talos"><strong>Talos</strong></a> (size_t frequency=1000, const std::string &amp; urdf="talos/talos.urdf", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('talos\_description', 'talos/talos\_description')) <br></td>
+<td style="text-align: left;"><a href="#function-talos"><strong>Talos</strong></a> (size_t frequency=1000, const std::string &amp; urdf="talos/talos.urdf", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('talos\_description', 'talos/talos\_description')) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const <a href="../classrobot__dart_1_1sensor_1_1ForceTorque/"><strong>sensor::ForceTorque</strong></a> &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#function-ft_foot_left"><strong>ft_foot_left</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-ft_foot_left"><strong>ft_foot_left</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const <a href="../classrobot__dart_1_1sensor_1_1ForceTorque/"><strong>sensor::ForceTorque</strong></a> &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#function-ft_foot_right"><strong>ft_foot_right</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-ft_foot_right"><strong>ft_foot_right</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const <a href="../classrobot__dart_1_1sensor_1_1ForceTorque/"><strong>sensor::ForceTorque</strong></a> &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#function-ft_wrist_left"><strong>ft_wrist_left</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-ft_wrist_left"><strong>ft_wrist_left</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const <a href="../classrobot__dart_1_1sensor_1_1ForceTorque/"><strong>sensor::ForceTorque</strong></a> &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#function-ft_wrist_right"><strong>ft_wrist_right</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-ft_wrist_right"><strong>ft_wrist_right</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const <a href="../classrobot__dart_1_1sensor_1_1IMU/"><strong>sensor::IMU</strong></a> &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#function-imu"><strong>imu</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-imu"><strong>imu</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#function-reset"><strong>reset</strong></a> () override<br></td>
+<td style="text-align: left;"><a href="#function-reset"><strong>reset</strong></a> () override<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const torque_map_t &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#function-torques"><strong>torques</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-torques"><strong>torques</strong></a> () const<br></td>
 </tr>
 </tbody>
 </table>
@@ -1282,699 +1282,699 @@ <h2 id="public-functions-inherited-from-robot_dartrobot">Public Functions inheri
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-13"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-13"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-23"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-23"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-33"><strong>Robot</strong></a> (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name="robot", bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-33"><strong>Robot</strong></a> (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name="robot", bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-acceleration_lower_limits"><strong>acceleration_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-acceleration_lower_limits"><strong>acceleration_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-acceleration_upper_limits"><strong>acceleration_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-acceleration_upper_limits"><strong>acceleration_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-accelerations"><strong>accelerations</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-accelerations"><strong>accelerations</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-active_controllers"><strong>active_controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-active_controllers"><strong>active_controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-actuator_type"><strong>actuator_type</strong></a> (const std::string &amp; joint_name) const<br></td>
+<td style="text-align: left;"><a href="#function-actuator_type"><strong>actuator_type</strong></a> (const std::string &amp; joint_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-actuator_types"><strong>actuator_types</strong></a> (const std::vector&lt; std::string &gt; &amp; joint_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-actuator_types"><strong>actuator_types</strong></a> (const std::vector&lt; std::string &gt; &amp; joint_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_body_mass-12"><strong>add_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-add_body_mass-12"><strong>add_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_body_mass-22"><strong>add_body_mass</strong></a> (size_t body_index, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-add_body_mass-22"><strong>add_body_mass</strong></a> (size_t body_index, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_controller"><strong>add_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller, double weight=1.0) <br></td>
+<td style="text-align: left;"><a href="#function-add_controller"><strong>add_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller, double weight=1.0) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_force-12"><strong>add_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_force-12"><strong>add_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_force-22"><strong>add_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_force-22"><strong>add_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_torque-12"><strong>add_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_torque-12"><strong>add_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_torque-22"><strong>add_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_torque-22"><strong>add_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-adjacent_colliding"><strong>adjacent_colliding</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-adjacent_colliding"><strong>adjacent_colliding</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-aug_mass_matrix"><strong>aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-aug_mass_matrix"><strong>aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-base_pose"><strong>base_pose</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-base_pose"><strong>base_pose</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-base_pose_vec"><strong>base_pose_vec</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-base_pose_vec"><strong>base_pose_vec</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_acceleration-12"><strong>body_acceleration</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_acceleration-12"><strong>body_acceleration</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_acceleration-22"><strong>body_acceleration</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_acceleration-22"><strong>body_acceleration</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_index"><strong>body_index</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_index"><strong>body_index</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_mass-12"><strong>body_mass</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_mass-12"><strong>body_mass</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_mass-22"><strong>body_mass</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_mass-22"><strong>body_mass</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_name"><strong>body_name</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_name"><strong>body_name</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_names"><strong>body_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-body_names"><strong>body_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_node-12"><strong>body_node</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-body_node-12"><strong>body_node</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_node-22"><strong>body_node</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-body_node-22"><strong>body_node</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose-12"><strong>body_pose</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose-12"><strong>body_pose</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose-22"><strong>body_pose</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose-22"><strong>body_pose</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose_vec-12"><strong>body_pose_vec</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose_vec-12"><strong>body_pose_vec</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose_vec-22"><strong>body_pose_vec</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose_vec-22"><strong>body_pose_vec</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_velocity-12"><strong>body_velocity</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_velocity-12"><strong>body_velocity</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_velocity-22"><strong>body_velocity</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_velocity-22"><strong>body_velocity</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-cast_shadows"><strong>cast_shadows</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-cast_shadows"><strong>cast_shadows</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_controllers"><strong>clear_controllers</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_controllers"><strong>clear_controllers</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_external_forces"><strong>clear_external_forces</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_external_forces"><strong>clear_external_forces</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_internal_forces"><strong>clear_internal_forces</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_internal_forces"><strong>clear_internal_forces</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clone"><strong>clone</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-clone"><strong>clone</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clone_ghost"><strong>clone_ghost</strong></a> (const std::string &amp; ghost_name="ghost", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const<br></td>
+<td style="text-align: left;"><a href="#function-clone_ghost"><strong>clone_ghost</strong></a> (const std::string &amp; ghost_name="ghost", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com"><strong>com</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com"><strong>com</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_acceleration"><strong>com_acceleration</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com_acceleration"><strong>com_acceleration</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_jacobian"><strong>com_jacobian</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-com_jacobian"><strong>com_jacobian</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_jacobian_deriv"><strong>com_jacobian_deriv</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-com_jacobian_deriv"><strong>com_jacobian_deriv</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_velocity"><strong>com_velocity</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com_velocity"><strong>com_velocity</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-commands"><strong>commands</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-commands"><strong>commands</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-constraint_forces"><strong>constraint_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-constraint_forces"><strong>constraint_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-controller"><strong>controller</strong></a> (size_t index) const<br></td>
+<td style="text-align: left;"><a href="#function-controller"><strong>controller</strong></a> (size_t index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-controllers"><strong>controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-controllers"><strong>controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coriolis_forces"><strong>coriolis_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coriolis_forces"><strong>coriolis_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coriolis_gravity_forces"><strong>coriolis_gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coriolis_gravity_forces"><strong>coriolis_gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coulomb_coeffs"><strong>coulomb_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coulomb_coeffs"><strong>coulomb_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-damping_coeffs"><strong>damping_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-damping_coeffs"><strong>damping_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::DegreeOfFreedom *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof-12"><strong>dof</strong></a> (const std::string &amp; dof_name) <br></td>
+<td style="text-align: left;"><a href="#function-dof-12"><strong>dof</strong></a> (const std::string &amp; dof_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::DegreeOfFreedom *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof-22"><strong>dof</strong></a> (size_t dof_index) <br></td>
+<td style="text-align: left;"><a href="#function-dof-22"><strong>dof</strong></a> (size_t dof_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_index"><strong>dof_index</strong></a> (const std::string &amp; dof_name) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_index"><strong>dof_index</strong></a> (const std::string &amp; dof_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::unordered_map&lt; std::string, size_t &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_map"><strong>dof_map</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-dof_map"><strong>dof_map</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_name"><strong>dof_name</strong></a> (size_t dof_index) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_name"><strong>dof_name</strong></a> (size_t dof_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_names"><strong>dof_names</strong></a> (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_names"><strong>dof_names</strong></a> (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-drawing_axes"><strong>drawing_axes</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-drawing_axes"><strong>drawing_axes</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-external_forces-12"><strong>external_forces</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-external_forces-12"><strong>external_forces</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-external_forces-22"><strong>external_forces</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-external_forces-22"><strong>external_forces</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-fix_to_world"><strong>fix_to_world</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-fix_to_world"><strong>fix_to_world</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-fixed"><strong>fixed</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-fixed"><strong>fixed</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_lower_limits"><strong>force_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-force_lower_limits"><strong>force_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_position_bounds"><strong>force_position_bounds</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-force_position_bounds"><strong>force_position_bounds</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_torque"><strong>force_torque</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-force_torque"><strong>force_torque</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_upper_limits"><strong>force_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-force_upper_limits"><strong>force_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-forces"><strong>forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-forces"><strong>forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-free"><strong>free</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-free"><strong>free</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-free_from_world"><strong>free_from_world</strong></a> (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()) <br></td>
+<td style="text-align: left;"><a href="#function-free_from_world"><strong>free_from_world</strong></a> (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_coeff-12"><strong>friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-friction_coeff-12"><strong>friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_coeff-22"><strong>friction_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-friction_coeff-22"><strong>friction_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_dir-12"><strong>friction_dir</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-friction_dir-12"><strong>friction_dir</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_dir-22"><strong>friction_dir</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-friction_dir-22"><strong>friction_dir</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-ghost"><strong>ghost</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-ghost"><strong>ghost</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-gravity_forces"><strong>gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-gravity_forces"><strong>gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-inv_aug_mass_matrix"><strong>inv_aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-inv_aug_mass_matrix"><strong>inv_aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-inv_mass_matrix"><strong>inv_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-inv_mass_matrix"><strong>inv_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-jacobian"><strong>jacobian</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-jacobian"><strong>jacobian</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-jacobian_deriv"><strong>jacobian_deriv</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-jacobian_deriv"><strong>jacobian_deriv</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint-12"><strong>joint</strong></a> (const std::string &amp; joint_name) <br></td>
+<td style="text-align: left;"><a href="#function-joint-12"><strong>joint</strong></a> (const std::string &amp; joint_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint-22"><strong>joint</strong></a> (size_t joint_index) <br></td>
+<td style="text-align: left;"><a href="#function-joint-22"><strong>joint</strong></a> (size_t joint_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_index"><strong>joint_index</strong></a> (const std::string &amp; joint_name) const<br></td>
+<td style="text-align: left;"><a href="#function-joint_index"><strong>joint_index</strong></a> (const std::string &amp; joint_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::unordered_map&lt; std::string, size_t &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_map"><strong>joint_map</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-joint_map"><strong>joint_map</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_name"><strong>joint_name</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-joint_name"><strong>joint_name</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_names"><strong>joint_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-joint_names"><strong>joint_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-locked_dof_names"><strong>locked_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-locked_dof_names"><strong>locked_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-mass_matrix"><strong>mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-mass_matrix"><strong>mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-mimic_dof_names"><strong>mimic_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-mimic_dof_names"><strong>mimic_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-model_filename"><strong>model_filename</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-model_filename"><strong>model_filename</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-model_packages"><strong>model_packages</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-model_packages"><strong>model_packages</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-name"><strong>name</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-name"><strong>name</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_bodies"><strong>num_bodies</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_bodies"><strong>num_bodies</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_controllers"><strong>num_controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_controllers"><strong>num_controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_dofs"><strong>num_dofs</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_dofs"><strong>num_dofs</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_joints"><strong>num_joints</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_joints"><strong>num_joints</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-passive_dof_names"><strong>passive_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-passive_dof_names"><strong>passive_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; bool &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_enforced"><strong>position_enforced</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_enforced"><strong>position_enforced</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_lower_limits"><strong>position_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_lower_limits"><strong>position_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_upper_limits"><strong>position_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_upper_limits"><strong>position_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-positions"><strong>positions</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-positions"><strong>positions</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reinit_controllers"><strong>reinit_controllers</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reinit_controllers"><strong>reinit_controllers</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_all_drawing_axis"><strong>remove_all_drawing_axis</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-remove_all_drawing_axis"><strong>remove_all_drawing_axis</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_controller-12"><strong>remove_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller) <br></td>
+<td style="text-align: left;"><a href="#function-remove_controller-12"><strong>remove_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_controller-22"><strong>remove_controller</strong></a> (size_t index) <br></td>
+<td style="text-align: left;"><a href="#function-remove_controller-22"><strong>remove_controller</strong></a> (size_t index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reset"><strong>reset</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reset"><strong>reset</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reset_commands"><strong>reset_commands</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reset_commands"><strong>reset_commands</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-restitution_coeff-12"><strong>restitution_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-restitution_coeff-12"><strong>restitution_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-restitution_coeff-22"><strong>restitution_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-restitution_coeff-22"><strong>restitution_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-secondary_friction_coeff-12"><strong>secondary_friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-secondary_friction_coeff-12"><strong>secondary_friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-secondary_friction_coeff-22"><strong>secondary_friction_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-secondary_friction_coeff-22"><strong>secondary_friction_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-self_colliding"><strong>self_colliding</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-self_colliding"><strong>self_colliding</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_acceleration_lower_limits"><strong>set_acceleration_lower_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_acceleration_lower_limits"><strong>set_acceleration_lower_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_acceleration_upper_limits"><strong>set_acceleration_upper_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_acceleration_upper_limits"><strong>set_acceleration_upper_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_accelerations"><strong>set_accelerations</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_accelerations"><strong>set_accelerations</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_actuator_type"><strong>set_actuator_type</strong></a> (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_actuator_type"><strong>set_actuator_type</strong></a> (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_actuator_types"><strong>set_actuator_types</strong></a> (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_actuator_types"><strong>set_actuator_types</strong></a> (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_base_pose-12"><strong>set_base_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
+<td style="text-align: left;"><a href="#function-set_base_pose-12"><strong>set_base_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_base_pose-22"><strong>set_base_pose</strong></a> (const Eigen::Vector6d &amp; pose) <br><em>set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)</em></td>
+<td style="text-align: left;"><a href="#function-set_base_pose-22"><strong>set_base_pose</strong></a> (const Eigen::Vector6d &amp; pose) <br><em>set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_mass-12"><strong>set_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_mass-12"><strong>set_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_mass-22"><strong>set_body_mass</strong></a> (size_t body_index, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_mass-22"><strong>set_body_mass</strong></a> (size_t body_index, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_name"><strong>set_body_name</strong></a> (size_t body_index, const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_name"><strong>set_body_name</strong></a> (size_t body_index, const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_cast_shadows"><strong>set_cast_shadows</strong></a> (bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_cast_shadows"><strong>set_cast_shadows</strong></a> (bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_color_mode-12"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode) <br></td>
+<td style="text-align: left;"><a href="#function-set_color_mode-12"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_color_mode-22"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode, const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_color_mode-22"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode, const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_commands"><strong>set_commands</strong></a> (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_commands"><strong>set_commands</strong></a> (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-12"><strong>set_coulomb_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_coulomb_coeffs-12"><strong>set_coulomb_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-22"><strong>set_coulomb_coeffs</strong></a> (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_coulomb_coeffs-22"><strong>set_coulomb_coeffs</strong></a> (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_damping_coeffs-12"><strong>set_damping_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_damping_coeffs-12"><strong>set_damping_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_damping_coeffs-22"><strong>set_damping_coeffs</strong></a> (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_damping_coeffs-22"><strong>set_damping_coeffs</strong></a> (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_draw_axis"><strong>set_draw_axis</strong></a> (const std::string &amp; body_name, double size=0.25) <br></td>
+<td style="text-align: left;"><a href="#function-set_draw_axis"><strong>set_draw_axis</strong></a> (const std::string &amp; body_name, double size=0.25) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_force-12"><strong>set_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_force-12"><strong>set_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_force-22"><strong>set_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_force-22"><strong>set_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_torque-12"><strong>set_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_torque-12"><strong>set_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_torque-22"><strong>set_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_torque-22"><strong>set_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_force_lower_limits"><strong>set_force_lower_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_force_lower_limits"><strong>set_force_lower_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_force_upper_limits"><strong>set_force_upper_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_force_upper_limits"><strong>set_force_upper_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_forces"><strong>set_forces</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_forces"><strong>set_forces</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeff-12"><strong>set_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeff-12"><strong>set_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeff-22"><strong>set_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeff-22"><strong>set_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeffs"><strong>set_friction_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeffs"><strong>set_friction_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_dir-12"><strong>set_friction_dir</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_dir-12"><strong>set_friction_dir</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_dir-22"><strong>set_friction_dir</strong></a> (size_t body_index, const Eigen::Vector3d &amp; direction) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_dir-22"><strong>set_friction_dir</strong></a> (size_t body_index, const Eigen::Vector3d &amp; direction) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_ghost"><strong>set_ghost</strong></a> (bool ghost=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_ghost"><strong>set_ghost</strong></a> (bool ghost=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_joint_name"><strong>set_joint_name</strong></a> (size_t joint_index, const std::string &amp; joint_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_joint_name"><strong>set_joint_name</strong></a> (size_t joint_index, const std::string &amp; joint_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_mimic"><strong>set_mimic</strong></a> (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.) <br></td>
+<td style="text-align: left;"><a href="#function-set_mimic"><strong>set_mimic</strong></a> (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_enforced-12"><strong>set_position_enforced</strong></a> (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_enforced-12"><strong>set_position_enforced</strong></a> (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_enforced-22"><strong>set_position_enforced</strong></a> (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_enforced-22"><strong>set_position_enforced</strong></a> (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_lower_limits"><strong>set_position_lower_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_lower_limits"><strong>set_position_lower_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_upper_limits"><strong>set_position_upper_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_upper_limits"><strong>set_position_upper_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_positions"><strong>set_positions</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_positions"><strong>set_positions</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeff-12"><strong>set_restitution_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeff-12"><strong>set_restitution_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeff-22"><strong>set_restitution_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeff-22"><strong>set_restitution_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeffs"><strong>set_restitution_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeffs"><strong>set_restitution_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-12"><strong>set_secondary_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeff-12"><strong>set_secondary_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-22"><strong>set_secondary_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeff-22"><strong>set_secondary_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeffs"><strong>set_secondary_friction_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeffs"><strong>set_secondary_friction_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_self_collision"><strong>set_self_collision</strong></a> (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_self_collision"><strong>set_self_collision</strong></a> (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-12"><strong>set_spring_stiffnesses</strong></a> (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_spring_stiffnesses-12"><strong>set_spring_stiffnesses</strong></a> (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-22"><strong>set_spring_stiffnesses</strong></a> (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_spring_stiffnesses-22"><strong>set_spring_stiffnesses</strong></a> (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocities"><strong>set_velocities</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocities"><strong>set_velocities</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocity_lower_limits"><strong>set_velocity_lower_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocity_lower_limits"><strong>set_velocity_lower_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocity_upper_limits"><strong>set_velocity_upper_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocity_upper_limits"><strong>set_velocity_upper_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-skeleton"><strong>skeleton</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-skeleton"><strong>skeleton</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-spring_stiffnesses"><strong>spring_stiffnesses</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-spring_stiffnesses"><strong>spring_stiffnesses</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-update"><strong>update</strong></a> (double t) <br></td>
+<td style="text-align: left;"><a href="#function-update"><strong>update</strong></a> (double t) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-update_joint_dof_maps"><strong>update_joint_dof_maps</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-update_joint_dof_maps"><strong>update_joint_dof_maps</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-vec_dof"><strong>vec_dof</strong></a> (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-vec_dof"><strong>vec_dof</strong></a> (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocities"><strong>velocities</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocities"><strong>velocities</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocity_lower_limits"><strong>velocity_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocity_lower_limits"><strong>velocity_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocity_upper_limits"><strong>velocity_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocity_upper_limits"><strong>velocity_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot"><strong>~Robot</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-robot"><strong>~Robot</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -1990,19 +1990,19 @@ <h2 id="public-static-functions-inherited-from-robot_dartrobot">Public Static Fu
 <tbody>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_box-12"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
+<td style="text-align: left;"><a href="#function-create_box-12"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_box-22"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
+<td style="text-align: left;"><a href="#function-create_box-22"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_ellipsoid-12"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
+<td style="text-align: left;"><a href="#function-create_ellipsoid-12"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_ellipsoid-22"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
+<td style="text-align: left;"><a href="#function-create_ellipsoid-22"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
 </tr>
 </tbody>
 </table>
@@ -2018,31 +2018,31 @@ <h2 id="protected-attributes-inherited-from-robot_dartrobotstalos">Protected Att
 <tbody>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#variable-_frequency"><strong>_frequency</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_frequency"><strong>_frequency</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1sensor_1_1ForceTorque/"><strong>sensor::ForceTorque</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#variable-_ft_foot_left"><strong>_ft_foot_left</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_ft_foot_left"><strong>_ft_foot_left</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1sensor_1_1ForceTorque/"><strong>sensor::ForceTorque</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#variable-_ft_foot_right"><strong>_ft_foot_right</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_ft_foot_right"><strong>_ft_foot_right</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1sensor_1_1ForceTorque/"><strong>sensor::ForceTorque</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#variable-_ft_wrist_left"><strong>_ft_wrist_left</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_ft_wrist_left"><strong>_ft_wrist_left</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1sensor_1_1ForceTorque/"><strong>sensor::ForceTorque</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#variable-_ft_wrist_right"><strong>_ft_wrist_right</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_ft_wrist_right"><strong>_ft_wrist_right</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1sensor_1_1IMU/"><strong>sensor::IMU</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#variable-_imu"><strong>_imu</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_imu"><strong>_imu</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">torque_map_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#variable-_torques"><strong>_torques</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_torques"><strong>_torques</strong></a>  <br></td>
 </tr>
 </tbody>
 </table>
@@ -2058,43 +2058,43 @@ <h2 id="protected-attributes-inherited-from-robot_dartrobot">Protected Attribute
 <tbody>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_axis_shapes"><strong>_axis_shapes</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_axis_shapes"><strong>_axis_shapes</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_cast_shadows"><strong>_cast_shadows</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_cast_shadows"><strong>_cast_shadows</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_controllers"><strong>_controllers</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_controllers"><strong>_controllers</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; std::string, size_t &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_dof_map"><strong>_dof_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_dof_map"><strong>_dof_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_is_ghost"><strong>_is_ghost</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_is_ghost"><strong>_is_ghost</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; std::string, size_t &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_joint_map"><strong>_joint_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_joint_map"><strong>_joint_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_model_filename"><strong>_model_filename</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_model_filename"><strong>_model_filename</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_packages"><strong>_packages</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_packages"><strong>_packages</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_robot_name"><strong>_robot_name</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_robot_name"><strong>_robot_name</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_skeleton"><strong>_skeleton</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_skeleton"><strong>_skeleton</strong></a>  <br></td>
 </tr>
 </tbody>
 </table>
@@ -2110,11 +2110,11 @@ <h2 id="protected-functions-inherited-from-robot_dartrobotstalos">Protected Func
 <tbody>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) override<br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) override<br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Talos/#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) override<br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) override<br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
 </tr>
 </tbody>
 </table>
@@ -2130,55 +2130,55 @@ <h2 id="protected-functions-inherited-from-robot_dartrobot">Protected Functions
 <tbody>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint::ActuatorType</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_actuator_type"><strong>_actuator_type</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-_actuator_type"><strong>_actuator_type</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; dart::dynamics::Joint::ActuatorType &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_actuator_types"><strong>_actuator_types</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-_actuator_types"><strong>_actuator_types</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_get_path"><strong>_get_path</strong></a> (const std::string &amp; filename) const<br></td>
+<td style="text-align: left;"><a href="#function-_get_path"><strong>_get_path</strong></a> (const std::string &amp; filename) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_jacobian"><strong>_jacobian</strong></a> (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-_jacobian"><strong>_jacobian</strong></a> (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_load_model"><strong>_load_model</strong></a> (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false) <br></td>
+<td style="text-align: left;"><a href="#function-_load_model"><strong>_load_model</strong></a> (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_mass_matrix"><strong>_mass_matrix</strong></a> (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-_mass_matrix"><strong>_mass_matrix</strong></a> (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_type"><strong>_set_actuator_type</strong></a> (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_type"><strong>_set_actuator_type</strong></a> (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_types-12"><strong>_set_actuator_types</strong></a> (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_types-12"><strong>_set_actuator_types</strong></a> (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_types-22"><strong>_set_actuator_types</strong></a> (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_types-22"><strong>_set_actuator_types</strong></a> (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_color_mode-12"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) <br></td>
+<td style="text-align: left;"><a href="#function-_set_color_mode-12"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_color_mode-22"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn) <br></td>
+<td style="text-align: left;"><a href="#function-_set_color_mode-22"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn) <br></td>
 </tr>
 </tbody>
 </table>
@@ -2211,14 +2211,14 @@ <h3 id="function-taloslight">function TalosLight<a class="headerlink" href="#fun
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -2252,10 +2252,10 @@ <h3 id="function-taloslight">function TalosLight<a class="headerlink" href="#fun
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1robots_1_1Tiago/index.html b/docs/api/classrobot__dart_1_1robots_1_1Tiago/index.html
index b19010fe..8c1df7bd 100644
--- a/docs/api/classrobot__dart_1_1robots_1_1Tiago/index.html
+++ b/docs/api/classrobot__dart_1_1robots_1_1Tiago/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
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@@ -58,7 +58,7 @@
       
     
     
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+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     Documentation of RobotDART
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     NOSALRO/robot_dart
@@ -1330,699 +1330,699 @@ <h2 id="public-functions-inherited-from-robot_dartrobot">Public Functions inheri
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-13"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-13"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-23"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-23"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-33"><strong>Robot</strong></a> (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name="robot", bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-33"><strong>Robot</strong></a> (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name="robot", bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-acceleration_lower_limits"><strong>acceleration_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-acceleration_lower_limits"><strong>acceleration_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-acceleration_upper_limits"><strong>acceleration_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-acceleration_upper_limits"><strong>acceleration_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-accelerations"><strong>accelerations</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-accelerations"><strong>accelerations</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-active_controllers"><strong>active_controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-active_controllers"><strong>active_controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-actuator_type"><strong>actuator_type</strong></a> (const std::string &amp; joint_name) const<br></td>
+<td style="text-align: left;"><a href="#function-actuator_type"><strong>actuator_type</strong></a> (const std::string &amp; joint_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-actuator_types"><strong>actuator_types</strong></a> (const std::vector&lt; std::string &gt; &amp; joint_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-actuator_types"><strong>actuator_types</strong></a> (const std::vector&lt; std::string &gt; &amp; joint_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_body_mass-12"><strong>add_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-add_body_mass-12"><strong>add_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_body_mass-22"><strong>add_body_mass</strong></a> (size_t body_index, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-add_body_mass-22"><strong>add_body_mass</strong></a> (size_t body_index, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_controller"><strong>add_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller, double weight=1.0) <br></td>
+<td style="text-align: left;"><a href="#function-add_controller"><strong>add_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller, double weight=1.0) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_force-12"><strong>add_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_force-12"><strong>add_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_force-22"><strong>add_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_force-22"><strong>add_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_torque-12"><strong>add_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_torque-12"><strong>add_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_torque-22"><strong>add_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_torque-22"><strong>add_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-adjacent_colliding"><strong>adjacent_colliding</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-adjacent_colliding"><strong>adjacent_colliding</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-aug_mass_matrix"><strong>aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-aug_mass_matrix"><strong>aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-base_pose"><strong>base_pose</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-base_pose"><strong>base_pose</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-base_pose_vec"><strong>base_pose_vec</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-base_pose_vec"><strong>base_pose_vec</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_acceleration-12"><strong>body_acceleration</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_acceleration-12"><strong>body_acceleration</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_acceleration-22"><strong>body_acceleration</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_acceleration-22"><strong>body_acceleration</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_index"><strong>body_index</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_index"><strong>body_index</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_mass-12"><strong>body_mass</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_mass-12"><strong>body_mass</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_mass-22"><strong>body_mass</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_mass-22"><strong>body_mass</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_name"><strong>body_name</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_name"><strong>body_name</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_names"><strong>body_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-body_names"><strong>body_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_node-12"><strong>body_node</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-body_node-12"><strong>body_node</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_node-22"><strong>body_node</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-body_node-22"><strong>body_node</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose-12"><strong>body_pose</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose-12"><strong>body_pose</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose-22"><strong>body_pose</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose-22"><strong>body_pose</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose_vec-12"><strong>body_pose_vec</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose_vec-12"><strong>body_pose_vec</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose_vec-22"><strong>body_pose_vec</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose_vec-22"><strong>body_pose_vec</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_velocity-12"><strong>body_velocity</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_velocity-12"><strong>body_velocity</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_velocity-22"><strong>body_velocity</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_velocity-22"><strong>body_velocity</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-cast_shadows"><strong>cast_shadows</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-cast_shadows"><strong>cast_shadows</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_controllers"><strong>clear_controllers</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_controllers"><strong>clear_controllers</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_external_forces"><strong>clear_external_forces</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_external_forces"><strong>clear_external_forces</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_internal_forces"><strong>clear_internal_forces</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_internal_forces"><strong>clear_internal_forces</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clone"><strong>clone</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-clone"><strong>clone</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clone_ghost"><strong>clone_ghost</strong></a> (const std::string &amp; ghost_name="ghost", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const<br></td>
+<td style="text-align: left;"><a href="#function-clone_ghost"><strong>clone_ghost</strong></a> (const std::string &amp; ghost_name="ghost", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com"><strong>com</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com"><strong>com</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_acceleration"><strong>com_acceleration</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com_acceleration"><strong>com_acceleration</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_jacobian"><strong>com_jacobian</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-com_jacobian"><strong>com_jacobian</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_jacobian_deriv"><strong>com_jacobian_deriv</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-com_jacobian_deriv"><strong>com_jacobian_deriv</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_velocity"><strong>com_velocity</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com_velocity"><strong>com_velocity</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-commands"><strong>commands</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-commands"><strong>commands</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-constraint_forces"><strong>constraint_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-constraint_forces"><strong>constraint_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-controller"><strong>controller</strong></a> (size_t index) const<br></td>
+<td style="text-align: left;"><a href="#function-controller"><strong>controller</strong></a> (size_t index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-controllers"><strong>controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-controllers"><strong>controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coriolis_forces"><strong>coriolis_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coriolis_forces"><strong>coriolis_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coriolis_gravity_forces"><strong>coriolis_gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coriolis_gravity_forces"><strong>coriolis_gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coulomb_coeffs"><strong>coulomb_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coulomb_coeffs"><strong>coulomb_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-damping_coeffs"><strong>damping_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-damping_coeffs"><strong>damping_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::DegreeOfFreedom *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof-12"><strong>dof</strong></a> (const std::string &amp; dof_name) <br></td>
+<td style="text-align: left;"><a href="#function-dof-12"><strong>dof</strong></a> (const std::string &amp; dof_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::DegreeOfFreedom *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof-22"><strong>dof</strong></a> (size_t dof_index) <br></td>
+<td style="text-align: left;"><a href="#function-dof-22"><strong>dof</strong></a> (size_t dof_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_index"><strong>dof_index</strong></a> (const std::string &amp; dof_name) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_index"><strong>dof_index</strong></a> (const std::string &amp; dof_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::unordered_map&lt; std::string, size_t &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_map"><strong>dof_map</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-dof_map"><strong>dof_map</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_name"><strong>dof_name</strong></a> (size_t dof_index) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_name"><strong>dof_name</strong></a> (size_t dof_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_names"><strong>dof_names</strong></a> (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_names"><strong>dof_names</strong></a> (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-drawing_axes"><strong>drawing_axes</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-drawing_axes"><strong>drawing_axes</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-external_forces-12"><strong>external_forces</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-external_forces-12"><strong>external_forces</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-external_forces-22"><strong>external_forces</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-external_forces-22"><strong>external_forces</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-fix_to_world"><strong>fix_to_world</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-fix_to_world"><strong>fix_to_world</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-fixed"><strong>fixed</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-fixed"><strong>fixed</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_lower_limits"><strong>force_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-force_lower_limits"><strong>force_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_position_bounds"><strong>force_position_bounds</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-force_position_bounds"><strong>force_position_bounds</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_torque"><strong>force_torque</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-force_torque"><strong>force_torque</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_upper_limits"><strong>force_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-force_upper_limits"><strong>force_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-forces"><strong>forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-forces"><strong>forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-free"><strong>free</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-free"><strong>free</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-free_from_world"><strong>free_from_world</strong></a> (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()) <br></td>
+<td style="text-align: left;"><a href="#function-free_from_world"><strong>free_from_world</strong></a> (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_coeff-12"><strong>friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-friction_coeff-12"><strong>friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_coeff-22"><strong>friction_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-friction_coeff-22"><strong>friction_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_dir-12"><strong>friction_dir</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-friction_dir-12"><strong>friction_dir</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_dir-22"><strong>friction_dir</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-friction_dir-22"><strong>friction_dir</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-ghost"><strong>ghost</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-ghost"><strong>ghost</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-gravity_forces"><strong>gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-gravity_forces"><strong>gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-inv_aug_mass_matrix"><strong>inv_aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-inv_aug_mass_matrix"><strong>inv_aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-inv_mass_matrix"><strong>inv_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-inv_mass_matrix"><strong>inv_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-jacobian"><strong>jacobian</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-jacobian"><strong>jacobian</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-jacobian_deriv"><strong>jacobian_deriv</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-jacobian_deriv"><strong>jacobian_deriv</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint-12"><strong>joint</strong></a> (const std::string &amp; joint_name) <br></td>
+<td style="text-align: left;"><a href="#function-joint-12"><strong>joint</strong></a> (const std::string &amp; joint_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint-22"><strong>joint</strong></a> (size_t joint_index) <br></td>
+<td style="text-align: left;"><a href="#function-joint-22"><strong>joint</strong></a> (size_t joint_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_index"><strong>joint_index</strong></a> (const std::string &amp; joint_name) const<br></td>
+<td style="text-align: left;"><a href="#function-joint_index"><strong>joint_index</strong></a> (const std::string &amp; joint_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::unordered_map&lt; std::string, size_t &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_map"><strong>joint_map</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-joint_map"><strong>joint_map</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_name"><strong>joint_name</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-joint_name"><strong>joint_name</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_names"><strong>joint_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-joint_names"><strong>joint_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-locked_dof_names"><strong>locked_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-locked_dof_names"><strong>locked_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-mass_matrix"><strong>mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-mass_matrix"><strong>mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-mimic_dof_names"><strong>mimic_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-mimic_dof_names"><strong>mimic_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-model_filename"><strong>model_filename</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-model_filename"><strong>model_filename</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-model_packages"><strong>model_packages</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-model_packages"><strong>model_packages</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-name"><strong>name</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-name"><strong>name</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_bodies"><strong>num_bodies</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_bodies"><strong>num_bodies</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_controllers"><strong>num_controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_controllers"><strong>num_controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_dofs"><strong>num_dofs</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_dofs"><strong>num_dofs</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_joints"><strong>num_joints</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_joints"><strong>num_joints</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-passive_dof_names"><strong>passive_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-passive_dof_names"><strong>passive_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; bool &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_enforced"><strong>position_enforced</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_enforced"><strong>position_enforced</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_lower_limits"><strong>position_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_lower_limits"><strong>position_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_upper_limits"><strong>position_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_upper_limits"><strong>position_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-positions"><strong>positions</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-positions"><strong>positions</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reinit_controllers"><strong>reinit_controllers</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reinit_controllers"><strong>reinit_controllers</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_all_drawing_axis"><strong>remove_all_drawing_axis</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-remove_all_drawing_axis"><strong>remove_all_drawing_axis</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_controller-12"><strong>remove_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller) <br></td>
+<td style="text-align: left;"><a href="#function-remove_controller-12"><strong>remove_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_controller-22"><strong>remove_controller</strong></a> (size_t index) <br></td>
+<td style="text-align: left;"><a href="#function-remove_controller-22"><strong>remove_controller</strong></a> (size_t index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reset"><strong>reset</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reset"><strong>reset</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reset_commands"><strong>reset_commands</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reset_commands"><strong>reset_commands</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-restitution_coeff-12"><strong>restitution_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-restitution_coeff-12"><strong>restitution_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-restitution_coeff-22"><strong>restitution_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-restitution_coeff-22"><strong>restitution_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-secondary_friction_coeff-12"><strong>secondary_friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-secondary_friction_coeff-12"><strong>secondary_friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-secondary_friction_coeff-22"><strong>secondary_friction_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-secondary_friction_coeff-22"><strong>secondary_friction_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-self_colliding"><strong>self_colliding</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-self_colliding"><strong>self_colliding</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_acceleration_lower_limits"><strong>set_acceleration_lower_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_acceleration_lower_limits"><strong>set_acceleration_lower_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_acceleration_upper_limits"><strong>set_acceleration_upper_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_acceleration_upper_limits"><strong>set_acceleration_upper_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_accelerations"><strong>set_accelerations</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_accelerations"><strong>set_accelerations</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_actuator_type"><strong>set_actuator_type</strong></a> (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_actuator_type"><strong>set_actuator_type</strong></a> (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_actuator_types"><strong>set_actuator_types</strong></a> (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_actuator_types"><strong>set_actuator_types</strong></a> (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_base_pose-12"><strong>set_base_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
+<td style="text-align: left;"><a href="#function-set_base_pose-12"><strong>set_base_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_base_pose-22"><strong>set_base_pose</strong></a> (const Eigen::Vector6d &amp; pose) <br><em>set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)</em></td>
+<td style="text-align: left;"><a href="#function-set_base_pose-22"><strong>set_base_pose</strong></a> (const Eigen::Vector6d &amp; pose) <br><em>set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_mass-12"><strong>set_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_mass-12"><strong>set_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_mass-22"><strong>set_body_mass</strong></a> (size_t body_index, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_mass-22"><strong>set_body_mass</strong></a> (size_t body_index, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_name"><strong>set_body_name</strong></a> (size_t body_index, const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_name"><strong>set_body_name</strong></a> (size_t body_index, const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_cast_shadows"><strong>set_cast_shadows</strong></a> (bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_cast_shadows"><strong>set_cast_shadows</strong></a> (bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_color_mode-12"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode) <br></td>
+<td style="text-align: left;"><a href="#function-set_color_mode-12"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_color_mode-22"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode, const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_color_mode-22"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode, const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_commands"><strong>set_commands</strong></a> (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_commands"><strong>set_commands</strong></a> (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-12"><strong>set_coulomb_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_coulomb_coeffs-12"><strong>set_coulomb_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-22"><strong>set_coulomb_coeffs</strong></a> (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_coulomb_coeffs-22"><strong>set_coulomb_coeffs</strong></a> (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_damping_coeffs-12"><strong>set_damping_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_damping_coeffs-12"><strong>set_damping_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_damping_coeffs-22"><strong>set_damping_coeffs</strong></a> (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_damping_coeffs-22"><strong>set_damping_coeffs</strong></a> (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_draw_axis"><strong>set_draw_axis</strong></a> (const std::string &amp; body_name, double size=0.25) <br></td>
+<td style="text-align: left;"><a href="#function-set_draw_axis"><strong>set_draw_axis</strong></a> (const std::string &amp; body_name, double size=0.25) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_force-12"><strong>set_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_force-12"><strong>set_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_force-22"><strong>set_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_force-22"><strong>set_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_torque-12"><strong>set_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_torque-12"><strong>set_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_torque-22"><strong>set_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_torque-22"><strong>set_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_force_lower_limits"><strong>set_force_lower_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_force_lower_limits"><strong>set_force_lower_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_force_upper_limits"><strong>set_force_upper_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_force_upper_limits"><strong>set_force_upper_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_forces"><strong>set_forces</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_forces"><strong>set_forces</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeff-12"><strong>set_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeff-12"><strong>set_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeff-22"><strong>set_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeff-22"><strong>set_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeffs"><strong>set_friction_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeffs"><strong>set_friction_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_dir-12"><strong>set_friction_dir</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_dir-12"><strong>set_friction_dir</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_dir-22"><strong>set_friction_dir</strong></a> (size_t body_index, const Eigen::Vector3d &amp; direction) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_dir-22"><strong>set_friction_dir</strong></a> (size_t body_index, const Eigen::Vector3d &amp; direction) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_ghost"><strong>set_ghost</strong></a> (bool ghost=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_ghost"><strong>set_ghost</strong></a> (bool ghost=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_joint_name"><strong>set_joint_name</strong></a> (size_t joint_index, const std::string &amp; joint_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_joint_name"><strong>set_joint_name</strong></a> (size_t joint_index, const std::string &amp; joint_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_mimic"><strong>set_mimic</strong></a> (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.) <br></td>
+<td style="text-align: left;"><a href="#function-set_mimic"><strong>set_mimic</strong></a> (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_enforced-12"><strong>set_position_enforced</strong></a> (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_enforced-12"><strong>set_position_enforced</strong></a> (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_enforced-22"><strong>set_position_enforced</strong></a> (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_enforced-22"><strong>set_position_enforced</strong></a> (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_lower_limits"><strong>set_position_lower_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_lower_limits"><strong>set_position_lower_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_upper_limits"><strong>set_position_upper_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_upper_limits"><strong>set_position_upper_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_positions"><strong>set_positions</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_positions"><strong>set_positions</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeff-12"><strong>set_restitution_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeff-12"><strong>set_restitution_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeff-22"><strong>set_restitution_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeff-22"><strong>set_restitution_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeffs"><strong>set_restitution_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeffs"><strong>set_restitution_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-12"><strong>set_secondary_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeff-12"><strong>set_secondary_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-22"><strong>set_secondary_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeff-22"><strong>set_secondary_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeffs"><strong>set_secondary_friction_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeffs"><strong>set_secondary_friction_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_self_collision"><strong>set_self_collision</strong></a> (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_self_collision"><strong>set_self_collision</strong></a> (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-12"><strong>set_spring_stiffnesses</strong></a> (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_spring_stiffnesses-12"><strong>set_spring_stiffnesses</strong></a> (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-22"><strong>set_spring_stiffnesses</strong></a> (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_spring_stiffnesses-22"><strong>set_spring_stiffnesses</strong></a> (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocities"><strong>set_velocities</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocities"><strong>set_velocities</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocity_lower_limits"><strong>set_velocity_lower_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocity_lower_limits"><strong>set_velocity_lower_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocity_upper_limits"><strong>set_velocity_upper_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocity_upper_limits"><strong>set_velocity_upper_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-skeleton"><strong>skeleton</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-skeleton"><strong>skeleton</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-spring_stiffnesses"><strong>spring_stiffnesses</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-spring_stiffnesses"><strong>spring_stiffnesses</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-update"><strong>update</strong></a> (double t) <br></td>
+<td style="text-align: left;"><a href="#function-update"><strong>update</strong></a> (double t) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-update_joint_dof_maps"><strong>update_joint_dof_maps</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-update_joint_dof_maps"><strong>update_joint_dof_maps</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-vec_dof"><strong>vec_dof</strong></a> (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-vec_dof"><strong>vec_dof</strong></a> (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocities"><strong>velocities</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocities"><strong>velocities</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocity_lower_limits"><strong>velocity_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocity_lower_limits"><strong>velocity_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocity_upper_limits"><strong>velocity_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocity_upper_limits"><strong>velocity_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot"><strong>~Robot</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-robot"><strong>~Robot</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -2038,19 +2038,19 @@ <h2 id="public-static-functions-inherited-from-robot_dartrobot">Public Static Fu
 <tbody>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_box-12"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
+<td style="text-align: left;"><a href="#function-create_box-12"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_box-22"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
+<td style="text-align: left;"><a href="#function-create_box-22"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_ellipsoid-12"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
+<td style="text-align: left;"><a href="#function-create_ellipsoid-12"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_ellipsoid-22"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
+<td style="text-align: left;"><a href="#function-create_ellipsoid-22"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
 </tr>
 </tbody>
 </table>
@@ -2081,43 +2081,43 @@ <h2 id="protected-attributes-inherited-from-robot_dartrobot">Protected Attribute
 <tbody>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_axis_shapes"><strong>_axis_shapes</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_axis_shapes"><strong>_axis_shapes</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_cast_shadows"><strong>_cast_shadows</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_cast_shadows"><strong>_cast_shadows</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_controllers"><strong>_controllers</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_controllers"><strong>_controllers</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; std::string, size_t &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_dof_map"><strong>_dof_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_dof_map"><strong>_dof_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_is_ghost"><strong>_is_ghost</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_is_ghost"><strong>_is_ghost</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; std::string, size_t &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_joint_map"><strong>_joint_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_joint_map"><strong>_joint_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_model_filename"><strong>_model_filename</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_model_filename"><strong>_model_filename</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_packages"><strong>_packages</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_packages"><strong>_packages</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_robot_name"><strong>_robot_name</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_robot_name"><strong>_robot_name</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_skeleton"><strong>_skeleton</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_skeleton"><strong>_skeleton</strong></a>  <br></td>
 </tr>
 </tbody>
 </table>
@@ -2152,55 +2152,55 @@ <h2 id="protected-functions-inherited-from-robot_dartrobot">Protected Functions
 <tbody>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint::ActuatorType</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_actuator_type"><strong>_actuator_type</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-_actuator_type"><strong>_actuator_type</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; dart::dynamics::Joint::ActuatorType &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_actuator_types"><strong>_actuator_types</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-_actuator_types"><strong>_actuator_types</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_get_path"><strong>_get_path</strong></a> (const std::string &amp; filename) const<br></td>
+<td style="text-align: left;"><a href="#function-_get_path"><strong>_get_path</strong></a> (const std::string &amp; filename) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_jacobian"><strong>_jacobian</strong></a> (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-_jacobian"><strong>_jacobian</strong></a> (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_load_model"><strong>_load_model</strong></a> (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false) <br></td>
+<td style="text-align: left;"><a href="#function-_load_model"><strong>_load_model</strong></a> (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_mass_matrix"><strong>_mass_matrix</strong></a> (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-_mass_matrix"><strong>_mass_matrix</strong></a> (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_type"><strong>_set_actuator_type</strong></a> (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_type"><strong>_set_actuator_type</strong></a> (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_types-12"><strong>_set_actuator_types</strong></a> (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_types-12"><strong>_set_actuator_types</strong></a> (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_types-22"><strong>_set_actuator_types</strong></a> (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_types-22"><strong>_set_actuator_types</strong></a> (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_color_mode-12"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) <br></td>
+<td style="text-align: left;"><a href="#function-_set_color_mode-12"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_color_mode-22"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn) <br></td>
+<td style="text-align: left;"><a href="#function-_set_color_mode-22"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn) <br></td>
 </tr>
 </tbody>
 </table>
@@ -2292,14 +2292,14 @@ <h3 id="function-_post_removal">function _post_removal<a class="headerlink" href
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -2333,10 +2333,10 @@ <h3 id="function-_post_removal">function _post_removal<a class="headerlink" href
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1robots_1_1Ur3e/index.html b/docs/api/classrobot__dart_1_1robots_1_1Ur3e/index.html
index 3781bdf8..a92347fd 100644
--- a/docs/api/classrobot__dart_1_1robots_1_1Ur3e/index.html
+++ b/docs/api/classrobot__dart_1_1robots_1_1Ur3e/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
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@@ -58,7 +58,7 @@
       
     
     
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@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
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       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
       </label>
     
   
@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
       </label>
     
   
@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1275,699 +1275,699 @@ <h2 id="public-functions-inherited-from-robot_dartrobot">Public Functions inheri
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-13"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-13"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-23"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-23"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-33"><strong>Robot</strong></a> (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name="robot", bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-33"><strong>Robot</strong></a> (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name="robot", bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-acceleration_lower_limits"><strong>acceleration_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-acceleration_lower_limits"><strong>acceleration_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-acceleration_upper_limits"><strong>acceleration_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-acceleration_upper_limits"><strong>acceleration_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-accelerations"><strong>accelerations</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-accelerations"><strong>accelerations</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-active_controllers"><strong>active_controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-active_controllers"><strong>active_controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-actuator_type"><strong>actuator_type</strong></a> (const std::string &amp; joint_name) const<br></td>
+<td style="text-align: left;"><a href="#function-actuator_type"><strong>actuator_type</strong></a> (const std::string &amp; joint_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-actuator_types"><strong>actuator_types</strong></a> (const std::vector&lt; std::string &gt; &amp; joint_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-actuator_types"><strong>actuator_types</strong></a> (const std::vector&lt; std::string &gt; &amp; joint_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_body_mass-12"><strong>add_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-add_body_mass-12"><strong>add_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_body_mass-22"><strong>add_body_mass</strong></a> (size_t body_index, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-add_body_mass-22"><strong>add_body_mass</strong></a> (size_t body_index, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_controller"><strong>add_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller, double weight=1.0) <br></td>
+<td style="text-align: left;"><a href="#function-add_controller"><strong>add_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller, double weight=1.0) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_force-12"><strong>add_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_force-12"><strong>add_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_force-22"><strong>add_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_force-22"><strong>add_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_torque-12"><strong>add_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_torque-12"><strong>add_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_torque-22"><strong>add_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_torque-22"><strong>add_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-adjacent_colliding"><strong>adjacent_colliding</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-adjacent_colliding"><strong>adjacent_colliding</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-aug_mass_matrix"><strong>aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-aug_mass_matrix"><strong>aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-base_pose"><strong>base_pose</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-base_pose"><strong>base_pose</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-base_pose_vec"><strong>base_pose_vec</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-base_pose_vec"><strong>base_pose_vec</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_acceleration-12"><strong>body_acceleration</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_acceleration-12"><strong>body_acceleration</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_acceleration-22"><strong>body_acceleration</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_acceleration-22"><strong>body_acceleration</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_index"><strong>body_index</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_index"><strong>body_index</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_mass-12"><strong>body_mass</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_mass-12"><strong>body_mass</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_mass-22"><strong>body_mass</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_mass-22"><strong>body_mass</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_name"><strong>body_name</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_name"><strong>body_name</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_names"><strong>body_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-body_names"><strong>body_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_node-12"><strong>body_node</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-body_node-12"><strong>body_node</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_node-22"><strong>body_node</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-body_node-22"><strong>body_node</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose-12"><strong>body_pose</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose-12"><strong>body_pose</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose-22"><strong>body_pose</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose-22"><strong>body_pose</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose_vec-12"><strong>body_pose_vec</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose_vec-12"><strong>body_pose_vec</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose_vec-22"><strong>body_pose_vec</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose_vec-22"><strong>body_pose_vec</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_velocity-12"><strong>body_velocity</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_velocity-12"><strong>body_velocity</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_velocity-22"><strong>body_velocity</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_velocity-22"><strong>body_velocity</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-cast_shadows"><strong>cast_shadows</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-cast_shadows"><strong>cast_shadows</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_controllers"><strong>clear_controllers</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_controllers"><strong>clear_controllers</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_external_forces"><strong>clear_external_forces</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_external_forces"><strong>clear_external_forces</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_internal_forces"><strong>clear_internal_forces</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_internal_forces"><strong>clear_internal_forces</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clone"><strong>clone</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-clone"><strong>clone</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clone_ghost"><strong>clone_ghost</strong></a> (const std::string &amp; ghost_name="ghost", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const<br></td>
+<td style="text-align: left;"><a href="#function-clone_ghost"><strong>clone_ghost</strong></a> (const std::string &amp; ghost_name="ghost", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com"><strong>com</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com"><strong>com</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_acceleration"><strong>com_acceleration</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com_acceleration"><strong>com_acceleration</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_jacobian"><strong>com_jacobian</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-com_jacobian"><strong>com_jacobian</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_jacobian_deriv"><strong>com_jacobian_deriv</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-com_jacobian_deriv"><strong>com_jacobian_deriv</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_velocity"><strong>com_velocity</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com_velocity"><strong>com_velocity</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-commands"><strong>commands</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-commands"><strong>commands</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-constraint_forces"><strong>constraint_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-constraint_forces"><strong>constraint_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-controller"><strong>controller</strong></a> (size_t index) const<br></td>
+<td style="text-align: left;"><a href="#function-controller"><strong>controller</strong></a> (size_t index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-controllers"><strong>controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-controllers"><strong>controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coriolis_forces"><strong>coriolis_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coriolis_forces"><strong>coriolis_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coriolis_gravity_forces"><strong>coriolis_gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coriolis_gravity_forces"><strong>coriolis_gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coulomb_coeffs"><strong>coulomb_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coulomb_coeffs"><strong>coulomb_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-damping_coeffs"><strong>damping_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-damping_coeffs"><strong>damping_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::DegreeOfFreedom *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof-12"><strong>dof</strong></a> (const std::string &amp; dof_name) <br></td>
+<td style="text-align: left;"><a href="#function-dof-12"><strong>dof</strong></a> (const std::string &amp; dof_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::DegreeOfFreedom *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof-22"><strong>dof</strong></a> (size_t dof_index) <br></td>
+<td style="text-align: left;"><a href="#function-dof-22"><strong>dof</strong></a> (size_t dof_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_index"><strong>dof_index</strong></a> (const std::string &amp; dof_name) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_index"><strong>dof_index</strong></a> (const std::string &amp; dof_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::unordered_map&lt; std::string, size_t &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_map"><strong>dof_map</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-dof_map"><strong>dof_map</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_name"><strong>dof_name</strong></a> (size_t dof_index) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_name"><strong>dof_name</strong></a> (size_t dof_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_names"><strong>dof_names</strong></a> (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_names"><strong>dof_names</strong></a> (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-drawing_axes"><strong>drawing_axes</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-drawing_axes"><strong>drawing_axes</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-external_forces-12"><strong>external_forces</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-external_forces-12"><strong>external_forces</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-external_forces-22"><strong>external_forces</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-external_forces-22"><strong>external_forces</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-fix_to_world"><strong>fix_to_world</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-fix_to_world"><strong>fix_to_world</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-fixed"><strong>fixed</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-fixed"><strong>fixed</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_lower_limits"><strong>force_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-force_lower_limits"><strong>force_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_position_bounds"><strong>force_position_bounds</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-force_position_bounds"><strong>force_position_bounds</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_torque"><strong>force_torque</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-force_torque"><strong>force_torque</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_upper_limits"><strong>force_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-force_upper_limits"><strong>force_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-forces"><strong>forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-forces"><strong>forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-free"><strong>free</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-free"><strong>free</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-free_from_world"><strong>free_from_world</strong></a> (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()) <br></td>
+<td style="text-align: left;"><a href="#function-free_from_world"><strong>free_from_world</strong></a> (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_coeff-12"><strong>friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-friction_coeff-12"><strong>friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_coeff-22"><strong>friction_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-friction_coeff-22"><strong>friction_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_dir-12"><strong>friction_dir</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-friction_dir-12"><strong>friction_dir</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_dir-22"><strong>friction_dir</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-friction_dir-22"><strong>friction_dir</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-ghost"><strong>ghost</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-ghost"><strong>ghost</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-gravity_forces"><strong>gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-gravity_forces"><strong>gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-inv_aug_mass_matrix"><strong>inv_aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-inv_aug_mass_matrix"><strong>inv_aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-inv_mass_matrix"><strong>inv_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-inv_mass_matrix"><strong>inv_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-jacobian"><strong>jacobian</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-jacobian"><strong>jacobian</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-jacobian_deriv"><strong>jacobian_deriv</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-jacobian_deriv"><strong>jacobian_deriv</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint-12"><strong>joint</strong></a> (const std::string &amp; joint_name) <br></td>
+<td style="text-align: left;"><a href="#function-joint-12"><strong>joint</strong></a> (const std::string &amp; joint_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint-22"><strong>joint</strong></a> (size_t joint_index) <br></td>
+<td style="text-align: left;"><a href="#function-joint-22"><strong>joint</strong></a> (size_t joint_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_index"><strong>joint_index</strong></a> (const std::string &amp; joint_name) const<br></td>
+<td style="text-align: left;"><a href="#function-joint_index"><strong>joint_index</strong></a> (const std::string &amp; joint_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::unordered_map&lt; std::string, size_t &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_map"><strong>joint_map</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-joint_map"><strong>joint_map</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_name"><strong>joint_name</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-joint_name"><strong>joint_name</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_names"><strong>joint_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-joint_names"><strong>joint_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-locked_dof_names"><strong>locked_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-locked_dof_names"><strong>locked_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-mass_matrix"><strong>mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-mass_matrix"><strong>mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-mimic_dof_names"><strong>mimic_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-mimic_dof_names"><strong>mimic_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-model_filename"><strong>model_filename</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-model_filename"><strong>model_filename</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-model_packages"><strong>model_packages</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-model_packages"><strong>model_packages</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-name"><strong>name</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-name"><strong>name</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_bodies"><strong>num_bodies</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_bodies"><strong>num_bodies</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_controllers"><strong>num_controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_controllers"><strong>num_controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_dofs"><strong>num_dofs</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_dofs"><strong>num_dofs</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_joints"><strong>num_joints</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_joints"><strong>num_joints</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-passive_dof_names"><strong>passive_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-passive_dof_names"><strong>passive_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; bool &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_enforced"><strong>position_enforced</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_enforced"><strong>position_enforced</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_lower_limits"><strong>position_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_lower_limits"><strong>position_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_upper_limits"><strong>position_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_upper_limits"><strong>position_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-positions"><strong>positions</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-positions"><strong>positions</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reinit_controllers"><strong>reinit_controllers</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reinit_controllers"><strong>reinit_controllers</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_all_drawing_axis"><strong>remove_all_drawing_axis</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-remove_all_drawing_axis"><strong>remove_all_drawing_axis</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_controller-12"><strong>remove_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller) <br></td>
+<td style="text-align: left;"><a href="#function-remove_controller-12"><strong>remove_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_controller-22"><strong>remove_controller</strong></a> (size_t index) <br></td>
+<td style="text-align: left;"><a href="#function-remove_controller-22"><strong>remove_controller</strong></a> (size_t index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reset"><strong>reset</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reset"><strong>reset</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reset_commands"><strong>reset_commands</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reset_commands"><strong>reset_commands</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-restitution_coeff-12"><strong>restitution_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-restitution_coeff-12"><strong>restitution_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-restitution_coeff-22"><strong>restitution_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-restitution_coeff-22"><strong>restitution_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-secondary_friction_coeff-12"><strong>secondary_friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-secondary_friction_coeff-12"><strong>secondary_friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-secondary_friction_coeff-22"><strong>secondary_friction_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-secondary_friction_coeff-22"><strong>secondary_friction_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-self_colliding"><strong>self_colliding</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-self_colliding"><strong>self_colliding</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_acceleration_lower_limits"><strong>set_acceleration_lower_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_acceleration_lower_limits"><strong>set_acceleration_lower_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_acceleration_upper_limits"><strong>set_acceleration_upper_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_acceleration_upper_limits"><strong>set_acceleration_upper_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_accelerations"><strong>set_accelerations</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_accelerations"><strong>set_accelerations</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_actuator_type"><strong>set_actuator_type</strong></a> (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_actuator_type"><strong>set_actuator_type</strong></a> (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_actuator_types"><strong>set_actuator_types</strong></a> (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_actuator_types"><strong>set_actuator_types</strong></a> (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_base_pose-12"><strong>set_base_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
+<td style="text-align: left;"><a href="#function-set_base_pose-12"><strong>set_base_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_base_pose-22"><strong>set_base_pose</strong></a> (const Eigen::Vector6d &amp; pose) <br><em>set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)</em></td>
+<td style="text-align: left;"><a href="#function-set_base_pose-22"><strong>set_base_pose</strong></a> (const Eigen::Vector6d &amp; pose) <br><em>set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_mass-12"><strong>set_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_mass-12"><strong>set_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_mass-22"><strong>set_body_mass</strong></a> (size_t body_index, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_mass-22"><strong>set_body_mass</strong></a> (size_t body_index, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_name"><strong>set_body_name</strong></a> (size_t body_index, const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_name"><strong>set_body_name</strong></a> (size_t body_index, const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_cast_shadows"><strong>set_cast_shadows</strong></a> (bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_cast_shadows"><strong>set_cast_shadows</strong></a> (bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_color_mode-12"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode) <br></td>
+<td style="text-align: left;"><a href="#function-set_color_mode-12"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_color_mode-22"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode, const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_color_mode-22"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode, const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_commands"><strong>set_commands</strong></a> (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_commands"><strong>set_commands</strong></a> (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-12"><strong>set_coulomb_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_coulomb_coeffs-12"><strong>set_coulomb_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-22"><strong>set_coulomb_coeffs</strong></a> (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_coulomb_coeffs-22"><strong>set_coulomb_coeffs</strong></a> (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_damping_coeffs-12"><strong>set_damping_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_damping_coeffs-12"><strong>set_damping_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_damping_coeffs-22"><strong>set_damping_coeffs</strong></a> (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_damping_coeffs-22"><strong>set_damping_coeffs</strong></a> (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_draw_axis"><strong>set_draw_axis</strong></a> (const std::string &amp; body_name, double size=0.25) <br></td>
+<td style="text-align: left;"><a href="#function-set_draw_axis"><strong>set_draw_axis</strong></a> (const std::string &amp; body_name, double size=0.25) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_force-12"><strong>set_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_force-12"><strong>set_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_force-22"><strong>set_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_force-22"><strong>set_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_torque-12"><strong>set_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_torque-12"><strong>set_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_torque-22"><strong>set_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_torque-22"><strong>set_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_force_lower_limits"><strong>set_force_lower_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_force_lower_limits"><strong>set_force_lower_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_force_upper_limits"><strong>set_force_upper_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_force_upper_limits"><strong>set_force_upper_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_forces"><strong>set_forces</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_forces"><strong>set_forces</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeff-12"><strong>set_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeff-12"><strong>set_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeff-22"><strong>set_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeff-22"><strong>set_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeffs"><strong>set_friction_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeffs"><strong>set_friction_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_dir-12"><strong>set_friction_dir</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_dir-12"><strong>set_friction_dir</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_dir-22"><strong>set_friction_dir</strong></a> (size_t body_index, const Eigen::Vector3d &amp; direction) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_dir-22"><strong>set_friction_dir</strong></a> (size_t body_index, const Eigen::Vector3d &amp; direction) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_ghost"><strong>set_ghost</strong></a> (bool ghost=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_ghost"><strong>set_ghost</strong></a> (bool ghost=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_joint_name"><strong>set_joint_name</strong></a> (size_t joint_index, const std::string &amp; joint_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_joint_name"><strong>set_joint_name</strong></a> (size_t joint_index, const std::string &amp; joint_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_mimic"><strong>set_mimic</strong></a> (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.) <br></td>
+<td style="text-align: left;"><a href="#function-set_mimic"><strong>set_mimic</strong></a> (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_enforced-12"><strong>set_position_enforced</strong></a> (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_enforced-12"><strong>set_position_enforced</strong></a> (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_enforced-22"><strong>set_position_enforced</strong></a> (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_enforced-22"><strong>set_position_enforced</strong></a> (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_lower_limits"><strong>set_position_lower_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_lower_limits"><strong>set_position_lower_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_upper_limits"><strong>set_position_upper_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_upper_limits"><strong>set_position_upper_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_positions"><strong>set_positions</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_positions"><strong>set_positions</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeff-12"><strong>set_restitution_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeff-12"><strong>set_restitution_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeff-22"><strong>set_restitution_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeff-22"><strong>set_restitution_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeffs"><strong>set_restitution_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeffs"><strong>set_restitution_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-12"><strong>set_secondary_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeff-12"><strong>set_secondary_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-22"><strong>set_secondary_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeff-22"><strong>set_secondary_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeffs"><strong>set_secondary_friction_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeffs"><strong>set_secondary_friction_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_self_collision"><strong>set_self_collision</strong></a> (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_self_collision"><strong>set_self_collision</strong></a> (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-12"><strong>set_spring_stiffnesses</strong></a> (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_spring_stiffnesses-12"><strong>set_spring_stiffnesses</strong></a> (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-22"><strong>set_spring_stiffnesses</strong></a> (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_spring_stiffnesses-22"><strong>set_spring_stiffnesses</strong></a> (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocities"><strong>set_velocities</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocities"><strong>set_velocities</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocity_lower_limits"><strong>set_velocity_lower_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocity_lower_limits"><strong>set_velocity_lower_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocity_upper_limits"><strong>set_velocity_upper_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocity_upper_limits"><strong>set_velocity_upper_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-skeleton"><strong>skeleton</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-skeleton"><strong>skeleton</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-spring_stiffnesses"><strong>spring_stiffnesses</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-spring_stiffnesses"><strong>spring_stiffnesses</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-update"><strong>update</strong></a> (double t) <br></td>
+<td style="text-align: left;"><a href="#function-update"><strong>update</strong></a> (double t) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-update_joint_dof_maps"><strong>update_joint_dof_maps</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-update_joint_dof_maps"><strong>update_joint_dof_maps</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-vec_dof"><strong>vec_dof</strong></a> (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-vec_dof"><strong>vec_dof</strong></a> (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocities"><strong>velocities</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocities"><strong>velocities</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocity_lower_limits"><strong>velocity_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocity_lower_limits"><strong>velocity_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocity_upper_limits"><strong>velocity_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocity_upper_limits"><strong>velocity_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot"><strong>~Robot</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-robot"><strong>~Robot</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -1983,19 +1983,19 @@ <h2 id="public-static-functions-inherited-from-robot_dartrobot">Public Static Fu
 <tbody>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_box-12"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
+<td style="text-align: left;"><a href="#function-create_box-12"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_box-22"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
+<td style="text-align: left;"><a href="#function-create_box-22"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_ellipsoid-12"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
+<td style="text-align: left;"><a href="#function-create_ellipsoid-12"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_ellipsoid-22"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
+<td style="text-align: left;"><a href="#function-create_ellipsoid-22"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
 </tr>
 </tbody>
 </table>
@@ -2026,43 +2026,43 @@ <h2 id="protected-attributes-inherited-from-robot_dartrobot">Protected Attribute
 <tbody>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_axis_shapes"><strong>_axis_shapes</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_axis_shapes"><strong>_axis_shapes</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_cast_shadows"><strong>_cast_shadows</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_cast_shadows"><strong>_cast_shadows</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_controllers"><strong>_controllers</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_controllers"><strong>_controllers</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; std::string, size_t &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_dof_map"><strong>_dof_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_dof_map"><strong>_dof_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_is_ghost"><strong>_is_ghost</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_is_ghost"><strong>_is_ghost</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; std::string, size_t &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_joint_map"><strong>_joint_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_joint_map"><strong>_joint_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_model_filename"><strong>_model_filename</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_model_filename"><strong>_model_filename</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_packages"><strong>_packages</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_packages"><strong>_packages</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_robot_name"><strong>_robot_name</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_robot_name"><strong>_robot_name</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_skeleton"><strong>_skeleton</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_skeleton"><strong>_skeleton</strong></a>  <br></td>
 </tr>
 </tbody>
 </table>
@@ -2097,55 +2097,55 @@ <h2 id="protected-functions-inherited-from-robot_dartrobot">Protected Functions
 <tbody>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint::ActuatorType</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_actuator_type"><strong>_actuator_type</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-_actuator_type"><strong>_actuator_type</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; dart::dynamics::Joint::ActuatorType &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_actuator_types"><strong>_actuator_types</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-_actuator_types"><strong>_actuator_types</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_get_path"><strong>_get_path</strong></a> (const std::string &amp; filename) const<br></td>
+<td style="text-align: left;"><a href="#function-_get_path"><strong>_get_path</strong></a> (const std::string &amp; filename) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_jacobian"><strong>_jacobian</strong></a> (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-_jacobian"><strong>_jacobian</strong></a> (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_load_model"><strong>_load_model</strong></a> (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false) <br></td>
+<td style="text-align: left;"><a href="#function-_load_model"><strong>_load_model</strong></a> (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_mass_matrix"><strong>_mass_matrix</strong></a> (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-_mass_matrix"><strong>_mass_matrix</strong></a> (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_type"><strong>_set_actuator_type</strong></a> (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_type"><strong>_set_actuator_type</strong></a> (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_types-12"><strong>_set_actuator_types</strong></a> (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_types-12"><strong>_set_actuator_types</strong></a> (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_types-22"><strong>_set_actuator_types</strong></a> (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_types-22"><strong>_set_actuator_types</strong></a> (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_color_mode-12"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) <br></td>
+<td style="text-align: left;"><a href="#function-_set_color_mode-12"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_color_mode-22"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn) <br></td>
+<td style="text-align: left;"><a href="#function-_set_color_mode-22"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn) <br></td>
 </tr>
 </tbody>
 </table>
@@ -2204,14 +2204,14 @@ <h3 id="function-_post_removal">function _post_removal<a class="headerlink" href
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -2245,10 +2245,10 @@ <h3 id="function-_post_removal">function _post_removal<a class="headerlink" href
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1robots_1_1Ur3eHand/index.html b/docs/api/classrobot__dart_1_1robots_1_1Ur3eHand/index.html
index fc183fbd..782cb29c 100644
--- a/docs/api/classrobot__dart_1_1robots_1_1Ur3eHand/index.html
+++ b/docs/api/classrobot__dart_1_1robots_1_1Ur3eHand/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
-  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4V7Z"/></svg>');}</style>
+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -58,7 +58,7 @@
       
     
     
-    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce((e,_)=>(e<<5)-e+_.charCodeAt(0),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
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-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
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-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1213,11 +1213,11 @@ <h2 id="public-functions-inherited-from-robot_dartrobotsur3e">Public Functions i
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Ur3e/#function-ur3e"><strong>Ur3e</strong></a> (size_t frequency=1000, const std::string &amp; urdf="ur3e/ur3e.urdf", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('ur3e\_description', 'ur3e/ur3e\_description')) <br></td>
+<td style="text-align: left;"><a href="#function-ur3e"><strong>Ur3e</strong></a> (size_t frequency=1000, const std::string &amp; urdf="ur3e/ur3e.urdf", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('ur3e\_description', 'ur3e/ur3e\_description')) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const <a href="../classrobot__dart_1_1sensor_1_1ForceTorque/"><strong>sensor::ForceTorque</strong></a> &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Ur3e/#function-ft_wrist"><strong>ft_wrist</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-ft_wrist"><strong>ft_wrist</strong></a> () const<br></td>
 </tr>
 </tbody>
 </table>
@@ -1233,699 +1233,699 @@ <h2 id="public-functions-inherited-from-robot_dartrobot">Public Functions inheri
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-13"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-13"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-23"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-23"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-33"><strong>Robot</strong></a> (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name="robot", bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-33"><strong>Robot</strong></a> (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name="robot", bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-acceleration_lower_limits"><strong>acceleration_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-acceleration_lower_limits"><strong>acceleration_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-acceleration_upper_limits"><strong>acceleration_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-acceleration_upper_limits"><strong>acceleration_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-accelerations"><strong>accelerations</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-accelerations"><strong>accelerations</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-active_controllers"><strong>active_controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-active_controllers"><strong>active_controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-actuator_type"><strong>actuator_type</strong></a> (const std::string &amp; joint_name) const<br></td>
+<td style="text-align: left;"><a href="#function-actuator_type"><strong>actuator_type</strong></a> (const std::string &amp; joint_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-actuator_types"><strong>actuator_types</strong></a> (const std::vector&lt; std::string &gt; &amp; joint_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-actuator_types"><strong>actuator_types</strong></a> (const std::vector&lt; std::string &gt; &amp; joint_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_body_mass-12"><strong>add_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-add_body_mass-12"><strong>add_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_body_mass-22"><strong>add_body_mass</strong></a> (size_t body_index, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-add_body_mass-22"><strong>add_body_mass</strong></a> (size_t body_index, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_controller"><strong>add_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller, double weight=1.0) <br></td>
+<td style="text-align: left;"><a href="#function-add_controller"><strong>add_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller, double weight=1.0) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_force-12"><strong>add_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_force-12"><strong>add_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_force-22"><strong>add_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_force-22"><strong>add_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_torque-12"><strong>add_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_torque-12"><strong>add_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_torque-22"><strong>add_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_torque-22"><strong>add_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-adjacent_colliding"><strong>adjacent_colliding</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-adjacent_colliding"><strong>adjacent_colliding</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-aug_mass_matrix"><strong>aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-aug_mass_matrix"><strong>aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-base_pose"><strong>base_pose</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-base_pose"><strong>base_pose</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-base_pose_vec"><strong>base_pose_vec</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-base_pose_vec"><strong>base_pose_vec</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_acceleration-12"><strong>body_acceleration</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_acceleration-12"><strong>body_acceleration</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_acceleration-22"><strong>body_acceleration</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_acceleration-22"><strong>body_acceleration</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_index"><strong>body_index</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_index"><strong>body_index</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_mass-12"><strong>body_mass</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_mass-12"><strong>body_mass</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_mass-22"><strong>body_mass</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_mass-22"><strong>body_mass</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_name"><strong>body_name</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_name"><strong>body_name</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_names"><strong>body_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-body_names"><strong>body_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_node-12"><strong>body_node</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-body_node-12"><strong>body_node</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_node-22"><strong>body_node</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-body_node-22"><strong>body_node</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose-12"><strong>body_pose</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose-12"><strong>body_pose</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose-22"><strong>body_pose</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose-22"><strong>body_pose</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose_vec-12"><strong>body_pose_vec</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose_vec-12"><strong>body_pose_vec</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose_vec-22"><strong>body_pose_vec</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose_vec-22"><strong>body_pose_vec</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_velocity-12"><strong>body_velocity</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_velocity-12"><strong>body_velocity</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_velocity-22"><strong>body_velocity</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_velocity-22"><strong>body_velocity</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-cast_shadows"><strong>cast_shadows</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-cast_shadows"><strong>cast_shadows</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_controllers"><strong>clear_controllers</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_controllers"><strong>clear_controllers</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_external_forces"><strong>clear_external_forces</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_external_forces"><strong>clear_external_forces</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_internal_forces"><strong>clear_internal_forces</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_internal_forces"><strong>clear_internal_forces</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clone"><strong>clone</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-clone"><strong>clone</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clone_ghost"><strong>clone_ghost</strong></a> (const std::string &amp; ghost_name="ghost", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const<br></td>
+<td style="text-align: left;"><a href="#function-clone_ghost"><strong>clone_ghost</strong></a> (const std::string &amp; ghost_name="ghost", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com"><strong>com</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com"><strong>com</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_acceleration"><strong>com_acceleration</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com_acceleration"><strong>com_acceleration</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_jacobian"><strong>com_jacobian</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-com_jacobian"><strong>com_jacobian</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_jacobian_deriv"><strong>com_jacobian_deriv</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-com_jacobian_deriv"><strong>com_jacobian_deriv</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_velocity"><strong>com_velocity</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com_velocity"><strong>com_velocity</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-commands"><strong>commands</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-commands"><strong>commands</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-constraint_forces"><strong>constraint_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-constraint_forces"><strong>constraint_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-controller"><strong>controller</strong></a> (size_t index) const<br></td>
+<td style="text-align: left;"><a href="#function-controller"><strong>controller</strong></a> (size_t index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-controllers"><strong>controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-controllers"><strong>controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coriolis_forces"><strong>coriolis_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coriolis_forces"><strong>coriolis_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coriolis_gravity_forces"><strong>coriolis_gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coriolis_gravity_forces"><strong>coriolis_gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coulomb_coeffs"><strong>coulomb_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coulomb_coeffs"><strong>coulomb_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-damping_coeffs"><strong>damping_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-damping_coeffs"><strong>damping_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::DegreeOfFreedom *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof-12"><strong>dof</strong></a> (const std::string &amp; dof_name) <br></td>
+<td style="text-align: left;"><a href="#function-dof-12"><strong>dof</strong></a> (const std::string &amp; dof_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::DegreeOfFreedom *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof-22"><strong>dof</strong></a> (size_t dof_index) <br></td>
+<td style="text-align: left;"><a href="#function-dof-22"><strong>dof</strong></a> (size_t dof_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_index"><strong>dof_index</strong></a> (const std::string &amp; dof_name) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_index"><strong>dof_index</strong></a> (const std::string &amp; dof_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::unordered_map&lt; std::string, size_t &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_map"><strong>dof_map</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-dof_map"><strong>dof_map</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_name"><strong>dof_name</strong></a> (size_t dof_index) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_name"><strong>dof_name</strong></a> (size_t dof_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_names"><strong>dof_names</strong></a> (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_names"><strong>dof_names</strong></a> (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-drawing_axes"><strong>drawing_axes</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-drawing_axes"><strong>drawing_axes</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-external_forces-12"><strong>external_forces</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-external_forces-12"><strong>external_forces</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-external_forces-22"><strong>external_forces</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-external_forces-22"><strong>external_forces</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-fix_to_world"><strong>fix_to_world</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-fix_to_world"><strong>fix_to_world</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-fixed"><strong>fixed</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-fixed"><strong>fixed</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_lower_limits"><strong>force_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-force_lower_limits"><strong>force_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_position_bounds"><strong>force_position_bounds</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-force_position_bounds"><strong>force_position_bounds</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_torque"><strong>force_torque</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-force_torque"><strong>force_torque</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_upper_limits"><strong>force_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-force_upper_limits"><strong>force_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-forces"><strong>forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-forces"><strong>forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-free"><strong>free</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-free"><strong>free</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-free_from_world"><strong>free_from_world</strong></a> (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()) <br></td>
+<td style="text-align: left;"><a href="#function-free_from_world"><strong>free_from_world</strong></a> (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_coeff-12"><strong>friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-friction_coeff-12"><strong>friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_coeff-22"><strong>friction_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-friction_coeff-22"><strong>friction_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_dir-12"><strong>friction_dir</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-friction_dir-12"><strong>friction_dir</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_dir-22"><strong>friction_dir</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-friction_dir-22"><strong>friction_dir</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-ghost"><strong>ghost</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-ghost"><strong>ghost</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-gravity_forces"><strong>gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-gravity_forces"><strong>gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-inv_aug_mass_matrix"><strong>inv_aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-inv_aug_mass_matrix"><strong>inv_aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-inv_mass_matrix"><strong>inv_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-inv_mass_matrix"><strong>inv_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-jacobian"><strong>jacobian</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-jacobian"><strong>jacobian</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-jacobian_deriv"><strong>jacobian_deriv</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-jacobian_deriv"><strong>jacobian_deriv</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint-12"><strong>joint</strong></a> (const std::string &amp; joint_name) <br></td>
+<td style="text-align: left;"><a href="#function-joint-12"><strong>joint</strong></a> (const std::string &amp; joint_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint-22"><strong>joint</strong></a> (size_t joint_index) <br></td>
+<td style="text-align: left;"><a href="#function-joint-22"><strong>joint</strong></a> (size_t joint_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_index"><strong>joint_index</strong></a> (const std::string &amp; joint_name) const<br></td>
+<td style="text-align: left;"><a href="#function-joint_index"><strong>joint_index</strong></a> (const std::string &amp; joint_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::unordered_map&lt; std::string, size_t &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_map"><strong>joint_map</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-joint_map"><strong>joint_map</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_name"><strong>joint_name</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-joint_name"><strong>joint_name</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_names"><strong>joint_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-joint_names"><strong>joint_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-locked_dof_names"><strong>locked_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-locked_dof_names"><strong>locked_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-mass_matrix"><strong>mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-mass_matrix"><strong>mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-mimic_dof_names"><strong>mimic_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-mimic_dof_names"><strong>mimic_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-model_filename"><strong>model_filename</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-model_filename"><strong>model_filename</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-model_packages"><strong>model_packages</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-model_packages"><strong>model_packages</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-name"><strong>name</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-name"><strong>name</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_bodies"><strong>num_bodies</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_bodies"><strong>num_bodies</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_controllers"><strong>num_controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_controllers"><strong>num_controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_dofs"><strong>num_dofs</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_dofs"><strong>num_dofs</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_joints"><strong>num_joints</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_joints"><strong>num_joints</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-passive_dof_names"><strong>passive_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-passive_dof_names"><strong>passive_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; bool &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_enforced"><strong>position_enforced</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_enforced"><strong>position_enforced</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_lower_limits"><strong>position_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_lower_limits"><strong>position_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_upper_limits"><strong>position_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_upper_limits"><strong>position_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-positions"><strong>positions</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-positions"><strong>positions</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reinit_controllers"><strong>reinit_controllers</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reinit_controllers"><strong>reinit_controllers</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_all_drawing_axis"><strong>remove_all_drawing_axis</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-remove_all_drawing_axis"><strong>remove_all_drawing_axis</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_controller-12"><strong>remove_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller) <br></td>
+<td style="text-align: left;"><a href="#function-remove_controller-12"><strong>remove_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_controller-22"><strong>remove_controller</strong></a> (size_t index) <br></td>
+<td style="text-align: left;"><a href="#function-remove_controller-22"><strong>remove_controller</strong></a> (size_t index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reset"><strong>reset</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reset"><strong>reset</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reset_commands"><strong>reset_commands</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reset_commands"><strong>reset_commands</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-restitution_coeff-12"><strong>restitution_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-restitution_coeff-12"><strong>restitution_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-restitution_coeff-22"><strong>restitution_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-restitution_coeff-22"><strong>restitution_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-secondary_friction_coeff-12"><strong>secondary_friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-secondary_friction_coeff-12"><strong>secondary_friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-secondary_friction_coeff-22"><strong>secondary_friction_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-secondary_friction_coeff-22"><strong>secondary_friction_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-self_colliding"><strong>self_colliding</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-self_colliding"><strong>self_colliding</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_acceleration_lower_limits"><strong>set_acceleration_lower_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_acceleration_lower_limits"><strong>set_acceleration_lower_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_acceleration_upper_limits"><strong>set_acceleration_upper_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_acceleration_upper_limits"><strong>set_acceleration_upper_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_accelerations"><strong>set_accelerations</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_accelerations"><strong>set_accelerations</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_actuator_type"><strong>set_actuator_type</strong></a> (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_actuator_type"><strong>set_actuator_type</strong></a> (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_actuator_types"><strong>set_actuator_types</strong></a> (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_actuator_types"><strong>set_actuator_types</strong></a> (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_base_pose-12"><strong>set_base_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
+<td style="text-align: left;"><a href="#function-set_base_pose-12"><strong>set_base_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_base_pose-22"><strong>set_base_pose</strong></a> (const Eigen::Vector6d &amp; pose) <br><em>set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)</em></td>
+<td style="text-align: left;"><a href="#function-set_base_pose-22"><strong>set_base_pose</strong></a> (const Eigen::Vector6d &amp; pose) <br><em>set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_mass-12"><strong>set_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_mass-12"><strong>set_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_mass-22"><strong>set_body_mass</strong></a> (size_t body_index, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_mass-22"><strong>set_body_mass</strong></a> (size_t body_index, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_name"><strong>set_body_name</strong></a> (size_t body_index, const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_name"><strong>set_body_name</strong></a> (size_t body_index, const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_cast_shadows"><strong>set_cast_shadows</strong></a> (bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_cast_shadows"><strong>set_cast_shadows</strong></a> (bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_color_mode-12"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode) <br></td>
+<td style="text-align: left;"><a href="#function-set_color_mode-12"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_color_mode-22"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode, const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_color_mode-22"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode, const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_commands"><strong>set_commands</strong></a> (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_commands"><strong>set_commands</strong></a> (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-12"><strong>set_coulomb_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_coulomb_coeffs-12"><strong>set_coulomb_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-22"><strong>set_coulomb_coeffs</strong></a> (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_coulomb_coeffs-22"><strong>set_coulomb_coeffs</strong></a> (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_damping_coeffs-12"><strong>set_damping_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_damping_coeffs-12"><strong>set_damping_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_damping_coeffs-22"><strong>set_damping_coeffs</strong></a> (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_damping_coeffs-22"><strong>set_damping_coeffs</strong></a> (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_draw_axis"><strong>set_draw_axis</strong></a> (const std::string &amp; body_name, double size=0.25) <br></td>
+<td style="text-align: left;"><a href="#function-set_draw_axis"><strong>set_draw_axis</strong></a> (const std::string &amp; body_name, double size=0.25) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_force-12"><strong>set_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_force-12"><strong>set_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_force-22"><strong>set_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_force-22"><strong>set_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_torque-12"><strong>set_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_torque-12"><strong>set_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_torque-22"><strong>set_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_torque-22"><strong>set_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_force_lower_limits"><strong>set_force_lower_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_force_lower_limits"><strong>set_force_lower_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_force_upper_limits"><strong>set_force_upper_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_force_upper_limits"><strong>set_force_upper_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_forces"><strong>set_forces</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_forces"><strong>set_forces</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeff-12"><strong>set_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeff-12"><strong>set_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeff-22"><strong>set_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeff-22"><strong>set_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeffs"><strong>set_friction_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeffs"><strong>set_friction_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_dir-12"><strong>set_friction_dir</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_dir-12"><strong>set_friction_dir</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_dir-22"><strong>set_friction_dir</strong></a> (size_t body_index, const Eigen::Vector3d &amp; direction) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_dir-22"><strong>set_friction_dir</strong></a> (size_t body_index, const Eigen::Vector3d &amp; direction) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_ghost"><strong>set_ghost</strong></a> (bool ghost=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_ghost"><strong>set_ghost</strong></a> (bool ghost=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_joint_name"><strong>set_joint_name</strong></a> (size_t joint_index, const std::string &amp; joint_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_joint_name"><strong>set_joint_name</strong></a> (size_t joint_index, const std::string &amp; joint_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_mimic"><strong>set_mimic</strong></a> (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.) <br></td>
+<td style="text-align: left;"><a href="#function-set_mimic"><strong>set_mimic</strong></a> (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_enforced-12"><strong>set_position_enforced</strong></a> (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_enforced-12"><strong>set_position_enforced</strong></a> (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_enforced-22"><strong>set_position_enforced</strong></a> (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_enforced-22"><strong>set_position_enforced</strong></a> (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_lower_limits"><strong>set_position_lower_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_lower_limits"><strong>set_position_lower_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_upper_limits"><strong>set_position_upper_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_upper_limits"><strong>set_position_upper_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_positions"><strong>set_positions</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_positions"><strong>set_positions</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeff-12"><strong>set_restitution_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeff-12"><strong>set_restitution_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeff-22"><strong>set_restitution_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeff-22"><strong>set_restitution_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeffs"><strong>set_restitution_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeffs"><strong>set_restitution_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-12"><strong>set_secondary_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeff-12"><strong>set_secondary_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-22"><strong>set_secondary_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeff-22"><strong>set_secondary_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeffs"><strong>set_secondary_friction_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeffs"><strong>set_secondary_friction_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_self_collision"><strong>set_self_collision</strong></a> (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_self_collision"><strong>set_self_collision</strong></a> (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-12"><strong>set_spring_stiffnesses</strong></a> (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_spring_stiffnesses-12"><strong>set_spring_stiffnesses</strong></a> (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-22"><strong>set_spring_stiffnesses</strong></a> (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_spring_stiffnesses-22"><strong>set_spring_stiffnesses</strong></a> (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocities"><strong>set_velocities</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocities"><strong>set_velocities</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocity_lower_limits"><strong>set_velocity_lower_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocity_lower_limits"><strong>set_velocity_lower_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocity_upper_limits"><strong>set_velocity_upper_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocity_upper_limits"><strong>set_velocity_upper_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-skeleton"><strong>skeleton</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-skeleton"><strong>skeleton</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-spring_stiffnesses"><strong>spring_stiffnesses</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-spring_stiffnesses"><strong>spring_stiffnesses</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-update"><strong>update</strong></a> (double t) <br></td>
+<td style="text-align: left;"><a href="#function-update"><strong>update</strong></a> (double t) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-update_joint_dof_maps"><strong>update_joint_dof_maps</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-update_joint_dof_maps"><strong>update_joint_dof_maps</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-vec_dof"><strong>vec_dof</strong></a> (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-vec_dof"><strong>vec_dof</strong></a> (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocities"><strong>velocities</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocities"><strong>velocities</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocity_lower_limits"><strong>velocity_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocity_lower_limits"><strong>velocity_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocity_upper_limits"><strong>velocity_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocity_upper_limits"><strong>velocity_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot"><strong>~Robot</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-robot"><strong>~Robot</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -1941,19 +1941,19 @@ <h2 id="public-static-functions-inherited-from-robot_dartrobot">Public Static Fu
 <tbody>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_box-12"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
+<td style="text-align: left;"><a href="#function-create_box-12"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_box-22"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
+<td style="text-align: left;"><a href="#function-create_box-22"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_ellipsoid-12"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
+<td style="text-align: left;"><a href="#function-create_ellipsoid-12"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_ellipsoid-22"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
+<td style="text-align: left;"><a href="#function-create_ellipsoid-22"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
 </tr>
 </tbody>
 </table>
@@ -1969,7 +1969,7 @@ <h2 id="protected-attributes-inherited-from-robot_dartrobotsur3e">Protected Attr
 <tbody>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1sensor_1_1ForceTorque/"><strong>sensor::ForceTorque</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Ur3e/#variable-_ft_wrist"><strong>_ft_wrist</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_ft_wrist"><strong>_ft_wrist</strong></a>  <br></td>
 </tr>
 </tbody>
 </table>
@@ -1985,43 +1985,43 @@ <h2 id="protected-attributes-inherited-from-robot_dartrobot">Protected Attribute
 <tbody>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_axis_shapes"><strong>_axis_shapes</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_axis_shapes"><strong>_axis_shapes</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_cast_shadows"><strong>_cast_shadows</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_cast_shadows"><strong>_cast_shadows</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_controllers"><strong>_controllers</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_controllers"><strong>_controllers</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; std::string, size_t &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_dof_map"><strong>_dof_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_dof_map"><strong>_dof_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_is_ghost"><strong>_is_ghost</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_is_ghost"><strong>_is_ghost</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; std::string, size_t &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_joint_map"><strong>_joint_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_joint_map"><strong>_joint_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_model_filename"><strong>_model_filename</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_model_filename"><strong>_model_filename</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_packages"><strong>_packages</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_packages"><strong>_packages</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_robot_name"><strong>_robot_name</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_robot_name"><strong>_robot_name</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_skeleton"><strong>_skeleton</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_skeleton"><strong>_skeleton</strong></a>  <br></td>
 </tr>
 </tbody>
 </table>
@@ -2037,11 +2037,11 @@ <h2 id="protected-functions-inherited-from-robot_dartrobotsur3e">Protected Funct
 <tbody>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Ur3e/#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) override<br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) override<br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1robots_1_1Ur3e/#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) override<br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) override<br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
 </tr>
 </tbody>
 </table>
@@ -2057,55 +2057,55 @@ <h2 id="protected-functions-inherited-from-robot_dartrobot">Protected Functions
 <tbody>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint::ActuatorType</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_actuator_type"><strong>_actuator_type</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-_actuator_type"><strong>_actuator_type</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; dart::dynamics::Joint::ActuatorType &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_actuator_types"><strong>_actuator_types</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-_actuator_types"><strong>_actuator_types</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_get_path"><strong>_get_path</strong></a> (const std::string &amp; filename) const<br></td>
+<td style="text-align: left;"><a href="#function-_get_path"><strong>_get_path</strong></a> (const std::string &amp; filename) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_jacobian"><strong>_jacobian</strong></a> (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-_jacobian"><strong>_jacobian</strong></a> (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_load_model"><strong>_load_model</strong></a> (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false) <br></td>
+<td style="text-align: left;"><a href="#function-_load_model"><strong>_load_model</strong></a> (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_mass_matrix"><strong>_mass_matrix</strong></a> (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-_mass_matrix"><strong>_mass_matrix</strong></a> (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_type"><strong>_set_actuator_type</strong></a> (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_type"><strong>_set_actuator_type</strong></a> (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_types-12"><strong>_set_actuator_types</strong></a> (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_types-12"><strong>_set_actuator_types</strong></a> (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_types-22"><strong>_set_actuator_types</strong></a> (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_types-22"><strong>_set_actuator_types</strong></a> (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_color_mode-12"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) <br></td>
+<td style="text-align: left;"><a href="#function-_set_color_mode-12"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_color_mode-22"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn) <br></td>
+<td style="text-align: left;"><a href="#function-_set_color_mode-22"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn) <br></td>
 </tr>
 </tbody>
 </table>
@@ -2138,14 +2138,14 @@ <h3 id="function-ur3ehand">function Ur3eHand<a class="headerlink" href="#functio
             </div>
           
           
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -2179,10 +2179,10 @@ <h3 id="function-ur3ehand">function Ur3eHand<a class="headerlink" href="#functio
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1robots_1_1Vx300/index.html b/docs/api/classrobot__dart_1_1robots_1_1Vx300/index.html
index 67a6ba9f..91c7e65d 100644
--- a/docs/api/classrobot__dart_1_1robots_1_1Vx300/index.html
+++ b/docs/api/classrobot__dart_1_1robots_1_1Vx300/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
-  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6zm80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3z"/></svg>');}</style>
+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
-  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4V7Z"/></svg>');}</style>
+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -58,7 +58,7 @@
       
     
     
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+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1186,699 +1186,699 @@ <h2 id="public-functions-inherited-from-robot_dartrobot">Public Functions inheri
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-13"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-13"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-23"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-23"><strong>Robot</strong></a> (const std::string &amp; model_file, const std::string &amp; robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot-33"><strong>Robot</strong></a> (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name="robot", bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-robot-33"><strong>Robot</strong></a> (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name="robot", bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-acceleration_lower_limits"><strong>acceleration_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-acceleration_lower_limits"><strong>acceleration_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-acceleration_upper_limits"><strong>acceleration_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-acceleration_upper_limits"><strong>acceleration_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-accelerations"><strong>accelerations</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-accelerations"><strong>accelerations</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-active_controllers"><strong>active_controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-active_controllers"><strong>active_controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-actuator_type"><strong>actuator_type</strong></a> (const std::string &amp; joint_name) const<br></td>
+<td style="text-align: left;"><a href="#function-actuator_type"><strong>actuator_type</strong></a> (const std::string &amp; joint_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-actuator_types"><strong>actuator_types</strong></a> (const std::vector&lt; std::string &gt; &amp; joint_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-actuator_types"><strong>actuator_types</strong></a> (const std::vector&lt; std::string &gt; &amp; joint_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_body_mass-12"><strong>add_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-add_body_mass-12"><strong>add_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_body_mass-22"><strong>add_body_mass</strong></a> (size_t body_index, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-add_body_mass-22"><strong>add_body_mass</strong></a> (size_t body_index, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_controller"><strong>add_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller, double weight=1.0) <br></td>
+<td style="text-align: left;"><a href="#function-add_controller"><strong>add_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller, double weight=1.0) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_force-12"><strong>add_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_force-12"><strong>add_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_force-22"><strong>add_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_force-22"><strong>add_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_torque-12"><strong>add_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_torque-12"><strong>add_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-add_external_torque-22"><strong>add_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-add_external_torque-22"><strong>add_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-adjacent_colliding"><strong>adjacent_colliding</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-adjacent_colliding"><strong>adjacent_colliding</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-aug_mass_matrix"><strong>aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-aug_mass_matrix"><strong>aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-base_pose"><strong>base_pose</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-base_pose"><strong>base_pose</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-base_pose_vec"><strong>base_pose_vec</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-base_pose_vec"><strong>base_pose_vec</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_acceleration-12"><strong>body_acceleration</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_acceleration-12"><strong>body_acceleration</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_acceleration-22"><strong>body_acceleration</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_acceleration-22"><strong>body_acceleration</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_index"><strong>body_index</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_index"><strong>body_index</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_mass-12"><strong>body_mass</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_mass-12"><strong>body_mass</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_mass-22"><strong>body_mass</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_mass-22"><strong>body_mass</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_name"><strong>body_name</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_name"><strong>body_name</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_names"><strong>body_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-body_names"><strong>body_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_node-12"><strong>body_node</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-body_node-12"><strong>body_node</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_node-22"><strong>body_node</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-body_node-22"><strong>body_node</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose-12"><strong>body_pose</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose-12"><strong>body_pose</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose-22"><strong>body_pose</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose-22"><strong>body_pose</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose_vec-12"><strong>body_pose_vec</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose_vec-12"><strong>body_pose_vec</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_pose_vec-22"><strong>body_pose_vec</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_pose_vec-22"><strong>body_pose_vec</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_velocity-12"><strong>body_velocity</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-body_velocity-12"><strong>body_velocity</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-body_velocity-22"><strong>body_velocity</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-body_velocity-22"><strong>body_velocity</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-cast_shadows"><strong>cast_shadows</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-cast_shadows"><strong>cast_shadows</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_controllers"><strong>clear_controllers</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_controllers"><strong>clear_controllers</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_external_forces"><strong>clear_external_forces</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_external_forces"><strong>clear_external_forces</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clear_internal_forces"><strong>clear_internal_forces</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-clear_internal_forces"><strong>clear_internal_forces</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clone"><strong>clone</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-clone"><strong>clone</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-clone_ghost"><strong>clone_ghost</strong></a> (const std::string &amp; ghost_name="ghost", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const<br></td>
+<td style="text-align: left;"><a href="#function-clone_ghost"><strong>clone_ghost</strong></a> (const std::string &amp; ghost_name="ghost", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com"><strong>com</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com"><strong>com</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_acceleration"><strong>com_acceleration</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com_acceleration"><strong>com_acceleration</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_jacobian"><strong>com_jacobian</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-com_jacobian"><strong>com_jacobian</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_jacobian_deriv"><strong>com_jacobian_deriv</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-com_jacobian_deriv"><strong>com_jacobian_deriv</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-com_velocity"><strong>com_velocity</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-com_velocity"><strong>com_velocity</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-commands"><strong>commands</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-commands"><strong>commands</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-constraint_forces"><strong>constraint_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-constraint_forces"><strong>constraint_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-controller"><strong>controller</strong></a> (size_t index) const<br></td>
+<td style="text-align: left;"><a href="#function-controller"><strong>controller</strong></a> (size_t index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-controllers"><strong>controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-controllers"><strong>controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coriolis_forces"><strong>coriolis_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coriolis_forces"><strong>coriolis_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coriolis_gravity_forces"><strong>coriolis_gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coriolis_gravity_forces"><strong>coriolis_gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-coulomb_coeffs"><strong>coulomb_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-coulomb_coeffs"><strong>coulomb_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-damping_coeffs"><strong>damping_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-damping_coeffs"><strong>damping_coeffs</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::DegreeOfFreedom *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof-12"><strong>dof</strong></a> (const std::string &amp; dof_name) <br></td>
+<td style="text-align: left;"><a href="#function-dof-12"><strong>dof</strong></a> (const std::string &amp; dof_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::DegreeOfFreedom *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof-22"><strong>dof</strong></a> (size_t dof_index) <br></td>
+<td style="text-align: left;"><a href="#function-dof-22"><strong>dof</strong></a> (size_t dof_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_index"><strong>dof_index</strong></a> (const std::string &amp; dof_name) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_index"><strong>dof_index</strong></a> (const std::string &amp; dof_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::unordered_map&lt; std::string, size_t &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_map"><strong>dof_map</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-dof_map"><strong>dof_map</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_name"><strong>dof_name</strong></a> (size_t dof_index) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_name"><strong>dof_name</strong></a> (size_t dof_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-dof_names"><strong>dof_names</strong></a> (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const<br></td>
+<td style="text-align: left;"><a href="#function-dof_names"><strong>dof_names</strong></a> (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-drawing_axes"><strong>drawing_axes</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-drawing_axes"><strong>drawing_axes</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-external_forces-12"><strong>external_forces</strong></a> (const std::string &amp; body_name) const<br></td>
+<td style="text-align: left;"><a href="#function-external_forces-12"><strong>external_forces</strong></a> (const std::string &amp; body_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector6d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-external_forces-22"><strong>external_forces</strong></a> (size_t body_index) const<br></td>
+<td style="text-align: left;"><a href="#function-external_forces-22"><strong>external_forces</strong></a> (size_t body_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-fix_to_world"><strong>fix_to_world</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-fix_to_world"><strong>fix_to_world</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-fixed"><strong>fixed</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-fixed"><strong>fixed</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_lower_limits"><strong>force_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-force_lower_limits"><strong>force_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_position_bounds"><strong>force_position_bounds</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-force_position_bounds"><strong>force_position_bounds</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_torque"><strong>force_torque</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-force_torque"><strong>force_torque</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-force_upper_limits"><strong>force_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-force_upper_limits"><strong>force_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-forces"><strong>forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-forces"><strong>forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-free"><strong>free</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-free"><strong>free</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-free_from_world"><strong>free_from_world</strong></a> (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()) <br></td>
+<td style="text-align: left;"><a href="#function-free_from_world"><strong>free_from_world</strong></a> (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_coeff-12"><strong>friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-friction_coeff-12"><strong>friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_coeff-22"><strong>friction_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-friction_coeff-22"><strong>friction_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_dir-12"><strong>friction_dir</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-friction_dir-12"><strong>friction_dir</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Vector3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-friction_dir-22"><strong>friction_dir</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-friction_dir-22"><strong>friction_dir</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-ghost"><strong>ghost</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-ghost"><strong>ghost</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-gravity_forces"><strong>gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-gravity_forces"><strong>gravity_forces</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-inv_aug_mass_matrix"><strong>inv_aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-inv_aug_mass_matrix"><strong>inv_aug_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-inv_mass_matrix"><strong>inv_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-inv_mass_matrix"><strong>inv_mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-jacobian"><strong>jacobian</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-jacobian"><strong>jacobian</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-jacobian_deriv"><strong>jacobian_deriv</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-jacobian_deriv"><strong>jacobian_deriv</strong></a> (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint-12"><strong>joint</strong></a> (const std::string &amp; joint_name) <br></td>
+<td style="text-align: left;"><a href="#function-joint-12"><strong>joint</strong></a> (const std::string &amp; joint_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint-22"><strong>joint</strong></a> (size_t joint_index) <br></td>
+<td style="text-align: left;"><a href="#function-joint-22"><strong>joint</strong></a> (size_t joint_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_index"><strong>joint_index</strong></a> (const std::string &amp; joint_name) const<br></td>
+<td style="text-align: left;"><a href="#function-joint_index"><strong>joint_index</strong></a> (const std::string &amp; joint_name) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::unordered_map&lt; std::string, size_t &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_map"><strong>joint_map</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-joint_map"><strong>joint_map</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_name"><strong>joint_name</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-joint_name"><strong>joint_name</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-joint_names"><strong>joint_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-joint_names"><strong>joint_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-locked_dof_names"><strong>locked_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-locked_dof_names"><strong>locked_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-mass_matrix"><strong>mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-mass_matrix"><strong>mass_matrix</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-mimic_dof_names"><strong>mimic_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-mimic_dof_names"><strong>mimic_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-model_filename"><strong>model_filename</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-model_filename"><strong>model_filename</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-model_packages"><strong>model_packages</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-model_packages"><strong>model_packages</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-name"><strong>name</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-name"><strong>name</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_bodies"><strong>num_bodies</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_bodies"><strong>num_bodies</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_controllers"><strong>num_controllers</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_controllers"><strong>num_controllers</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_dofs"><strong>num_dofs</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_dofs"><strong>num_dofs</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-num_joints"><strong>num_joints</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-num_joints"><strong>num_joints</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::string &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-passive_dof_names"><strong>passive_dof_names</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-passive_dof_names"><strong>passive_dof_names</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; bool &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_enforced"><strong>position_enforced</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_enforced"><strong>position_enforced</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_lower_limits"><strong>position_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_lower_limits"><strong>position_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-position_upper_limits"><strong>position_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-position_upper_limits"><strong>position_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-positions"><strong>positions</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-positions"><strong>positions</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reinit_controllers"><strong>reinit_controllers</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reinit_controllers"><strong>reinit_controllers</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_all_drawing_axis"><strong>remove_all_drawing_axis</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-remove_all_drawing_axis"><strong>remove_all_drawing_axis</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_controller-12"><strong>remove_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller) <br></td>
+<td style="text-align: left;"><a href="#function-remove_controller-12"><strong>remove_controller</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &amp; controller) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-remove_controller-22"><strong>remove_controller</strong></a> (size_t index) <br></td>
+<td style="text-align: left;"><a href="#function-remove_controller-22"><strong>remove_controller</strong></a> (size_t index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reset"><strong>reset</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reset"><strong>reset</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-reset_commands"><strong>reset_commands</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-reset_commands"><strong>reset_commands</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-restitution_coeff-12"><strong>restitution_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-restitution_coeff-12"><strong>restitution_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-restitution_coeff-22"><strong>restitution_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-restitution_coeff-22"><strong>restitution_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-secondary_friction_coeff-12"><strong>secondary_friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-secondary_friction_coeff-12"><strong>secondary_friction_coeff</strong></a> (const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">double</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-secondary_friction_coeff-22"><strong>secondary_friction_coeff</strong></a> (size_t body_index) <br></td>
+<td style="text-align: left;"><a href="#function-secondary_friction_coeff-22"><strong>secondary_friction_coeff</strong></a> (size_t body_index) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-self_colliding"><strong>self_colliding</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-self_colliding"><strong>self_colliding</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_acceleration_lower_limits"><strong>set_acceleration_lower_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_acceleration_lower_limits"><strong>set_acceleration_lower_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_acceleration_upper_limits"><strong>set_acceleration_upper_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_acceleration_upper_limits"><strong>set_acceleration_upper_limits</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_accelerations"><strong>set_accelerations</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_accelerations"><strong>set_accelerations</strong></a> (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_actuator_type"><strong>set_actuator_type</strong></a> (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_actuator_type"><strong>set_actuator_type</strong></a> (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_actuator_types"><strong>set_actuator_types</strong></a> (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_actuator_types"><strong>set_actuator_types</strong></a> (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_base_pose-12"><strong>set_base_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
+<td style="text-align: left;"><a href="#function-set_base_pose-12"><strong>set_base_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_base_pose-22"><strong>set_base_pose</strong></a> (const Eigen::Vector6d &amp; pose) <br><em>set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)</em></td>
+<td style="text-align: left;"><a href="#function-set_base_pose-22"><strong>set_base_pose</strong></a> (const Eigen::Vector6d &amp; pose) <br><em>set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_mass-12"><strong>set_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_mass-12"><strong>set_body_mass</strong></a> (const std::string &amp; body_name, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_mass-22"><strong>set_body_mass</strong></a> (size_t body_index, double mass) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_mass-22"><strong>set_body_mass</strong></a> (size_t body_index, double mass) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_body_name"><strong>set_body_name</strong></a> (size_t body_index, const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_body_name"><strong>set_body_name</strong></a> (size_t body_index, const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_cast_shadows"><strong>set_cast_shadows</strong></a> (bool cast_shadows=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_cast_shadows"><strong>set_cast_shadows</strong></a> (bool cast_shadows=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_color_mode-12"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode) <br></td>
+<td style="text-align: left;"><a href="#function-set_color_mode-12"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_color_mode-22"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode, const std::string &amp; body_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_color_mode-22"><strong>set_color_mode</strong></a> (const std::string &amp; color_mode, const std::string &amp; body_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_commands"><strong>set_commands</strong></a> (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_commands"><strong>set_commands</strong></a> (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-12"><strong>set_coulomb_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_coulomb_coeffs-12"><strong>set_coulomb_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-22"><strong>set_coulomb_coeffs</strong></a> (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_coulomb_coeffs-22"><strong>set_coulomb_coeffs</strong></a> (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_damping_coeffs-12"><strong>set_damping_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_damping_coeffs-12"><strong>set_damping_coeffs</strong></a> (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_damping_coeffs-22"><strong>set_damping_coeffs</strong></a> (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_damping_coeffs-22"><strong>set_damping_coeffs</strong></a> (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_draw_axis"><strong>set_draw_axis</strong></a> (const std::string &amp; body_name, double size=0.25) <br></td>
+<td style="text-align: left;"><a href="#function-set_draw_axis"><strong>set_draw_axis</strong></a> (const std::string &amp; body_name, double size=0.25) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_force-12"><strong>set_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_force-12"><strong>set_external_force</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_force-22"><strong>set_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_force-22"><strong>set_external_force</strong></a> (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_torque-12"><strong>set_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_torque-12"><strong>set_external_torque</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_external_torque-22"><strong>set_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_external_torque-22"><strong>set_external_torque</strong></a> (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_force_lower_limits"><strong>set_force_lower_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_force_lower_limits"><strong>set_force_lower_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_force_upper_limits"><strong>set_force_upper_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_force_upper_limits"><strong>set_force_upper_limits</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_forces"><strong>set_forces</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_forces"><strong>set_forces</strong></a> (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeff-12"><strong>set_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeff-12"><strong>set_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeff-22"><strong>set_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeff-22"><strong>set_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_coeffs"><strong>set_friction_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_coeffs"><strong>set_friction_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_dir-12"><strong>set_friction_dir</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_dir-12"><strong>set_friction_dir</strong></a> (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_friction_dir-22"><strong>set_friction_dir</strong></a> (size_t body_index, const Eigen::Vector3d &amp; direction) <br></td>
+<td style="text-align: left;"><a href="#function-set_friction_dir-22"><strong>set_friction_dir</strong></a> (size_t body_index, const Eigen::Vector3d &amp; direction) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_ghost"><strong>set_ghost</strong></a> (bool ghost=true) <br></td>
+<td style="text-align: left;"><a href="#function-set_ghost"><strong>set_ghost</strong></a> (bool ghost=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_joint_name"><strong>set_joint_name</strong></a> (size_t joint_index, const std::string &amp; joint_name) <br></td>
+<td style="text-align: left;"><a href="#function-set_joint_name"><strong>set_joint_name</strong></a> (size_t joint_index, const std::string &amp; joint_name) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_mimic"><strong>set_mimic</strong></a> (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.) <br></td>
+<td style="text-align: left;"><a href="#function-set_mimic"><strong>set_mimic</strong></a> (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_enforced-12"><strong>set_position_enforced</strong></a> (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_enforced-12"><strong>set_position_enforced</strong></a> (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_enforced-22"><strong>set_position_enforced</strong></a> (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_enforced-22"><strong>set_position_enforced</strong></a> (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_lower_limits"><strong>set_position_lower_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_lower_limits"><strong>set_position_lower_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_position_upper_limits"><strong>set_position_upper_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_position_upper_limits"><strong>set_position_upper_limits</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_positions"><strong>set_positions</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_positions"><strong>set_positions</strong></a> (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeff-12"><strong>set_restitution_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeff-12"><strong>set_restitution_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeff-22"><strong>set_restitution_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeff-22"><strong>set_restitution_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_restitution_coeffs"><strong>set_restitution_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_restitution_coeffs"><strong>set_restitution_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-12"><strong>set_secondary_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeff-12"><strong>set_secondary_friction_coeff</strong></a> (const std::string &amp; body_name, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-22"><strong>set_secondary_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeff-22"><strong>set_secondary_friction_coeff</strong></a> (size_t body_index, double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_secondary_friction_coeffs"><strong>set_secondary_friction_coeffs</strong></a> (double value) <br></td>
+<td style="text-align: left;"><a href="#function-set_secondary_friction_coeffs"><strong>set_secondary_friction_coeffs</strong></a> (double value) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_self_collision"><strong>set_self_collision</strong></a> (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) <br></td>
+<td style="text-align: left;"><a href="#function-set_self_collision"><strong>set_self_collision</strong></a> (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-12"><strong>set_spring_stiffnesses</strong></a> (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_spring_stiffnesses-12"><strong>set_spring_stiffnesses</strong></a> (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-22"><strong>set_spring_stiffnesses</strong></a> (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_spring_stiffnesses-22"><strong>set_spring_stiffnesses</strong></a> (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocities"><strong>set_velocities</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocities"><strong>set_velocities</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocity_lower_limits"><strong>set_velocity_lower_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocity_lower_limits"><strong>set_velocity_lower_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-set_velocity_upper_limits"><strong>set_velocity_upper_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
+<td style="text-align: left;"><a href="#function-set_velocity_upper_limits"><strong>set_velocity_upper_limits</strong></a> (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={}) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-skeleton"><strong>skeleton</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-skeleton"><strong>skeleton</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; double &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-spring_stiffnesses"><strong>spring_stiffnesses</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-spring_stiffnesses"><strong>spring_stiffnesses</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-update"><strong>update</strong></a> (double t) <br></td>
+<td style="text-align: left;"><a href="#function-update"><strong>update</strong></a> (double t) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-update_joint_dof_maps"><strong>update_joint_dof_maps</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-update_joint_dof_maps"><strong>update_joint_dof_maps</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-vec_dof"><strong>vec_dof</strong></a> (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-vec_dof"><strong>vec_dof</strong></a> (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocities"><strong>velocities</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocities"><strong>velocities</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocity_lower_limits"><strong>velocity_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocity_lower_limits"><strong>velocity_lower_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::VectorXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-velocity_upper_limits"><strong>velocity_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
+<td style="text-align: left;"><a href="#function-velocity_upper_limits"><strong>velocity_upper_limits</strong></a> (const std::vector&lt; std::string &gt; &amp; dof_names={}) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-robot"><strong>~Robot</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-robot"><strong>~Robot</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -1894,19 +1894,19 @@ <h2 id="public-static-functions-inherited-from-robot_dartrobot">Public Static Fu
 <tbody>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_box-12"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
+<td style="text-align: left;"><a href="#function-create_box-12"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_box-22"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
+<td style="text-align: left;"><a href="#function-create_box-22"><strong>create_box</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name="box") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_ellipsoid-12"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
+<td style="text-align: left;"><a href="#function-create_ellipsoid-12"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-create_ellipsoid-22"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
+<td style="text-align: left;"><a href="#function-create_ellipsoid-22"><strong>create_ellipsoid</strong></a> (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type="free", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name="ellipsoid") <br></td>
 </tr>
 </tbody>
 </table>
@@ -1922,43 +1922,43 @@ <h2 id="protected-attributes-inherited-from-robot_dartrobot">Protected Attribute
 <tbody>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_axis_shapes"><strong>_axis_shapes</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_axis_shapes"><strong>_axis_shapes</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_cast_shadows"><strong>_cast_shadows</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_cast_shadows"><strong>_cast_shadows</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::shared_ptr&lt; <a href="../classrobot__dart_1_1control_1_1RobotControl/"><strong>control::RobotControl</strong></a> &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_controllers"><strong>_controllers</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_controllers"><strong>_controllers</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; std::string, size_t &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_dof_map"><strong>_dof_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_dof_map"><strong>_dof_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_is_ghost"><strong>_is_ghost</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_is_ghost"><strong>_is_ghost</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::unordered_map&lt; std::string, size_t &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_joint_map"><strong>_joint_map</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_joint_map"><strong>_joint_map</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_model_filename"><strong>_model_filename</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_model_filename"><strong>_model_filename</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_packages"><strong>_packages</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_packages"><strong>_packages</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_robot_name"><strong>_robot_name</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_robot_name"><strong>_robot_name</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#variable-_skeleton"><strong>_skeleton</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_skeleton"><strong>_skeleton</strong></a>  <br></td>
 </tr>
 </tbody>
 </table>
@@ -1974,55 +1974,55 @@ <h2 id="protected-functions-inherited-from-robot_dartrobot">Protected Functions
 <tbody>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint::ActuatorType</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_actuator_type"><strong>_actuator_type</strong></a> (size_t joint_index) const<br></td>
+<td style="text-align: left;"><a href="#function-_actuator_type"><strong>_actuator_type</strong></a> (size_t joint_index) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::vector&lt; dart::dynamics::Joint::ActuatorType &gt;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_actuator_types"><strong>_actuator_types</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-_actuator_types"><strong>_actuator_types</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_get_path"><strong>_get_path</strong></a> (const std::string &amp; filename) const<br></td>
+<td style="text-align: left;"><a href="#function-_get_path"><strong>_get_path</strong></a> (const std::string &amp; filename) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_jacobian"><strong>_jacobian</strong></a> (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-_jacobian"><strong>_jacobian</strong></a> (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::SkeletonPtr</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_load_model"><strong>_load_model</strong></a> (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false) <br></td>
+<td style="text-align: left;"><a href="#function-_load_model"><strong>_load_model</strong></a> (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::MatrixXd</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_mass_matrix"><strong>_mass_matrix</strong></a> (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
+<td style="text-align: left;"><a href="#function-_mass_matrix"><strong>_mass_matrix</strong></a> (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_addition"><strong>_post_addition</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when adding the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
+<td style="text-align: left;"><a href="#function-_post_removal"><strong>_post_removal</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *) <br><em>Function called by</em> <a href="../classrobot__dart_1_1RobotDARTSimu/"><em><strong>RobotDARTSimu</strong></em></a> <em>object when removing the robot to the world.</em></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_type"><strong>_set_actuator_type</strong></a> (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_type"><strong>_set_actuator_type</strong></a> (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_types-12"><strong>_set_actuator_types</strong></a> (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_types-12"><strong>_set_actuator_types</strong></a> (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_actuator_types-22"><strong>_set_actuator_types</strong></a> (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
+<td style="text-align: left;"><a href="#function-_set_actuator_types-22"><strong>_set_actuator_types</strong></a> (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_color_mode-12"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) <br></td>
+<td style="text-align: left;"><a href="#function-_set_color_mode-12"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1Robot/#function-_set_color_mode-22"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn) <br></td>
+<td style="text-align: left;"><a href="#function-_set_color_mode-22"><strong>_set_color_mode</strong></a> (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn) <br></td>
 </tr>
 </tbody>
 </table>
@@ -2054,14 +2054,14 @@ <h3 id="function-vx300">function Vx300<a class="headerlink" href="#function-vx30
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -2095,10 +2095,10 @@ <h3 id="function-vx300">function Vx300<a class="headerlink" href="#function-vx30
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/classrobot__dart_1_1sensor_1_1ForceTorque/index.html b/docs/api/classrobot__dart_1_1sensor_1_1ForceTorque/index.html
index 13bf5fc5..e8ddff92 100644
--- a/docs/api/classrobot__dart_1_1sensor_1_1ForceTorque/index.html
+++ b/docs/api/classrobot__dart_1_1sensor_1_1ForceTorque/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
-  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6zm80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3z"/></svg>');}</style>
+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
-  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4V7Z"/></svg>');}</style>
+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -58,7 +58,7 @@
       
     
     
-    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce((e,_)=>(e<<5)-e+_.charCodeAt(0),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
       </label>
     
   
@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     Documentation of RobotDART
@@ -377,7 +377,7 @@
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1314,83 +1314,83 @@ <h2 id="public-functions-inherited-from-robot_dartsensorsensor">Public Functions
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-sensor"><strong>Sensor</strong></a> (size_t freq=40) <br></td>
+<td style="text-align: left;"><a href="#function-sensor"><strong>Sensor</strong></a> (size_t freq=40) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-activate"><strong>activate</strong></a> (bool enable=true) <br></td>
+<td style="text-align: left;"><a href="#function-activate"><strong>activate</strong></a> (bool enable=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-active"><strong>active</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-active"><strong>active</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-attach_to_body-12"><strong>attach_to_body</strong></a> (dart::dynamics::BodyNode * body, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
+<td style="text-align: left;"><a href="#function-attach_to_body-12"><strong>attach_to_body</strong></a> (dart::dynamics::BodyNode * body, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-attach_to_body-22"><strong>attach_to_body</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt; &amp; robot, const std::string &amp; body_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
+<td style="text-align: left;"><a href="#function-attach_to_body-22"><strong>attach_to_body</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt; &amp; robot, const std::string &amp; body_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-attach_to_joint-12"><strong>attach_to_joint</strong></a> (dart::dynamics::Joint * joint, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
+<td style="text-align: left;"><a href="#function-attach_to_joint-12"><strong>attach_to_joint</strong></a> (dart::dynamics::Joint * joint, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-attach_to_joint-22"><strong>attach_to_joint</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt; &amp; robot, const std::string &amp; joint_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
+<td style="text-align: left;"><a href="#function-attach_to_joint-22"><strong>attach_to_joint</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt; &amp; robot, const std::string &amp; joint_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-attached_to"><strong>attached_to</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-attached_to"><strong>attached_to</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-calculate"><strong>calculate</strong></a> (double) = 0<br></td>
+<td style="text-align: left;"><a href="#function-calculate"><strong>calculate</strong></a> (double) = 0<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-detach"><strong>detach</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-detach"><strong>detach</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-frequency"><strong>frequency</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-frequency"><strong>frequency</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-init"><strong>init</strong></a> () = 0<br></td>
+<td style="text-align: left;"><a href="#function-init"><strong>init</strong></a> () = 0<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const Eigen::Isometry3d &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-pose"><strong>pose</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-pose"><strong>pose</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-refresh"><strong>refresh</strong></a> (double t) <br></td>
+<td style="text-align: left;"><a href="#function-refresh"><strong>refresh</strong></a> (double t) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-set_frequency"><strong>set_frequency</strong></a> (size_t freq) <br></td>
+<td style="text-align: left;"><a href="#function-set_frequency"><strong>set_frequency</strong></a> (size_t freq) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-set_pose"><strong>set_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
+<td style="text-align: left;"><a href="#function-set_pose"><strong>set_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-set_simu"><strong>set_simu</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> * simu) <br></td>
+<td style="text-align: left;"><a href="#function-set_simu"><strong>set_simu</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> * simu) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const <a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-simu"><strong>simu</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-simu"><strong>simu</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-type"><strong>type</strong></a> () const = 0<br></td>
+<td style="text-align: left;"><a href="#function-type"><strong>type</strong></a> () const = 0<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-sensor"><strong>~Sensor</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-sensor"><strong>~Sensor</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -1425,47 +1425,47 @@ <h2 id="protected-attributes-inherited-from-robot_dartsensorsensor">Protected At
 <tbody>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_active"><strong>_active</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_active"><strong>_active</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_attached_tf"><strong>_attached_tf</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_attached_tf"><strong>_attached_tf</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_attached_to_body"><strong>_attached_to_body</strong></a>   = = false<br></td>
+<td style="text-align: left;"><a href="#variable-_attached_to_body"><strong>_attached_to_body</strong></a>   = = false<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_attached_to_joint"><strong>_attached_to_joint</strong></a>   = = false<br></td>
+<td style="text-align: left;"><a href="#variable-_attached_to_joint"><strong>_attached_to_joint</strong></a>   = = false<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_attaching_to_body"><strong>_attaching_to_body</strong></a>   = = false<br></td>
+<td style="text-align: left;"><a href="#variable-_attaching_to_body"><strong>_attaching_to_body</strong></a>   = = false<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_attaching_to_joint"><strong>_attaching_to_joint</strong></a>   = = false<br></td>
+<td style="text-align: left;"><a href="#variable-_attaching_to_joint"><strong>_attaching_to_joint</strong></a>   = = false<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_body_attached"><strong>_body_attached</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_body_attached"><strong>_body_attached</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_frequency"><strong>_frequency</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_frequency"><strong>_frequency</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_joint_attached"><strong>_joint_attached</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_joint_attached"><strong>_joint_attached</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"><a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_simu"><strong>_simu</strong></a>   = = nullptr<br></td>
+<td style="text-align: left;"><a href="#variable-_simu"><strong>_simu</strong></a>   = = nullptr<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_world_pose"><strong>_world_pose</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_world_pose"><strong>_world_pose</strong></a>  <br></td>
 </tr>
 </tbody>
 </table>
@@ -1562,14 +1562,14 @@ <h3 id="variable-_wrench">variable _wrench<a class="headerlink" href="#variable-
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1603,10 +1603,10 @@ <h3 id="variable-_wrench">variable _wrench<a class="headerlink" href="#variable-
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1sensor_1_1IMU/index.html b/docs/api/classrobot__dart_1_1sensor_1_1IMU/index.html
index edf93801..7d8d10e8 100644
--- a/docs/api/classrobot__dart_1_1sensor_1_1IMU/index.html
+++ b/docs/api/classrobot__dart_1_1sensor_1_1IMU/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
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@@ -58,7 +58,7 @@
       
     
     
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+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1332,83 +1332,83 @@ <h2 id="public-functions-inherited-from-robot_dartsensorsensor">Public Functions
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-sensor"><strong>Sensor</strong></a> (size_t freq=40) <br></td>
+<td style="text-align: left;"><a href="#function-sensor"><strong>Sensor</strong></a> (size_t freq=40) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-activate"><strong>activate</strong></a> (bool enable=true) <br></td>
+<td style="text-align: left;"><a href="#function-activate"><strong>activate</strong></a> (bool enable=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-active"><strong>active</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-active"><strong>active</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-attach_to_body-12"><strong>attach_to_body</strong></a> (dart::dynamics::BodyNode * body, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
+<td style="text-align: left;"><a href="#function-attach_to_body-12"><strong>attach_to_body</strong></a> (dart::dynamics::BodyNode * body, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-attach_to_body-22"><strong>attach_to_body</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt; &amp; robot, const std::string &amp; body_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
+<td style="text-align: left;"><a href="#function-attach_to_body-22"><strong>attach_to_body</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt; &amp; robot, const std::string &amp; body_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-attach_to_joint-12"><strong>attach_to_joint</strong></a> (dart::dynamics::Joint * joint, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
+<td style="text-align: left;"><a href="#function-attach_to_joint-12"><strong>attach_to_joint</strong></a> (dart::dynamics::Joint * joint, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-attach_to_joint-22"><strong>attach_to_joint</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt; &amp; robot, const std::string &amp; joint_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
+<td style="text-align: left;"><a href="#function-attach_to_joint-22"><strong>attach_to_joint</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt; &amp; robot, const std::string &amp; joint_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-attached_to"><strong>attached_to</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-attached_to"><strong>attached_to</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-calculate"><strong>calculate</strong></a> (double) = 0<br></td>
+<td style="text-align: left;"><a href="#function-calculate"><strong>calculate</strong></a> (double) = 0<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-detach"><strong>detach</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-detach"><strong>detach</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-frequency"><strong>frequency</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-frequency"><strong>frequency</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-init"><strong>init</strong></a> () = 0<br></td>
+<td style="text-align: left;"><a href="#function-init"><strong>init</strong></a> () = 0<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const Eigen::Isometry3d &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-pose"><strong>pose</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-pose"><strong>pose</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-refresh"><strong>refresh</strong></a> (double t) <br></td>
+<td style="text-align: left;"><a href="#function-refresh"><strong>refresh</strong></a> (double t) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-set_frequency"><strong>set_frequency</strong></a> (size_t freq) <br></td>
+<td style="text-align: left;"><a href="#function-set_frequency"><strong>set_frequency</strong></a> (size_t freq) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-set_pose"><strong>set_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
+<td style="text-align: left;"><a href="#function-set_pose"><strong>set_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-set_simu"><strong>set_simu</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> * simu) <br></td>
+<td style="text-align: left;"><a href="#function-set_simu"><strong>set_simu</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> * simu) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const <a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-simu"><strong>simu</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-simu"><strong>simu</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-type"><strong>type</strong></a> () const = 0<br></td>
+<td style="text-align: left;"><a href="#function-type"><strong>type</strong></a> () const = 0<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-sensor"><strong>~Sensor</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-sensor"><strong>~Sensor</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -1451,47 +1451,47 @@ <h2 id="protected-attributes-inherited-from-robot_dartsensorsensor">Protected At
 <tbody>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_active"><strong>_active</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_active"><strong>_active</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_attached_tf"><strong>_attached_tf</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_attached_tf"><strong>_attached_tf</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_attached_to_body"><strong>_attached_to_body</strong></a>   = = false<br></td>
+<td style="text-align: left;"><a href="#variable-_attached_to_body"><strong>_attached_to_body</strong></a>   = = false<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_attached_to_joint"><strong>_attached_to_joint</strong></a>   = = false<br></td>
+<td style="text-align: left;"><a href="#variable-_attached_to_joint"><strong>_attached_to_joint</strong></a>   = = false<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_attaching_to_body"><strong>_attaching_to_body</strong></a>   = = false<br></td>
+<td style="text-align: left;"><a href="#variable-_attaching_to_body"><strong>_attaching_to_body</strong></a>   = = false<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_attaching_to_joint"><strong>_attaching_to_joint</strong></a>   = = false<br></td>
+<td style="text-align: left;"><a href="#variable-_attaching_to_joint"><strong>_attaching_to_joint</strong></a>   = = false<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_body_attached"><strong>_body_attached</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_body_attached"><strong>_body_attached</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_frequency"><strong>_frequency</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_frequency"><strong>_frequency</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_joint_attached"><strong>_joint_attached</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_joint_attached"><strong>_joint_attached</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"><a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_simu"><strong>_simu</strong></a>   = = nullptr<br></td>
+<td style="text-align: left;"><a href="#variable-_simu"><strong>_simu</strong></a>   = = nullptr<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_world_pose"><strong>_world_pose</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_world_pose"><strong>_world_pose</strong></a>  <br></td>
 </tr>
 </tbody>
 </table>
@@ -1591,14 +1591,14 @@ <h3 id="variable-_linear_accel">variable _linear_accel<a class="headerlink" href
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1632,10 +1632,10 @@ <h3 id="variable-_linear_accel">variable _linear_accel<a class="headerlink" href
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1sensor_1_1Sensor/index.html b/docs/api/classrobot__dart_1_1sensor_1_1Sensor/index.html
index a9006075..f234ef25 100644
--- a/docs/api/classrobot__dart_1_1sensor_1_1Sensor/index.html
+++ b/docs/api/classrobot__dart_1_1sensor_1_1Sensor/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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       <nav class="md-search__options" aria-label="Search">
         
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-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1766,14 +1766,14 @@ <h3 id="variable-_world_pose">variable _world_pose<a class="headerlink" href="#v
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1807,10 +1807,10 @@ <h3 id="variable-_world_pose">variable _world_pose<a class="headerlink" href="#v
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/classrobot__dart_1_1sensor_1_1Torque/index.html b/docs/api/classrobot__dart_1_1sensor_1_1Torque/index.html
index 98ae6bf0..4165cebf 100644
--- a/docs/api/classrobot__dart_1_1sensor_1_1Torque/index.html
+++ b/docs/api/classrobot__dart_1_1sensor_1_1Torque/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
-  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4V7Z"/></svg>');}</style>
+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -58,7 +58,7 @@
       
     
     
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+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     Documentation of RobotDART
@@ -377,7 +377,7 @@
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1279,83 +1279,83 @@ <h2 id="public-functions-inherited-from-robot_dartsensorsensor">Public Functions
 <tbody>
 <tr>
 <td style="text-align: right;"></td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-sensor"><strong>Sensor</strong></a> (size_t freq=40) <br></td>
+<td style="text-align: left;"><a href="#function-sensor"><strong>Sensor</strong></a> (size_t freq=40) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-activate"><strong>activate</strong></a> (bool enable=true) <br></td>
+<td style="text-align: left;"><a href="#function-activate"><strong>activate</strong></a> (bool enable=true) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-active"><strong>active</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-active"><strong>active</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-attach_to_body-12"><strong>attach_to_body</strong></a> (dart::dynamics::BodyNode * body, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
+<td style="text-align: left;"><a href="#function-attach_to_body-12"><strong>attach_to_body</strong></a> (dart::dynamics::BodyNode * body, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-attach_to_body-22"><strong>attach_to_body</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt; &amp; robot, const std::string &amp; body_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
+<td style="text-align: left;"><a href="#function-attach_to_body-22"><strong>attach_to_body</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt; &amp; robot, const std::string &amp; body_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-attach_to_joint-12"><strong>attach_to_joint</strong></a> (dart::dynamics::Joint * joint, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
+<td style="text-align: left;"><a href="#function-attach_to_joint-12"><strong>attach_to_joint</strong></a> (dart::dynamics::Joint * joint, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-attach_to_joint-22"><strong>attach_to_joint</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt; &amp; robot, const std::string &amp; joint_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
+<td style="text-align: left;"><a href="#function-attach_to_joint-22"><strong>attach_to_joint</strong></a> (const std::shared_ptr&lt; <a href="../classrobot__dart_1_1Robot/"><strong>Robot</strong></a> &gt; &amp; robot, const std::string &amp; joint_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const std::string &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-attached_to"><strong>attached_to</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-attached_to"><strong>attached_to</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-calculate"><strong>calculate</strong></a> (double) = 0<br></td>
+<td style="text-align: left;"><a href="#function-calculate"><strong>calculate</strong></a> (double) = 0<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-detach"><strong>detach</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-detach"><strong>detach</strong></a> () <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-frequency"><strong>frequency</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-frequency"><strong>frequency</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-init"><strong>init</strong></a> () = 0<br></td>
+<td style="text-align: left;"><a href="#function-init"><strong>init</strong></a> () = 0<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const Eigen::Isometry3d &amp;</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-pose"><strong>pose</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-pose"><strong>pose</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-refresh"><strong>refresh</strong></a> (double t) <br></td>
+<td style="text-align: left;"><a href="#function-refresh"><strong>refresh</strong></a> (double t) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-set_frequency"><strong>set_frequency</strong></a> (size_t freq) <br></td>
+<td style="text-align: left;"><a href="#function-set_frequency"><strong>set_frequency</strong></a> (size_t freq) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-set_pose"><strong>set_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
+<td style="text-align: left;"><a href="#function-set_pose"><strong>set_pose</strong></a> (const Eigen::Isometry3d &amp; tf) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">void</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-set_simu"><strong>set_simu</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> * simu) <br></td>
+<td style="text-align: left;"><a href="#function-set_simu"><strong>set_simu</strong></a> (<a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> * simu) <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">const <a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-simu"><strong>simu</strong></a> () const<br></td>
+<td style="text-align: left;"><a href="#function-simu"><strong>simu</strong></a> () const<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual std::string</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-type"><strong>type</strong></a> () const = 0<br></td>
+<td style="text-align: left;"><a href="#function-type"><strong>type</strong></a> () const = 0<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">virtual</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#function-sensor"><strong>~Sensor</strong></a> () <br></td>
+<td style="text-align: left;"><a href="#function-sensor"><strong>~Sensor</strong></a> () <br></td>
 </tr>
 </tbody>
 </table>
@@ -1386,47 +1386,47 @@ <h2 id="protected-attributes-inherited-from-robot_dartsensorsensor">Protected At
 <tbody>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_active"><strong>_active</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_active"><strong>_active</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_attached_tf"><strong>_attached_tf</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_attached_tf"><strong>_attached_tf</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_attached_to_body"><strong>_attached_to_body</strong></a>   = = false<br></td>
+<td style="text-align: left;"><a href="#variable-_attached_to_body"><strong>_attached_to_body</strong></a>   = = false<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_attached_to_joint"><strong>_attached_to_joint</strong></a>   = = false<br></td>
+<td style="text-align: left;"><a href="#variable-_attached_to_joint"><strong>_attached_to_joint</strong></a>   = = false<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_attaching_to_body"><strong>_attaching_to_body</strong></a>   = = false<br></td>
+<td style="text-align: left;"><a href="#variable-_attaching_to_body"><strong>_attaching_to_body</strong></a>   = = false<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">bool</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_attaching_to_joint"><strong>_attaching_to_joint</strong></a>   = = false<br></td>
+<td style="text-align: left;"><a href="#variable-_attaching_to_joint"><strong>_attaching_to_joint</strong></a>   = = false<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::BodyNode *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_body_attached"><strong>_body_attached</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_body_attached"><strong>_body_attached</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">size_t</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_frequency"><strong>_frequency</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_frequency"><strong>_frequency</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;">dart::dynamics::Joint *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_joint_attached"><strong>_joint_attached</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_joint_attached"><strong>_joint_attached</strong></a>  <br></td>
 </tr>
 <tr>
 <td style="text-align: right;"><a href="../classrobot__dart_1_1RobotDARTSimu/"><strong>RobotDARTSimu</strong></a> *</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_simu"><strong>_simu</strong></a>   = = nullptr<br></td>
+<td style="text-align: left;"><a href="#variable-_simu"><strong>_simu</strong></a>   = = nullptr<br></td>
 </tr>
 <tr>
 <td style="text-align: right;">Eigen::Isometry3d</td>
-<td style="text-align: left;"><a href="../classrobot__dart_1_1sensor_1_1Sensor/#variable-_world_pose"><strong>_world_pose</strong></a>  <br></td>
+<td style="text-align: left;"><a href="#variable-_world_pose"><strong>_world_pose</strong></a>  <br></td>
 </tr>
 </tbody>
 </table>
@@ -1506,14 +1506,14 @@ <h3 id="variable-_torques">variable _torques<a class="headerlink" href="#variabl
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
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 </button>
         
@@ -1547,10 +1547,10 @@ <h3 id="variable-_torques">variable _torques<a class="headerlink" href="#variabl
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/create__compatibility__shader_8hpp/index.html b/docs/api/create__compatibility__shader_8hpp/index.html
index 29288f5f..2bc88e68 100644
--- a/docs/api/create__compatibility__shader_8hpp/index.html
+++ b/docs/api/create__compatibility__shader_8hpp/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
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     Documentation of RobotDART
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@@ -1205,10 +1205,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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diff --git a/docs/api/create__compatibility__shader_8hpp_source/index.html b/docs/api/create__compatibility__shader_8hpp_source/index.html
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+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
       </label>
     
   
@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
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     NOSALRO/robot_dart
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1223,10 +1223,10 @@ <h1 id="file-create_compatibility_shaderhpp">File create_compatibility_shader.hp
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/cube__map_8cpp/index.html b/docs/api/cube__map_8cpp/index.html
index b0e0b9a9..50500274 100644
--- a/docs/api/cube__map_8cpp/index.html
+++ b/docs/api/cube__map_8cpp/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -200,7 +200,7 @@
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
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-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1150,14 +1150,14 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
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@@ -1191,10 +1191,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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diff --git a/docs/api/cube__map_8cpp_source/index.html b/docs/api/cube__map_8cpp_source/index.html
index f2b3956d..8ee4e8b3 100644
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+++ b/docs/api/cube__map_8cpp_source/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -34,14 +34,14 @@
     
   
   
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
-  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4V7Z"/></svg>');}</style>
+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -58,7 +58,7 @@
       
     
     
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+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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     NOSALRO/robot_dart
@@ -1205,14 +1205,14 @@ <h1 id="file-cube_mapcpp">File cube_map.cpp<a class="headerlink" href="#file-cub
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@@ -1246,10 +1246,10 @@ <h1 id="file-cube_mapcpp">File cube_map.cpp<a class="headerlink" href="#file-cub
     </div>
     
     
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/cube__map_8hpp/index.html b/docs/api/cube__map_8hpp/index.html
index 18dde75b..11301076 100644
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1179,14 +1179,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1220,10 +1220,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/cube__map_8hpp_source/index.html b/docs/api/cube__map_8hpp_source/index.html
index 8ecd4d82..885301d1 100644
--- a/docs/api/cube__map_8hpp_source/index.html
+++ b/docs/api/cube__map_8hpp_source/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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     NOSALRO/robot_dart
@@ -1158,14 +1158,14 @@ <h1 id="file-cube_maphpp">File cube_map.hpp<a class="headerlink" href="#file-cub
             </div>
           
           
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1199,10 +1199,10 @@ <h1 id="file-cube_maphpp">File cube_map.hpp<a class="headerlink" href="#file-cub
     </div>
     
     
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+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/cube__map__color_8cpp/index.html b/docs/api/cube__map__color_8cpp/index.html
index d3db87b4..e8589813 100644
--- a/docs/api/cube__map__color_8cpp/index.html
+++ b/docs/api/cube__map__color_8cpp/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1151,14 +1151,14 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1192,10 +1192,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/cube__map__color_8cpp_source/index.html b/docs/api/cube__map__color_8cpp_source/index.html
index 10ce4961..e1576ea5 100644
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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     NOSALRO/robot_dart
@@ -1221,14 +1221,14 @@ <h1 id="file-cube_map_colorcpp">File cube_map_color.cpp<a class="headerlink" hre
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1262,10 +1262,10 @@ <h1 id="file-cube_map_colorcpp">File cube_map_color.cpp<a class="headerlink" hre
     </div>
     
     
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+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/cube__map__color_8hpp/index.html b/docs/api/cube__map__color_8hpp/index.html
index 9f5cbf46..76ae7265 100644
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+++ b/docs/api/cube__map__color_8hpp/index.html
@@ -14,7 +14,7 @@
       
       
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1179,14 +1179,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1220,10 +1220,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/cube__map__color_8hpp_source/index.html b/docs/api/cube__map__color_8hpp_source/index.html
index 1be00d64..c3b6c67c 100644
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+++ b/docs/api/cube__map__color_8hpp_source/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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     NOSALRO/robot_dart
@@ -1161,14 +1161,14 @@ <h1 id="file-cube_map_colorhpp">File cube_map_color.hpp<a class="headerlink" hre
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   Back to top
 </button>
         
@@ -1202,10 +1202,10 @@ <h1 id="file-cube_map_colorhpp">File cube_map_color.hpp<a class="headerlink" hre
     </div>
     
     
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+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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index 2bd716e1..d19bbc44 100644
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@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1200,14 +1200,14 @@ <h2 id="files">Files<a class="headerlink" href="#files" title="Permanent link">&
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1241,10 +1241,10 @@ <h2 id="files">Files<a class="headerlink" href="#files" title="Permanent link">&
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
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     Documentation of RobotDART
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   Back to top
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@@ -1265,10 +1265,10 @@ <h2 id="directories">Directories<a class="headerlink" href="#directories" title=
     </div>
     
     
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+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1156,14 +1156,14 @@ <h2 id="files">Files<a class="headerlink" href="#files" title="Permanent link">&
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1197,10 +1197,10 @@ <h2 id="files">Files<a class="headerlink" href="#files" title="Permanent link">&
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
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     Documentation of RobotDART
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@@ -1177,10 +1177,10 @@ <h2 id="files">Files<a class="headerlink" href="#files" title="Permanent link">&
     </div>
     
     
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1204,14 +1204,14 @@ <h2 id="files">Files<a class="headerlink" href="#files" title="Permanent link">&
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1245,10 +1245,10 @@ <h2 id="files">Files<a class="headerlink" href="#files" title="Permanent link">&
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/dir_5d18adecbc10cabf3ca51da31f2acdd1/index.html b/docs/api/dir_5d18adecbc10cabf3ca51da31f2acdd1/index.html
index 43bb8941..2cd7647d 100644
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
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     Documentation of RobotDART
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   Back to top
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@@ -1257,10 +1257,10 @@ <h2 id="directories">Directories<a class="headerlink" href="#directories" title=
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1168,14 +1168,14 @@ <h2 id="directories">Directories<a class="headerlink" href="#directories" title=
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1209,10 +1209,10 @@ <h2 id="directories">Directories<a class="headerlink" href="#directories" title=
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/dir_d1adb19f0b40b70b30ee0daf1901679b/index.html b/docs/api/dir_d1adb19f0b40b70b30ee0daf1901679b/index.html
index 6cdb6496..eea29c49 100644
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
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     Documentation of RobotDART
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@@ -1201,10 +1201,10 @@ <h2 id="files">Files<a class="headerlink" href="#files" title="Permanent link">&
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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diff --git a/docs/api/drawables_8cpp/index.html b/docs/api/drawables_8cpp/index.html
index 2945c9a1..1b45fe79 100644
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1153,14 +1153,14 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1194,10 +1194,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/drawables_8cpp_source/index.html b/docs/api/drawables_8cpp_source/index.html
index 64951920..db19798f 100644
--- a/docs/api/drawables_8cpp_source/index.html
+++ b/docs/api/drawables_8cpp_source/index.html
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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@@ -136,7 +136,7 @@
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
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     NOSALRO/robot_dart
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@@ -1504,10 +1504,10 @@ <h1 id="file-drawablescpp">File drawables.cpp<a class="headerlink" href="#file-d
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/drawables_8hpp/index.html b/docs/api/drawables_8hpp/index.html
index 92305d62..d5e2cbeb 100644
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1208,14 +1208,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1249,10 +1249,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/drawables_8hpp_source/index.html b/docs/api/drawables_8hpp_source/index.html
index e1f81dae..f9c4a9c4 100644
--- a/docs/api/drawables_8hpp_source/index.html
+++ b/docs/api/drawables_8hpp_source/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1300,14 +1300,14 @@ <h1 id="file-drawableshpp">File drawables.hpp<a class="headerlink" href="#file-d
             </div>
           
           
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1341,10 +1341,10 @@ <h1 id="file-drawableshpp">File drawables.hpp<a class="headerlink" href="#file-d
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/files/index.html b/docs/api/files/index.html
index 5ebc9f5e..8d449b1c 100644
--- a/docs/api/files/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -202,7 +202,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -371,7 +371,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -381,7 +381,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1231,14 +1231,14 @@ <h1 id="file-list">File List<a class="headerlink" href="#file-list" title="Perma
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-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
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@@ -1272,10 +1272,10 @@ <h1 id="file-list">File List<a class="headerlink" href="#file-list" title="Perma
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+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/force__torque_8cpp/index.html b/docs/api/force__torque_8cpp/index.html
index da1d9c97..9035d8d6 100644
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     Documentation of RobotDART
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@@ -1182,10 +1182,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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diff --git a/docs/api/force__torque_8cpp_source/index.html b/docs/api/force__torque_8cpp_source/index.html
index b4ce7e20..951f9fd7 100644
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+++ b/docs/api/force__torque_8cpp_source/index.html
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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@@ -200,7 +200,7 @@
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     Documentation of RobotDART
@@ -377,7 +377,7 @@
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@@ -1158,14 +1158,14 @@ <h1 id="file-force_torquecpp">File force_torque.cpp<a class="headerlink" href="#
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+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
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@@ -1199,10 +1199,10 @@ <h1 id="file-force_torquecpp">File force_torque.cpp<a class="headerlink" href="#
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diff --git a/docs/api/force__torque_8hpp/index.html b/docs/api/force__torque_8hpp/index.html
index 1091ee03..684e2bc7 100644
--- a/docs/api/force__torque_8hpp/index.html
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
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     Documentation of RobotDART
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   Back to top
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@@ -1205,10 +1205,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
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diff --git a/docs/api/force__torque_8hpp_source/index.html b/docs/api/force__torque_8hpp_source/index.html
index 2ba5c98c..6ee6cca2 100644
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1136,14 +1136,14 @@ <h1 id="file-force_torquehpp">File force_torque.hpp<a class="headerlink" href="#
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1177,10 +1177,10 @@ <h1 id="file-force_torquehpp">File force_torque.hpp<a class="headerlink" href="#
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/franka_8cpp/index.html b/docs/api/franka_8cpp/index.html
index 765ba0ac..29ecb805 100644
--- a/docs/api/franka_8cpp/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
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     Documentation of RobotDART
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@@ -1182,10 +1182,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
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diff --git a/docs/api/franka_8cpp_source/index.html b/docs/api/franka_8cpp_source/index.html
index d77a0a84..2e4fcfb3 100644
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+++ b/docs/api/franka_8cpp_source/index.html
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1128,14 +1128,14 @@ <h1 id="file-frankacpp">File franka.cpp<a class="headerlink" href="#file-frankac
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1169,10 +1169,10 @@ <h1 id="file-frankacpp">File franka.cpp<a class="headerlink" href="#file-frankac
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/franka_8hpp/index.html b/docs/api/franka_8hpp/index.html
index 911d72ef..9c4b26c9 100644
--- a/docs/api/franka_8hpp/index.html
+++ b/docs/api/franka_8hpp/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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   Back to top
 </button>
         
@@ -1206,10 +1206,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/franka_8hpp_source/index.html b/docs/api/franka_8hpp_source/index.html
index 564d93eb..b003eb21 100644
--- a/docs/api/franka_8hpp_source/index.html
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1122,14 +1122,14 @@ <h1 id="file-frankahpp">File franka.hpp<a class="headerlink" href="#file-frankah
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1163,10 +1163,10 @@ <h1 id="file-frankahpp">File franka.hpp<a class="headerlink" href="#file-frankah
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/functions/index.html b/docs/api/functions/index.html
index 224249be..de3af25b 100644
--- a/docs/api/functions/index.html
+++ b/docs/api/functions/index.html
@@ -18,7 +18,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -26,7 +26,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -38,14 +38,14 @@
     
   
   
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
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+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -62,7 +62,7 @@
       
     
     
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+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -107,12 +107,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -140,7 +140,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -150,7 +150,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -158,13 +158,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -173,15 +173,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -204,7 +204,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -373,7 +373,7 @@
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     Documentation of RobotDART
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1210,14 +1210,14 @@ <h2 id="s">s<a class="headerlink" href="#s" title="Permanent link">&para;</a></h
             </div>
           
           
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1251,10 +1251,10 @@ <h2 id="s">s<a class="headerlink" href="#s" title="Permanent link">&para;</a></h
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/glfw__application_8cpp/index.html b/docs/api/glfw__application_8cpp/index.html
index 15964783..0b8b0b66 100644
--- a/docs/api/glfw__application_8cpp/index.html
+++ b/docs/api/glfw__application_8cpp/index.html
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1149,14 +1149,14 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1190,10 +1190,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/glfw__application_8cpp_source/index.html b/docs/api/glfw__application_8cpp_source/index.html
index d7f69335..d3422f41 100644
--- a/docs/api/glfw__application_8cpp_source/index.html
+++ b/docs/api/glfw__application_8cpp_source/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
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   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1101,14 +1101,14 @@ <h1 id="macro-syntax-error"><em>Macro Syntax Error</em><a class="headerlink" hre
             </div>
           
           
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1142,10 +1142,10 @@ <h1 id="macro-syntax-error"><em>Macro Syntax Error</em><a class="headerlink" hre
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/glfw__application_8hpp/index.html b/docs/api/glfw__application_8hpp/index.html
index 26d7cb1b..cb7d7986 100644
--- a/docs/api/glfw__application_8hpp/index.html
+++ b/docs/api/glfw__application_8hpp/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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@@ -136,7 +136,7 @@
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1169,14 +1169,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1210,10 +1210,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/glfw__application_8hpp_source/index.html b/docs/api/glfw__application_8hpp_source/index.html
index 4601ef15..9c0d6162 100644
--- a/docs/api/glfw__application_8hpp_source/index.html
+++ b/docs/api/glfw__application_8hpp_source/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
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@@ -58,7 +58,7 @@
       
     
     
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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     <label class="md-header__button md-icon" for="__drawer">
       
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1149,14 +1149,14 @@ <h1 id="file-glfw_applicationhpp">File glfw_application.hpp<a class="headerlink"
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1190,10 +1190,10 @@ <h1 id="file-glfw_applicationhpp">File glfw_application.hpp<a class="headerlink"
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/graphics_8cpp/index.html b/docs/api/graphics_8cpp/index.html
index d9d87466..d922d9fe 100644
--- a/docs/api/graphics_8cpp/index.html
+++ b/docs/api/graphics_8cpp/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
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+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
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+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
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+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1144,14 +1144,14 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1185,10 +1185,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/graphics_8cpp_source/index.html b/docs/api/graphics_8cpp_source/index.html
index 51c62619..faaf12e0 100644
--- a/docs/api/graphics_8cpp_source/index.html
+++ b/docs/api/graphics_8cpp_source/index.html
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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@@ -169,15 +169,15 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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     NOSALRO/robot_dart
@@ -1122,14 +1122,14 @@ <h1 id="file-graphicscpp">File graphics.cpp<a class="headerlink" href="#file-gra
             </div>
           
           
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1163,10 +1163,10 @@ <h1 id="file-graphicscpp">File graphics.cpp<a class="headerlink" href="#file-gra
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/graphics_8hpp/index.html b/docs/api/graphics_8hpp/index.html
index 44ac3b72..7c6f7efb 100644
--- a/docs/api/graphics_8hpp/index.html
+++ b/docs/api/graphics_8hpp/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1168,14 +1168,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1209,10 +1209,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/graphics_8hpp_source/index.html b/docs/api/graphics_8hpp_source/index.html
index 38452b13..fca56902 100644
--- a/docs/api/graphics_8hpp_source/index.html
+++ b/docs/api/graphics_8hpp_source/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
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@@ -58,7 +58,7 @@
       
     
     
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@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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     NOSALRO/robot_dart
@@ -1122,14 +1122,14 @@ <h1 id="file-graphicshpp">File graphics.hpp<a class="headerlink" href="#file-gra
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   Back to top
 </button>
         
@@ -1163,10 +1163,10 @@ <h1 id="file-graphicshpp">File graphics.hpp<a class="headerlink" href="#file-gra
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/gs_2camera_8cpp/index.html b/docs/api/gs_2camera_8cpp/index.html
index c1d284e1..7690cb25 100644
--- a/docs/api/gs_2camera_8cpp/index.html
+++ b/docs/api/gs_2camera_8cpp/index.html
@@ -14,7 +14,7 @@
       
       
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1165,14 +1165,14 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
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@@ -1206,10 +1206,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/gs_2camera_8cpp_source/index.html b/docs/api/gs_2camera_8cpp_source/index.html
index 5fd1cad0..731ce57f 100644
--- a/docs/api/gs_2camera_8cpp_source/index.html
+++ b/docs/api/gs_2camera_8cpp_source/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
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   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1101,14 +1101,14 @@ <h1 id="macro-syntax-error"><em>Macro Syntax Error</em><a class="headerlink" hre
             </div>
           
           
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1142,10 +1142,10 @@ <h1 id="macro-syntax-error"><em>Macro Syntax Error</em><a class="headerlink" hre
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/gs_2camera_8hpp/index.html b/docs/api/gs_2camera_8hpp/index.html
index 6d833622..d91bd039 100644
--- a/docs/api/gs_2camera_8hpp/index.html
+++ b/docs/api/gs_2camera_8hpp/index.html
@@ -14,7 +14,7 @@
       
       
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1184,14 +1184,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1225,10 +1225,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/gs_2camera_8hpp_source/index.html b/docs/api/gs_2camera_8hpp_source/index.html
index fcebb7ba..803b03e9 100644
--- a/docs/api/gs_2camera_8hpp_source/index.html
+++ b/docs/api/gs_2camera_8hpp_source/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -58,7 +58,7 @@
       
     
     
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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     <label class="md-header__button md-icon" for="__drawer">
       
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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     NOSALRO/robot_dart
@@ -1202,14 +1202,14 @@ <h1 id="file-camerahpp">File camera.hpp<a class="headerlink" href="#file-camerah
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   Back to top
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@@ -1243,10 +1243,10 @@ <h1 id="file-camerahpp">File camera.hpp<a class="headerlink" href="#file-camerah
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/gui__data_8hpp/index.html b/docs/api/gui__data_8hpp/index.html
index d125f8c0..2e8f1403 100644
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+++ b/docs/api/gui__data_8hpp/index.html
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1167,14 +1167,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1208,10 +1208,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/gui__data_8hpp_source/index.html b/docs/api/gui__data_8hpp_source/index.html
index 5714645a..da020848 100644
--- a/docs/api/gui__data_8hpp_source/index.html
+++ b/docs/api/gui__data_8hpp_source/index.html
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1223,14 +1223,14 @@ <h1 id="file-gui_datahpp">File gui_data.hpp<a class="headerlink" href="#file-gui
             </div>
           
           
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1264,10 +1264,10 @@ <h1 id="file-gui_datahpp">File gui_data.hpp<a class="headerlink" href="#file-gui
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/helper_8cpp/index.html b/docs/api/helper_8cpp/index.html
index 04401f3d..6f4a7e60 100644
--- a/docs/api/helper_8cpp/index.html
+++ b/docs/api/helper_8cpp/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1195,14 +1195,14 @@ <h3 id="define-stb_image_write_implementation">define STB_IMAGE_WRITE_IMPLEMENTA
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1236,10 +1236,10 @@ <h3 id="define-stb_image_write_implementation">define STB_IMAGE_WRITE_IMPLEMENTA
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/helper_8cpp_source/index.html b/docs/api/helper_8cpp_source/index.html
index 921c2d1d..1b19799d 100644
--- a/docs/api/helper_8cpp_source/index.html
+++ b/docs/api/helper_8cpp_source/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     </a>
     Documentation of RobotDART
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1204,14 +1204,14 @@ <h1 id="file-helpercpp">File helper.cpp<a class="headerlink" href="#file-helperc
             </div>
           
           
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1245,10 +1245,10 @@ <h1 id="file-helpercpp">File helper.cpp<a class="headerlink" href="#file-helperc
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/helper_8hpp/index.html b/docs/api/helper_8hpp/index.html
index 0272437e..33c3e595 100644
--- a/docs/api/helper_8hpp/index.html
+++ b/docs/api/helper_8hpp/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1174,14 +1174,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1215,10 +1215,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/helper_8hpp_source/index.html b/docs/api/helper_8hpp_source/index.html
index e058fc5d..964312b5 100644
--- a/docs/api/helper_8hpp_source/index.html
+++ b/docs/api/helper_8hpp_source/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
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@@ -58,7 +58,7 @@
       
     
     
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
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   <div class="md-source__icon md-icon">
     
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1136,14 +1136,14 @@ <h1 id="file-helperhpp">File helper.hpp<a class="headerlink" href="#file-helperh
             </div>
           
           
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1177,10 +1177,10 @@ <h1 id="file-helperhpp">File helper.hpp<a class="headerlink" href="#file-helperh
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/hexapod_8hpp/index.html b/docs/api/hexapod_8hpp/index.html
index ab3c7dd3..b01235c0 100644
--- a/docs/api/hexapod_8hpp/index.html
+++ b/docs/api/hexapod_8hpp/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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@@ -136,7 +136,7 @@
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1164,14 +1164,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1205,10 +1205,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/hexapod_8hpp_source/index.html b/docs/api/hexapod_8hpp_source/index.html
index 2c654f65..c8794f0d 100644
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+++ b/docs/api/hexapod_8hpp_source/index.html
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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     NOSALRO/robot_dart
@@ -1125,14 +1125,14 @@ <h1 id="file-hexapodhpp">File hexapod.hpp<a class="headerlink" href="#file-hexap
             </div>
           
           
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1166,10 +1166,10 @@ <h1 id="file-hexapodhpp">File hexapod.hpp<a class="headerlink" href="#file-hexap
     </div>
     
     
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+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/hierarchy/index.html b/docs/api/hierarchy/index.html
index b153b836..7119fd60 100644
--- a/docs/api/hierarchy/index.html
+++ b/docs/api/hierarchy/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -26,7 +26,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
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@@ -173,15 +173,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -204,7 +204,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -373,7 +373,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -383,7 +383,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1524,14 +1524,14 @@ <h1 id="class-hierarchy">Class Hierarchy<a class="headerlink" href="#class-hiera
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1565,10 +1565,10 @@ <h1 id="class-hierarchy">Class Hierarchy<a class="headerlink" href="#class-hiera
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/icub_8cpp/index.html b/docs/api/icub_8cpp/index.html
index ee015e57..885a0710 100644
--- a/docs/api/icub_8cpp/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
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     Documentation of RobotDART
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     NOSALRO/robot_dart
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@@ -1182,10 +1182,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/icub_8cpp_source/index.html b/docs/api/icub_8cpp_source/index.html
index 2ca56c86..d549a8e1 100644
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+++ b/docs/api/icub_8cpp_source/index.html
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
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-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1145,14 +1145,14 @@ <h1 id="file-icubcpp">File icub.cpp<a class="headerlink" href="#file-icubcpp" ti
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
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@@ -1186,10 +1186,10 @@ <h1 id="file-icubcpp">File icub.cpp<a class="headerlink" href="#file-icubcpp" ti
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
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         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/icub_8hpp/index.html b/docs/api/icub_8hpp/index.html
index 8ebfaa31..eaf8acf5 100644
--- a/docs/api/icub_8hpp/index.html
+++ b/docs/api/icub_8hpp/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -58,7 +58,7 @@
       
     
     
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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     NOSALRO/robot_dart
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   Back to top
 </button>
         
@@ -1207,10 +1207,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/icub_8hpp_source/index.html b/docs/api/icub_8hpp_source/index.html
index 73e63fde..7235df13 100644
--- a/docs/api/icub_8hpp_source/index.html
+++ b/docs/api/icub_8hpp_source/index.html
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1130,14 +1130,14 @@ <h1 id="file-icubhpp">File icub.hpp<a class="headerlink" href="#file-icubhpp" ti
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-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1171,10 +1171,10 @@ <h1 id="file-icubhpp">File icub.hpp<a class="headerlink" href="#file-icubhpp" ti
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/iiwa_8cpp/index.html b/docs/api/iiwa_8cpp/index.html
index ab32a1f6..489101ac 100644
--- a/docs/api/iiwa_8cpp/index.html
+++ b/docs/api/iiwa_8cpp/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
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     Documentation of RobotDART
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     NOSALRO/robot_dart
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@@ -1182,10 +1182,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/iiwa_8cpp_source/index.html b/docs/api/iiwa_8cpp_source/index.html
index 62e7b517..03ca06fb 100644
--- a/docs/api/iiwa_8cpp_source/index.html
+++ b/docs/api/iiwa_8cpp_source/index.html
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
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-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1127,14 +1127,14 @@ <h1 id="file-iiwacpp">File iiwa.cpp<a class="headerlink" href="#file-iiwacpp" ti
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
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@@ -1168,10 +1168,10 @@ <h1 id="file-iiwacpp">File iiwa.cpp<a class="headerlink" href="#file-iiwacpp" ti
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/iiwa_8hpp/index.html b/docs/api/iiwa_8hpp/index.html
index dc102043..b86d5193 100644
--- a/docs/api/iiwa_8hpp/index.html
+++ b/docs/api/iiwa_8hpp/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -58,7 +58,7 @@
       
     
     
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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     NOSALRO/robot_dart
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   Back to top
 </button>
         
@@ -1206,10 +1206,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/iiwa_8hpp_source/index.html b/docs/api/iiwa_8hpp_source/index.html
index 5e4dbd79..77f05ca4 100644
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+++ b/docs/api/iiwa_8hpp_source/index.html
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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       <nav class="md-search__options" aria-label="Search">
         
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-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1122,14 +1122,14 @@ <h1 id="file-iiwahpp">File iiwa.hpp<a class="headerlink" href="#file-iiwahpp" ti
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
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@@ -1163,10 +1163,10 @@ <h1 id="file-iiwahpp">File iiwa.hpp<a class="headerlink" href="#file-iiwahpp" ti
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/imu_8cpp/index.html b/docs/api/imu_8cpp/index.html
index 630bc4f8..cd1e28f0 100644
--- a/docs/api/imu_8cpp/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
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@@ -1183,10 +1183,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/imu_8cpp_source/index.html b/docs/api/imu_8cpp_source/index.html
index d3b2d966..2eb252ac 100644
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
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-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1161,14 +1161,14 @@ <h1 id="file-imucpp">File imu.cpp<a class="headerlink" href="#file-imucpp" title
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
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@@ -1202,10 +1202,10 @@ <h1 id="file-imucpp">File imu.cpp<a class="headerlink" href="#file-imucpp" title
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
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         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/imu_8hpp/index.html b/docs/api/imu_8hpp/index.html
index 3fc8e819..10b9deca 100644
--- a/docs/api/imu_8hpp/index.html
+++ b/docs/api/imu_8hpp/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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     NOSALRO/robot_dart
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   Back to top
 </button>
         
@@ -1209,10 +1209,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/imu_8hpp_source/index.html b/docs/api/imu_8hpp_source/index.html
index f12e64e4..519e31f0 100644
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+++ b/docs/api/imu_8hpp_source/index.html
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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       <nav class="md-search__options" aria-label="Search">
         
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-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1161,14 +1161,14 @@ <h1 id="file-imuhpp">File imu.hpp<a class="headerlink" href="#file-imuhpp" title
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-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
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@@ -1202,10 +1202,10 @@ <h1 id="file-imuhpp">File imu.hpp<a class="headerlink" href="#file-imuhpp" title
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/light_8cpp/index.html b/docs/api/light_8cpp/index.html
index 182f8052..43cee0b5 100644
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
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     Documentation of RobotDART
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@@ -1190,10 +1190,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/light_8cpp_source/index.html b/docs/api/light_8cpp_source/index.html
index 369cdd4b..4a6f142b 100644
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
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-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1220,14 +1220,14 @@ <h1 id="file-lightcpp">File light.cpp<a class="headerlink" href="#file-lightcpp"
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
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@@ -1261,10 +1261,10 @@ <h1 id="file-lightcpp">File light.cpp<a class="headerlink" href="#file-lightcpp"
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
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         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/light_8hpp/index.html b/docs/api/light_8hpp/index.html
index 2807bcb2..d7339ff5 100644
--- a/docs/api/light_8hpp/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -58,7 +58,7 @@
       
     
     
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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   Back to top
 </button>
         
@@ -1214,10 +1214,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
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+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/light_8hpp_source/index.html b/docs/api/light_8hpp_source/index.html
index a7177b05..9febe6e6 100644
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1219,14 +1219,14 @@ <h1 id="file-lighthpp">File light.hpp<a class="headerlink" href="#file-lighthpp"
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1260,10 +1260,10 @@ <h1 id="file-lighthpp">File light.hpp<a class="headerlink" href="#file-lighthpp"
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/links/index.html b/docs/api/links/index.html
index f14283fd..6000fdd7 100644
--- a/docs/api/links/index.html
+++ b/docs/api/links/index.html
@@ -18,7 +18,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -26,7 +26,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -38,14 +38,14 @@
     
   
   
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
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@@ -62,7 +62,7 @@
       
     
     
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@@ -102,12 +102,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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     <label class="md-header__button md-icon" for="__drawer">
       
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -135,7 +135,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -145,7 +145,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -153,13 +153,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -168,15 +168,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -199,7 +199,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -368,7 +368,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -378,7 +378,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1132,14 +1132,14 @@ <h1>Links</h1>
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1173,10 +1173,10 @@ <h1>Links</h1>
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/macros/index.html b/docs/api/macros/index.html
index 55298027..d286c879 100644
--- a/docs/api/macros/index.html
+++ b/docs/api/macros/index.html
@@ -18,7 +18,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -26,7 +26,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -38,14 +38,14 @@
     
   
   
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
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+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -62,7 +62,7 @@
       
     
     
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+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -107,12 +107,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -140,7 +140,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -150,7 +150,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -158,13 +158,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -173,15 +173,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -204,7 +204,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -373,7 +373,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -383,7 +383,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1253,14 +1253,14 @@ <h2 id="s">s<a class="headerlink" href="#s" title="Permanent link">&para;</a></h
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1294,10 +1294,10 @@ <h2 id="s">s<a class="headerlink" href="#s" title="Permanent link">&para;</a></h
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/magnum_2gs_2helper_8cpp/index.html b/docs/api/magnum_2gs_2helper_8cpp/index.html
index d292c052..f3a0653f 100644
--- a/docs/api/magnum_2gs_2helper_8cpp/index.html
+++ b/docs/api/magnum_2gs_2helper_8cpp/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
@@ -377,7 +377,7 @@
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     NOSALRO/robot_dart
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   Back to top
 </button>
         
@@ -1194,10 +1194,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/magnum_2gs_2helper_8cpp_source/index.html b/docs/api/magnum_2gs_2helper_8cpp_source/index.html
index 957e1255..19f1705b 100644
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+++ b/docs/api/magnum_2gs_2helper_8cpp_source/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1180,14 +1180,14 @@ <h1 id="file-helpercpp">File helper.cpp<a class="headerlink" href="#file-helperc
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1221,10 +1221,10 @@ <h1 id="file-helpercpp">File helper.cpp<a class="headerlink" href="#file-helperc
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/magnum_2gs_2helper_8hpp/index.html b/docs/api/magnum_2gs_2helper_8hpp/index.html
index 1b68f81d..68e5607e 100644
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+++ b/docs/api/magnum_2gs_2helper_8hpp/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
@@ -377,7 +377,7 @@
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1150,14 +1150,14 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1191,10 +1191,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/magnum_2gs_2helper_8hpp_source/index.html b/docs/api/magnum_2gs_2helper_8hpp_source/index.html
index fc1b8452..3033ede6 100644
--- a/docs/api/magnum_2gs_2helper_8hpp_source/index.html
+++ b/docs/api/magnum_2gs_2helper_8hpp_source/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1122,14 +1122,14 @@ <h1 id="file-helperhpp">File helper.hpp<a class="headerlink" href="#file-helperh
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1163,10 +1163,10 @@ <h1 id="file-helperhpp">File helper.hpp<a class="headerlink" href="#file-helperh
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/material_8cpp/index.html b/docs/api/material_8cpp/index.html
index 68d166f4..170c21d6 100644
--- a/docs/api/material_8cpp/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -58,7 +58,7 @@
       
     
     
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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     NOSALRO/robot_dart
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1190,10 +1190,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/material_8cpp_source/index.html b/docs/api/material_8cpp_source/index.html
index 53647b88..4c3bb82c 100644
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1194,14 +1194,14 @@ <h1 id="file-materialcpp">File material.cpp<a class="headerlink" href="#file-mat
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1235,10 +1235,10 @@ <h1 id="file-materialcpp">File material.cpp<a class="headerlink" href="#file-mat
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/material_8hpp/index.html b/docs/api/material_8hpp/index.html
index 096854fc..4b84e59d 100644
--- a/docs/api/material_8hpp/index.html
+++ b/docs/api/material_8hpp/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
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@@ -58,7 +58,7 @@
       
     
     
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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   <div class="md-source__repository">
     NOSALRO/robot_dart
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1216,10 +1216,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/material_8hpp_source/index.html b/docs/api/material_8hpp_source/index.html
index f098ed57..dd2d2847 100644
--- a/docs/api/material_8hpp_source/index.html
+++ b/docs/api/material_8hpp_source/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1166,14 +1166,14 @@ <h1 id="file-materialhpp">File material.hpp<a class="headerlink" href="#file-mat
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1207,10 +1207,10 @@ <h1 id="file-materialhpp">File material.hpp<a class="headerlink" href="#file-mat
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/modules/index.html b/docs/api/modules/index.html
index 1571fcdc..e398bcd2 100644
--- a/docs/api/modules/index.html
+++ b/docs/api/modules/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
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@@ -58,7 +58,7 @@
       
     
     
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+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     </a>
     Documentation of RobotDART
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1098,14 +1098,14 @@ <h1 id="modules">Modules<a class="headerlink" href="#modules" title="Permanent l
             </div>
           
           
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1139,10 +1139,10 @@ <h1 id="modules">Modules<a class="headerlink" href="#modules" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/namespaceMagnum/index.html b/docs/api/namespaceMagnum/index.html
index f31bd511..533e0c8e 100644
--- a/docs/api/namespaceMagnum/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1144,14 +1144,14 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1185,10 +1185,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/namespaceMagnum_1_1GL/index.html b/docs/api/namespaceMagnum_1_1GL/index.html
index 78656fe6..7d373863 100644
--- a/docs/api/namespaceMagnum_1_1GL/index.html
+++ b/docs/api/namespaceMagnum_1_1GL/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     </a>
     Documentation of RobotDART
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     NOSALRO/robot_dart
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   Back to top
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@@ -1141,10 +1141,10 @@ <h1 id="namespace-magnumgl">Namespace Magnum::GL<a class="headerlink" href="#nam
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/namespaceMagnum_1_1Platform/index.html b/docs/api/namespaceMagnum_1_1Platform/index.html
index 40d50655..f817af19 100644
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+++ b/docs/api/namespaceMagnum_1_1Platform/index.html
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1100,14 +1100,14 @@ <h1 id="namespace-magnumplatform">Namespace Magnum::Platform<a class="headerlink
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1141,10 +1141,10 @@ <h1 id="namespace-magnumplatform">Namespace Magnum::Platform<a class="headerlink
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/namespaceMagnum_1_1SceneGraph/index.html b/docs/api/namespaceMagnum_1_1SceneGraph/index.html
index 8f055948..909c74ec 100644
--- a/docs/api/namespaceMagnum_1_1SceneGraph/index.html
+++ b/docs/api/namespaceMagnum_1_1SceneGraph/index.html
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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@@ -136,7 +136,7 @@
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
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     NOSALRO/robot_dart
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     Documentation of RobotDART
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     NOSALRO/robot_dart
@@ -1100,14 +1100,14 @@ <h1 id="namespace-magnumscenegraph">Namespace Magnum::SceneGraph<a class="header
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@@ -1141,10 +1141,10 @@ <h1 id="namespace-magnumscenegraph">Namespace Magnum::SceneGraph<a class="header
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/namespaceMagnum_1_1Shaders/index.html b/docs/api/namespaceMagnum_1_1Shaders/index.html
index 5095ff08..75ed0cab 100644
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1132,14 +1132,14 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1173,10 +1173,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/namespaceMagnum_1_1Shaders_1_1Implementation/index.html b/docs/api/namespaceMagnum_1_1Shaders_1_1Implementation/index.html
index 19c34675..4913f05f 100644
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
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   <div class="md-source__icon md-icon">
     
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1166,14 +1166,14 @@ <h3 id="function-createcompatibilityshader">function createCompatibilityShader<a
             </div>
           
           
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1207,10 +1207,10 @@ <h3 id="function-createcompatibilityshader">function createCompatibilityShader<a
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/namespaceTinyProcessLib/index.html b/docs/api/namespaceTinyProcessLib/index.html
index 011a319e..2b2d9bf6 100644
--- a/docs/api/namespaceTinyProcessLib/index.html
+++ b/docs/api/namespaceTinyProcessLib/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1100,14 +1100,14 @@ <h1 id="namespace-tinyprocesslib">Namespace TinyProcessLib<a class="headerlink"
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1141,10 +1141,10 @@ <h1 id="namespace-tinyprocesslib">Namespace TinyProcessLib<a class="headerlink"
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/namespace_member_enums/index.html b/docs/api/namespace_member_enums/index.html
index 893bee26..09d1b695 100644
--- a/docs/api/namespace_member_enums/index.html
+++ b/docs/api/namespace_member_enums/index.html
@@ -18,7 +18,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -26,7 +26,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -107,12 +107,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -140,7 +140,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -150,7 +150,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -158,13 +158,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
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@@ -173,15 +173,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -204,7 +204,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -373,7 +373,7 @@
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     Documentation of RobotDART
@@ -383,7 +383,7 @@
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1180,14 +1180,14 @@ <h2 id="g">g<a class="headerlink" href="#g" title="Permanent link">&para;</a></h
             </div>
           
           
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1221,10 +1221,10 @@ <h2 id="g">g<a class="headerlink" href="#g" title="Permanent link">&para;</a></h
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/namespace_member_functions/index.html b/docs/api/namespace_member_functions/index.html
index c9d203f9..1904f159 100644
--- a/docs/api/namespace_member_functions/index.html
+++ b/docs/api/namespace_member_functions/index.html
@@ -18,7 +18,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -26,7 +26,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -173,15 +173,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -204,7 +204,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -373,7 +373,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -383,7 +383,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1322,14 +1322,14 @@ <h2 id="s">s<a class="headerlink" href="#s" title="Permanent link">&para;</a></h
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1363,10 +1363,10 @@ <h2 id="s">s<a class="headerlink" href="#s" title="Permanent link">&para;</a></h
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/namespace_member_typedefs/index.html b/docs/api/namespace_member_typedefs/index.html
index 50d03b78..76797453 100644
--- a/docs/api/namespace_member_typedefs/index.html
+++ b/docs/api/namespace_member_typedefs/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -107,12 +107,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -140,7 +140,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -150,7 +150,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -158,13 +158,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -173,15 +173,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -204,7 +204,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -373,7 +373,7 @@
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     </a>
     Documentation of RobotDART
@@ -383,7 +383,7 @@
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1224,14 +1224,14 @@ <h2 id="s">s<a class="headerlink" href="#s" title="Permanent link">&para;</a></h
             </div>
           
           
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1265,10 +1265,10 @@ <h2 id="s">s<a class="headerlink" href="#s" title="Permanent link">&para;</a></h
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/namespace_member_variables/index.html b/docs/api/namespace_member_variables/index.html
index ff969700..4b92312f 100644
--- a/docs/api/namespace_member_variables/index.html
+++ b/docs/api/namespace_member_variables/index.html
@@ -18,7 +18,7 @@
       
       
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -173,15 +173,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -204,7 +204,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -373,7 +373,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -383,7 +383,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1183,14 +1183,14 @@ <h2 id="b">b<a class="headerlink" href="#b" title="Permanent link">&para;</a></h
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1224,10 +1224,10 @@ <h2 id="b">b<a class="headerlink" href="#b" title="Permanent link">&para;</a></h
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/namespace_members/index.html b/docs/api/namespace_members/index.html
index 233f776c..f0956341 100644
--- a/docs/api/namespace_members/index.html
+++ b/docs/api/namespace_members/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -26,7 +26,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -62,7 +62,7 @@
       
     
     
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@@ -107,12 +107,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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     <label class="md-header__button md-icon" for="__drawer">
       
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -140,7 +140,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -150,7 +150,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -158,13 +158,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -173,15 +173,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -204,7 +204,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -373,7 +373,7 @@
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     Documentation of RobotDART
@@ -383,7 +383,7 @@
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1393,14 +1393,14 @@ <h2 id="s">s<a class="headerlink" href="#s" title="Permanent link">&para;</a></h
             </div>
           
           
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1434,10 +1434,10 @@ <h2 id="s">s<a class="headerlink" href="#s" title="Permanent link">&para;</a></h
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/namespacedart/index.html b/docs/api/namespacedart/index.html
index 3f069a11..26f38c71 100644
--- a/docs/api/namespacedart/index.html
+++ b/docs/api/namespacedart/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1136,14 +1136,14 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1177,10 +1177,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/namespacedart_1_1collision/index.html b/docs/api/namespacedart_1_1collision/index.html
index 510c504a..7141bc6e 100644
--- a/docs/api/namespacedart_1_1collision/index.html
+++ b/docs/api/namespacedart_1_1collision/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1100,14 +1100,14 @@ <h1 id="namespace-dartcollision">Namespace dart::collision<a class="headerlink"
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   Back to top
 </button>
         
@@ -1141,10 +1141,10 @@ <h1 id="namespace-dartcollision">Namespace dart::collision<a class="headerlink"
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/namespacedart_1_1dynamics/index.html b/docs/api/namespacedart_1_1dynamics/index.html
index e685568a..dff80337 100644
--- a/docs/api/namespacedart_1_1dynamics/index.html
+++ b/docs/api/namespacedart_1_1dynamics/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1100,14 +1100,14 @@ <h1 id="namespace-dartdynamics">Namespace dart::dynamics<a class="headerlink" hr
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1141,10 +1141,10 @@ <h1 id="namespace-dartdynamics">Namespace dart::dynamics<a class="headerlink" hr
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/namespacerobot__dart/index.html b/docs/api/namespacerobot__dart/index.html
index cc6b4366..75a1cfdd 100644
--- a/docs/api/namespacerobot__dart/index.html
+++ b/docs/api/namespacerobot__dart/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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     NOSALRO/robot_dart
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   Back to top
 </button>
         
@@ -1488,10 +1488,10 @@ <h3 id="function-make_vector">function make_vector<a class="headerlink" href="#f
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/namespacerobot__dart_1_1collision__filter/index.html b/docs/api/namespacerobot__dart_1_1collision__filter/index.html
index 501a5f45..f680d16c 100644
--- a/docs/api/namespacerobot__dart_1_1collision__filter/index.html
+++ b/docs/api/namespacerobot__dart_1_1collision__filter/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1132,14 +1132,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1173,10 +1173,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/namespacerobot__dart_1_1control/index.html b/docs/api/namespacerobot__dart_1_1control/index.html
index 8b7b8a65..834765be 100644
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+++ b/docs/api/namespacerobot__dart_1_1control/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
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     Documentation of RobotDART
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     NOSALRO/robot_dart
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   Back to top
 </button>
         
@@ -1185,10 +1185,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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index c8649122..0ef7bc22 100644
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+++ b/docs/api/namespacerobot__dart_1_1detail/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1215,14 +1215,14 @@ <h3 id="function-set_dof_data">function set_dof_data<a class="headerlink" href="
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1256,10 +1256,10 @@ <h3 id="function-set_dof_data">function set_dof_data<a class="headerlink" href="
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/namespacerobot__dart_1_1gui/index.html b/docs/api/namespacerobot__dart_1_1gui/index.html
index 0c7a107a..e8223282 100644
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     </a>
     Documentation of RobotDART
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   <div class="md-source__repository">
     NOSALRO/robot_dart
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             </div>
           
           
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1330,10 +1330,10 @@ <h3 id="function-save_png_image_1">function save_png_image<a class="headerlink"
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/namespacerobot__dart_1_1gui_1_1magnum/index.html b/docs/api/namespacerobot__dart_1_1gui_1_1magnum/index.html
index f4d2f821..2feaec98 100644
--- a/docs/api/namespacerobot__dart_1_1gui_1_1magnum/index.html
+++ b/docs/api/namespacerobot__dart_1_1gui_1_1magnum/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1367,14 +1367,14 @@ <h3 id="function-make_application">function make_application<a class="headerlink
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1408,10 +1408,10 @@ <h3 id="function-make_application">function make_application<a class="headerlink
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/index.html b/docs/api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/index.html
index ec6f33ef..56b77014 100644
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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     NOSALRO/robot_dart
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             </div>
           
           
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   Back to top
 </button>
         
@@ -1427,10 +1427,10 @@ <h3 id="function-search_path">function search_path<a class="headerlink" href="#f
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs_1_1_0d21/index.html b/docs/api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs_1_1_0d21/index.html
index faafe327..815e8835 100644
--- a/docs/api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs_1_1_0d21/index.html
+++ b/docs/api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs_1_1_0d21/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1162,14 +1162,14 @@ <h3 id="enum-gs">enum gs<a class="headerlink" href="#enum-gs" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1203,10 +1203,10 @@ <h3 id="enum-gs">enum gs<a class="headerlink" href="#enum-gs" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/namespacerobot__dart_1_1gui_1_1magnum_1_1sensor/index.html b/docs/api/namespacerobot__dart_1_1gui_1_1magnum_1_1sensor/index.html
index f618216e..4cd545c8 100644
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+++ b/docs/api/namespacerobot__dart_1_1gui_1_1magnum_1_1sensor/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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   <div class="md-source__repository">
     NOSALRO/robot_dart
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1173,10 +1173,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/namespacerobot__dart_1_1robots/index.html b/docs/api/namespacerobot__dart_1_1robots/index.html
index 8731f04b..2c558ca8 100644
--- a/docs/api/namespacerobot__dart_1_1robots/index.html
+++ b/docs/api/namespacerobot__dart_1_1robots/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1184,14 +1184,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1225,10 +1225,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/namespacerobot__dart_1_1sensor/index.html b/docs/api/namespacerobot__dart_1_1sensor/index.html
index 72e8ca19..edc64459 100644
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+++ b/docs/api/namespacerobot__dart_1_1sensor/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
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     Documentation of RobotDART
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     NOSALRO/robot_dart
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   Back to top
 </button>
         
@@ -1189,10 +1189,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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index d9f38475..037c28d3 100644
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+++ b/docs/api/namespacerobot__dart_1_1simu/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1136,14 +1136,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1177,10 +1177,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/namespaces/index.html b/docs/api/namespaces/index.html
index 4b6d74c2..c3afbf1c 100644
--- a/docs/api/namespaces/index.html
+++ b/docs/api/namespaces/index.html
@@ -18,7 +18,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -26,7 +26,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
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@@ -62,7 +62,7 @@
       
     
     
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+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -107,12 +107,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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     <label class="md-header__button md-icon" for="__drawer">
       
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -140,7 +140,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -150,7 +150,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -158,13 +158,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -173,15 +173,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -204,7 +204,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -373,7 +373,7 @@
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     </a>
     Documentation of RobotDART
@@ -383,7 +383,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
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   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1158,14 +1158,14 @@ <h1 id="namespace-list">Namespace List<a class="headerlink" href="#namespace-lis
             </div>
           
           
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1199,10 +1199,10 @@ <h1 id="namespace-list">Namespace List<a class="headerlink" href="#namespace-lis
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/namespacestd/index.html b/docs/api/namespacestd/index.html
index d872030a..c299f703 100644
--- a/docs/api/namespacestd/index.html
+++ b/docs/api/namespacestd/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1100,14 +1100,14 @@ <h1 id="namespace-std">Namespace std<a class="headerlink" href="#namespace-std"
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1141,10 +1141,10 @@ <h1 id="namespace-std">Namespace std<a class="headerlink" href="#namespace-std"
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/pages/index.html b/docs/api/pages/index.html
index 2cafe8ea..8ae427e6 100644
--- a/docs/api/pages/index.html
+++ b/docs/api/pages/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
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@@ -58,7 +58,7 @@
       
     
     
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+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -136,7 +136,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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@@ -1139,10 +1139,10 @@ <h1 id="related-pages">Related Pages<a class="headerlink" href="#related-pages"
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+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
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diff --git a/docs/api/pd__control_8cpp/index.html b/docs/api/pd__control_8cpp/index.html
index 677d3878..38ba66b7 100644
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1143,14 +1143,14 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1184,10 +1184,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/pd__control_8cpp_source/index.html b/docs/api/pd__control_8cpp_source/index.html
index 8687b724..018b7ddc 100644
--- a/docs/api/pd__control_8cpp_source/index.html
+++ b/docs/api/pd__control_8cpp_source/index.html
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
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     Documentation of RobotDART
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1236,14 +1236,14 @@ <h1 id="file-pd_controlcpp">File pd_control.cpp<a class="headerlink" href="#file
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@@ -1277,10 +1277,10 @@ <h1 id="file-pd_controlcpp">File pd_control.cpp<a class="headerlink" href="#file
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/pd__control_8hpp/index.html b/docs/api/pd__control_8hpp/index.html
index 85ae7710..1c146a05 100644
--- a/docs/api/pd__control_8hpp/index.html
+++ b/docs/api/pd__control_8hpp/index.html
@@ -14,7 +14,7 @@
       
       
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1166,14 +1166,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1207,10 +1207,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/pd__control_8hpp_source/index.html b/docs/api/pd__control_8hpp_source/index.html
index 1f46a693..1c78a3b7 100644
--- a/docs/api/pd__control_8hpp_source/index.html
+++ b/docs/api/pd__control_8hpp_source/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1140,14 +1140,14 @@ <h1 id="file-pd_controlhpp">File pd_control.hpp<a class="headerlink" href="#file
             </div>
           
           
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1181,10 +1181,10 @@ <h1 id="file-pd_controlhpp">File pd_control.hpp<a class="headerlink" href="#file
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/pendulum_8hpp/index.html b/docs/api/pendulum_8hpp/index.html
index 80d0d123..a4dd99f5 100644
--- a/docs/api/pendulum_8hpp/index.html
+++ b/docs/api/pendulum_8hpp/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1164,14 +1164,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1205,10 +1205,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/pendulum_8hpp_source/index.html b/docs/api/pendulum_8hpp_source/index.html
index 111fc753..28a34b5d 100644
--- a/docs/api/pendulum_8hpp_source/index.html
+++ b/docs/api/pendulum_8hpp_source/index.html
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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@@ -169,15 +169,15 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
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     NOSALRO/robot_dart
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@@ -1160,10 +1160,10 @@ <h1 id="file-pendulumhpp">File pendulum.hpp<a class="headerlink" href="#file-pen
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index 7501560f..43599e71 100644
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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@@ -200,7 +200,7 @@
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   <div class="md-source__icon md-icon">
     
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
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-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
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@@ -1152,14 +1152,14 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
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@@ -1193,10 +1193,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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diff --git a/docs/api/phong__multi__light_8cpp_source/index.html b/docs/api/phong__multi__light_8cpp_source/index.html
index 6c66c82a..c9a5fc25 100644
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
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@@ -1394,10 +1394,10 @@ <h1 id="file-phong_multi_lightcpp">File phong_multi_light.cpp<a class="headerlin
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diff --git a/docs/api/phong__multi__light_8hpp/index.html b/docs/api/phong__multi__light_8hpp/index.html
index 468ccf98..46c9e217 100644
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1179,14 +1179,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1220,10 +1220,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/phong__multi__light_8hpp_source/index.html b/docs/api/phong__multi__light_8hpp_source/index.html
index df6c1453..f969beb7 100644
--- a/docs/api/phong__multi__light_8hpp_source/index.html
+++ b/docs/api/phong__multi__light_8hpp_source/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     </a>
     Documentation of RobotDART
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1174,14 +1174,14 @@ <h1 id="file-phong_multi_lighthpp">File phong_multi_light.hpp<a class="headerlin
             </div>
           
           
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1215,10 +1215,10 @@ <h1 id="file-phong_multi_lighthpp">File phong_multi_light.hpp<a class="headerlin
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/policy__control_8hpp/index.html b/docs/api/policy__control_8hpp/index.html
index 39110579..f0c8ff78 100644
--- a/docs/api/policy__control_8hpp/index.html
+++ b/docs/api/policy__control_8hpp/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1165,14 +1165,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1206,10 +1206,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/policy__control_8hpp_source/index.html b/docs/api/policy__control_8hpp_source/index.html
index 673cdd46..0191ec0e 100644
--- a/docs/api/policy__control_8hpp_source/index.html
+++ b/docs/api/policy__control_8hpp_source/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
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   <div class="md-source__icon md-icon">
     
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1173,14 +1173,14 @@ <h1 id="file-policy_controlhpp">File policy_control.hpp<a class="headerlink" hre
             </div>
           
           
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1214,10 +1214,10 @@ <h1 id="file-policy_controlhpp">File policy_control.hpp<a class="headerlink" hre
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/robot_8cpp/index.html b/docs/api/robot_8cpp/index.html
index 2c024150..5a2e71a6 100644
--- a/docs/api/robot_8cpp/index.html
+++ b/docs/api/robot_8cpp/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
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@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1146,14 +1146,14 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1187,10 +1187,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/robot_8cpp_source/index.html b/docs/api/robot_8cpp_source/index.html
index c76076aa..0aed40c4 100644
--- a/docs/api/robot_8cpp_source/index.html
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
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     Documentation of RobotDART
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     NOSALRO/robot_dart
@@ -3303,14 +3303,14 @@ <h1 id="file-robotcpp">File robot.cpp<a class="headerlink" href="#file-robotcpp"
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 </button>
         
@@ -3344,10 +3344,10 @@ <h1 id="file-robotcpp">File robot.cpp<a class="headerlink" href="#file-robotcpp"
     </div>
     
     
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+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/robot_8hpp/index.html b/docs/api/robot_8hpp/index.html
index ac200db6..affea203 100644
--- a/docs/api/robot_8hpp/index.html
+++ b/docs/api/robot_8hpp/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1165,14 +1165,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1206,10 +1206,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/robot_8hpp_source/index.html b/docs/api/robot_8hpp_source/index.html
index 3f4d8ff9..f219efe5 100644
--- a/docs/api/robot_8hpp_source/index.html
+++ b/docs/api/robot_8hpp_source/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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@@ -136,7 +136,7 @@
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     </a>
     Documentation of RobotDART
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     NOSALRO/robot_dart
@@ -1423,14 +1423,14 @@ <h1 id="file-robothpp">File robot.hpp<a class="headerlink" href="#file-robothpp"
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1464,10 +1464,10 @@ <h1 id="file-robothpp">File robot.hpp<a class="headerlink" href="#file-robothpp"
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/robot__control_8cpp/index.html b/docs/api/robot__control_8cpp/index.html
index 65cdb23d..1af526bb 100644
--- a/docs/api/robot__control_8cpp/index.html
+++ b/docs/api/robot__control_8cpp/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1143,14 +1143,14 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1184,10 +1184,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/robot__control_8cpp_source/index.html b/docs/api/robot__control_8cpp_source/index.html
index c98b0a69..bb5f77c8 100644
--- a/docs/api/robot__control_8cpp_source/index.html
+++ b/docs/api/robot__control_8cpp_source/index.html
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1179,14 +1179,14 @@ <h1 id="file-robot_controlcpp">File robot_control.cpp<a class="headerlink" href=
             </div>
           
           
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1220,10 +1220,10 @@ <h1 id="file-robot_controlcpp">File robot_control.cpp<a class="headerlink" href=
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/robot__control_8hpp/index.html b/docs/api/robot__control_8hpp/index.html
index f2f4b9b9..3005bf25 100644
--- a/docs/api/robot__control_8hpp/index.html
+++ b/docs/api/robot__control_8hpp/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1166,14 +1166,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1207,10 +1207,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/robot__control_8hpp_source/index.html b/docs/api/robot__control_8hpp_source/index.html
index 8b8c7de0..ca09e19d 100644
--- a/docs/api/robot__control_8hpp_source/index.html
+++ b/docs/api/robot__control_8hpp_source/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1153,14 +1153,14 @@ <h1 id="file-robot_controlhpp">File robot_control.hpp<a class="headerlink" href=
             </div>
           
           
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1194,10 +1194,10 @@ <h1 id="file-robot_controlhpp">File robot_control.hpp<a class="headerlink" href=
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/robot__dart__simu_8cpp/index.html b/docs/api/robot__dart__simu_8cpp/index.html
index e6f119fb..fc7fe416 100644
--- a/docs/api/robot__dart__simu_8cpp/index.html
+++ b/docs/api/robot__dart__simu_8cpp/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
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@@ -103,12 +103,12 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1173,14 +1173,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1214,10 +1214,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/robot__dart__simu_8cpp_source/index.html b/docs/api/robot__dart__simu_8cpp_source/index.html
index 986ab290..a19f009d 100644
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
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     Documentation of RobotDART
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     NOSALRO/robot_dart
@@ -1868,14 +1868,14 @@ <h1 id="file-robot_dart_simucpp">File robot_dart_simu.cpp<a class="headerlink" h
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   Back to top
 </button>
         
@@ -1909,10 +1909,10 @@ <h1 id="file-robot_dart_simucpp">File robot_dart_simu.cpp<a class="headerlink" h
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+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/robot__dart__simu_8hpp/index.html b/docs/api/robot__dart__simu_8hpp/index.html
index 5fc1904c..686fbf78 100644
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+++ b/docs/api/robot__dart__simu_8hpp/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1171,14 +1171,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1212,10 +1212,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/robot__dart__simu_8hpp_source/index.html b/docs/api/robot__dart__simu_8hpp_source/index.html
index 493675f1..0efc51b6 100644
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+++ b/docs/api/robot__dart__simu_8hpp_source/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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     NOSALRO/robot_dart
@@ -1259,14 +1259,14 @@ <h1 id="file-robot_dart_simuhpp">File robot_dart_simu.hpp<a class="headerlink" h
             </div>
           
           
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1300,10 +1300,10 @@ <h1 id="file-robot_dart_simuhpp">File robot_dart_simu.hpp<a class="headerlink" h
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/robot__pool_8cpp/index.html b/docs/api/robot__pool_8cpp/index.html
index 46a96293..25835540 100644
--- a/docs/api/robot__pool_8cpp/index.html
+++ b/docs/api/robot__pool_8cpp/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1136,14 +1136,14 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
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@@ -1177,10 +1177,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/robot__pool_8cpp_source/index.html b/docs/api/robot__pool_8cpp_source/index.html
index 990ecd58..1e42aff2 100644
--- a/docs/api/robot__pool_8cpp_source/index.html
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
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     Documentation of RobotDART
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     NOSALRO/robot_dart
@@ -1156,14 +1156,14 @@ <h1 id="file-robot_poolcpp">File robot_pool.cpp<a class="headerlink" href="#file
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@@ -1197,10 +1197,10 @@ <h1 id="file-robot_poolcpp">File robot_pool.cpp<a class="headerlink" href="#file
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/robot__pool_8hpp/index.html b/docs/api/robot__pool_8hpp/index.html
index 6f62b589..e8f77a4f 100644
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+++ b/docs/api/robot__pool_8hpp/index.html
@@ -14,7 +14,7 @@
       
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1164,14 +1164,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1205,10 +1205,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/robot__pool_8hpp_source/index.html b/docs/api/robot__pool_8hpp_source/index.html
index 446b45e2..1da9e926 100644
--- a/docs/api/robot__pool_8hpp_source/index.html
+++ b/docs/api/robot__pool_8hpp_source/index.html
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
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     Documentation of RobotDART
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     NOSALRO/robot_dart
@@ -1140,14 +1140,14 @@ <h1 id="file-robot_poolhpp">File robot_pool.hpp<a class="headerlink" href="#file
             </div>
           
           
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1181,10 +1181,10 @@ <h1 id="file-robot_poolhpp">File robot_pool.hpp<a class="headerlink" href="#file
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/scheduler_8cpp/index.html b/docs/api/scheduler_8cpp/index.html
index 0c45514c..d113c7e8 100644
--- a/docs/api/scheduler_8cpp/index.html
+++ b/docs/api/scheduler_8cpp/index.html
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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       <nav class="md-search__options" aria-label="Search">
         
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-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1136,14 +1136,14 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1177,10 +1177,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/scheduler_8cpp_source/index.html b/docs/api/scheduler_8cpp_source/index.html
index 37e53e69..07399425 100644
--- a/docs/api/scheduler_8cpp_source/index.html
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
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         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
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     NOSALRO/robot_dart
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     Documentation of RobotDART
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     NOSALRO/robot_dart
@@ -1160,14 +1160,14 @@ <h1 id="file-schedulercpp">File scheduler.cpp<a class="headerlink" href="#file-s
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   Back to top
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@@ -1201,10 +1201,10 @@ <h1 id="file-schedulercpp">File scheduler.cpp<a class="headerlink" href="#file-s
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/scheduler_8hpp/index.html b/docs/api/scheduler_8hpp/index.html
index b612cc36..5a4bdcd8 100644
--- a/docs/api/scheduler_8hpp/index.html
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1162,14 +1162,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1203,10 +1203,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/scheduler_8hpp_source/index.html b/docs/api/scheduler_8hpp_source/index.html
index 3a3f10dc..1e8dcc8a 100644
--- a/docs/api/scheduler_8hpp_source/index.html
+++ b/docs/api/scheduler_8hpp_source/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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     NOSALRO/robot_dart
@@ -1153,14 +1153,14 @@ <h1 id="file-schedulerhpp">File scheduler.hpp<a class="headerlink" href="#file-s
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1194,10 +1194,10 @@ <h1 id="file-schedulerhpp">File scheduler.hpp<a class="headerlink" href="#file-s
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/sensor_2camera_8cpp/index.html b/docs/api/sensor_2camera_8cpp/index.html
index 2d4687c7..db070e6c 100644
--- a/docs/api/sensor_2camera_8cpp/index.html
+++ b/docs/api/sensor_2camera_8cpp/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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@@ -200,7 +200,7 @@
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     Documentation of RobotDART
@@ -377,7 +377,7 @@
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@@ -1158,14 +1158,14 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
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@@ -1199,10 +1199,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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diff --git a/docs/api/sensor_2camera_8cpp_source/index.html b/docs/api/sensor_2camera_8cpp_source/index.html
index cfc48f19..5398717b 100644
--- a/docs/api/sensor_2camera_8cpp_source/index.html
+++ b/docs/api/sensor_2camera_8cpp_source/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
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   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1101,14 +1101,14 @@ <h1 id="macro-syntax-error"><em>Macro Syntax Error</em><a class="headerlink" hre
             </div>
           
           
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1142,10 +1142,10 @@ <h1 id="macro-syntax-error"><em>Macro Syntax Error</em><a class="headerlink" hre
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/sensor_2camera_8hpp/index.html b/docs/api/sensor_2camera_8hpp/index.html
index db930728..920f1430 100644
--- a/docs/api/sensor_2camera_8hpp/index.html
+++ b/docs/api/sensor_2camera_8hpp/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1181,14 +1181,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
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@@ -1222,10 +1222,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
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+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/sensor_2camera_8hpp_source/index.html b/docs/api/sensor_2camera_8hpp_source/index.html
index 464db458..15df29f7 100644
--- a/docs/api/sensor_2camera_8hpp_source/index.html
+++ b/docs/api/sensor_2camera_8hpp_source/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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     NOSALRO/robot_dart
@@ -1203,14 +1203,14 @@ <h1 id="file-camerahpp">File camera.hpp<a class="headerlink" href="#file-camerah
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   Back to top
 </button>
         
@@ -1244,10 +1244,10 @@ <h1 id="file-camerahpp">File camera.hpp<a class="headerlink" href="#file-camerah
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/sensor_8cpp/index.html b/docs/api/sensor_8cpp/index.html
index 3b147465..316c8f67 100644
--- a/docs/api/sensor_8cpp/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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       <nav class="md-search__options" aria-label="Search">
         
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-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1143,14 +1143,14 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1184,10 +1184,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/sensor_8cpp_source/index.html b/docs/api/sensor_8cpp_source/index.html
index 5b22181a..7ffb499b 100644
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
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         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
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     NOSALRO/robot_dart
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     NOSALRO/robot_dart
@@ -1231,14 +1231,14 @@ <h1 id="file-sensorcpp">File sensor.cpp<a class="headerlink" href="#file-sensorc
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@@ -1272,10 +1272,10 @@ <h1 id="file-sensorcpp">File sensor.cpp<a class="headerlink" href="#file-sensorc
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/sensor_8hpp/index.html b/docs/api/sensor_8hpp/index.html
index 5e9b03a6..ccc128bc 100644
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1175,14 +1175,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1216,10 +1216,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/sensor_8hpp_source/index.html b/docs/api/sensor_8hpp_source/index.html
index 8dcc1e5f..2948d35c 100644
--- a/docs/api/sensor_8hpp_source/index.html
+++ b/docs/api/sensor_8hpp_source/index.html
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1171,14 +1171,14 @@ <h1 id="file-sensorhpp">File sensor.hpp<a class="headerlink" href="#file-sensorh
             </div>
           
           
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1212,10 +1212,10 @@ <h1 id="file-sensorhpp">File sensor.hpp<a class="headerlink" href="#file-sensorh
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/shadow__map_8cpp/index.html b/docs/api/shadow__map_8cpp/index.html
index 0a1b5bda..cf296257 100644
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1150,14 +1150,14 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1191,10 +1191,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/shadow__map_8cpp_source/index.html b/docs/api/shadow__map_8cpp_source/index.html
index a31939cb..86fa53c5 100644
--- a/docs/api/shadow__map_8cpp_source/index.html
+++ b/docs/api/shadow__map_8cpp_source/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1185,14 +1185,14 @@ <h1 id="file-shadow_mapcpp">File shadow_map.cpp<a class="headerlink" href="#file
             </div>
           
           
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   Back to top
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@@ -1226,10 +1226,10 @@ <h1 id="file-shadow_mapcpp">File shadow_map.cpp<a class="headerlink" href="#file
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/shadow__map_8hpp/index.html b/docs/api/shadow__map_8hpp/index.html
index 2b085232..edc7bb8b 100644
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+++ b/docs/api/shadow__map_8hpp/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1179,14 +1179,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1220,10 +1220,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/shadow__map_8hpp_source/index.html b/docs/api/shadow__map_8hpp_source/index.html
index 2b469f56..b3c04c44 100644
--- a/docs/api/shadow__map_8hpp_source/index.html
+++ b/docs/api/shadow__map_8hpp_source/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     </a>
     Documentation of RobotDART
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1150,14 +1150,14 @@ <h1 id="file-shadow_maphpp">File shadow_map.hpp<a class="headerlink" href="#file
             </div>
           
           
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1191,10 +1191,10 @@ <h1 id="file-shadow_maphpp">File shadow_map.hpp<a class="headerlink" href="#file
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/shadow__map__color_8cpp/index.html b/docs/api/shadow__map__color_8cpp/index.html
index 347dc028..949103a0 100644
--- a/docs/api/shadow__map__color_8cpp/index.html
+++ b/docs/api/shadow__map__color_8cpp/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1150,14 +1150,14 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1191,10 +1191,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/shadow__map__color_8cpp_source/index.html b/docs/api/shadow__map__color_8cpp_source/index.html
index f4816f5f..858ce4e5 100644
--- a/docs/api/shadow__map__color_8cpp_source/index.html
+++ b/docs/api/shadow__map__color_8cpp_source/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -58,7 +58,7 @@
       
     
     
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
@@ -377,7 +377,7 @@
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     NOSALRO/robot_dart
@@ -1185,14 +1185,14 @@ <h1 id="file-shadow_map_colorcpp">File shadow_map_color.cpp<a class="headerlink"
             </div>
           
           
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1226,10 +1226,10 @@ <h1 id="file-shadow_map_colorcpp">File shadow_map_color.cpp<a class="headerlink"
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/shadow__map__color_8hpp/index.html b/docs/api/shadow__map__color_8hpp/index.html
index 5182a55e..83f4aab5 100644
--- a/docs/api/shadow__map__color_8hpp/index.html
+++ b/docs/api/shadow__map__color_8hpp/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1179,14 +1179,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1220,10 +1220,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/shadow__map__color_8hpp_source/index.html b/docs/api/shadow__map__color_8hpp_source/index.html
index 3c16e6a8..cf5bfbcf 100644
--- a/docs/api/shadow__map__color_8hpp_source/index.html
+++ b/docs/api/shadow__map__color_8hpp_source/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -58,7 +58,7 @@
       
     
     
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
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   <div class="md-source__icon md-icon">
     
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1150,14 +1150,14 @@ <h1 id="file-shadow_map_colorhpp">File shadow_map_color.hpp<a class="headerlink"
             </div>
           
           
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1191,10 +1191,10 @@ <h1 id="file-shadow_map_colorhpp">File shadow_map_color.hpp<a class="headerlink"
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/simple__control_8cpp/index.html b/docs/api/simple__control_8cpp/index.html
index 121a43cf..6d3854e9 100644
--- a/docs/api/simple__control_8cpp/index.html
+++ b/docs/api/simple__control_8cpp/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1142,14 +1142,14 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1183,10 +1183,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/simple__control_8cpp_source/index.html b/docs/api/simple__control_8cpp_source/index.html
index 9fb28b49..12a31d44 100644
--- a/docs/api/simple__control_8cpp_source/index.html
+++ b/docs/api/simple__control_8cpp_source/index.html
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
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     Documentation of RobotDART
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   <div class="md-source__repository">
     NOSALRO/robot_dart
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             </div>
           
           
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   Back to top
 </button>
         
@@ -1169,10 +1169,10 @@ <h1 id="file-simple_controlcpp">File simple_control.cpp<a class="headerlink" hre
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/simple__control_8hpp/index.html b/docs/api/simple__control_8hpp/index.html
index 5a454724..7a9c98b8 100644
--- a/docs/api/simple__control_8hpp/index.html
+++ b/docs/api/simple__control_8hpp/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1164,14 +1164,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1205,10 +1205,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/simple__control_8hpp_source/index.html b/docs/api/simple__control_8hpp_source/index.html
index 15f70380..1eb4abfb 100644
--- a/docs/api/simple__control_8hpp_source/index.html
+++ b/docs/api/simple__control_8hpp_source/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1122,14 +1122,14 @@ <h1 id="file-simple_controlhpp">File simple_control.hpp<a class="headerlink" hre
             </div>
           
           
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1163,10 +1163,10 @@ <h1 id="file-simple_controlhpp">File simple_control.hpp<a class="headerlink" hre
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/stb__image__write_8h/index.html b/docs/api/stb__image__write_8h/index.html
index 9b39947d..66bdd3c6 100644
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+++ b/docs/api/stb__image__write_8h/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1612,14 +1612,14 @@ <h3 id="define-stbiwdef">define STBIWDEF<a class="headerlink" href="#define-stbi
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1653,10 +1653,10 @@ <h3 id="define-stbiwdef">define STBIWDEF<a class="headerlink" href="#define-stbi
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/stb__image__write_8h_source/index.html b/docs/api/stb__image__write_8h_source/index.html
index 822a184b..3cb6caf6 100644
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+++ b/docs/api/stb__image__write_8h_source/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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     NOSALRO/robot_dart
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@@ -2761,10 +2761,10 @@ <h1 id="file-stb_image_writeh">File stb_image_write.h<a class="headerlink" href=
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-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/structrobot__dart_1_1collision__filter_1_1BitmaskContactFilter_1_1Masks/index.html b/docs/api/structrobot__dart_1_1collision__filter_1_1BitmaskContactFilter_1_1Masks/index.html
index fa67f3bc..c27921b2 100644
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+++ b/docs/api/structrobot__dart_1_1collision__filter_1_1BitmaskContactFilter_1_1Masks/index.html
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1180,14 +1180,14 @@ <h3 id="variable-collision_mask">variable collision_mask<a class="headerlink" hr
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1221,10 +1221,10 @@ <h3 id="variable-collision_mask">variable collision_mask<a class="headerlink" hr
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
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     Documentation of RobotDART
@@ -377,7 +377,7 @@
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     NOSALRO/robot_dart
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1239,10 +1239,10 @@ <h3 id="variable-width">variable width<a class="headerlink" href="#variable-widt
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/structrobot__dart_1_1gui_1_1GrayscaleImage/index.html b/docs/api/structrobot__dart_1_1gui_1_1GrayscaleImage/index.html
index f5f7da28..cfcc3a7f 100644
--- a/docs/api/structrobot__dart_1_1gui_1_1GrayscaleImage/index.html
+++ b/docs/api/structrobot__dart_1_1gui_1_1GrayscaleImage/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1198,14 +1198,14 @@ <h3 id="variable-width">variable width<a class="headerlink" href="#variable-widt
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1239,10 +1239,10 @@ <h3 id="variable-width">variable width<a class="headerlink" href="#variable-widt
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
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     Documentation of RobotDART
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     NOSALRO/robot_dart
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   Back to top
 </button>
         
@@ -1257,10 +1257,10 @@ <h3 id="variable-width">variable width<a class="headerlink" href="#variable-widt
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/index.html b/docs/api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/index.html
index 3cc8cddd..9de73df5 100644
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+++ b/docs/api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1306,14 +1306,14 @@ <h3 id="variable-text_vertices">variable text_vertices<a class="headerlink" href
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1347,10 +1347,10 @@ <h3 id="variable-text_vertices">variable text_vertices<a class="headerlink" href
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
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index 0d3b88cc..fce7cb00 100644
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1295,14 +1295,14 @@ <h3 id="function-instance">function instance<a class="headerlink" href="#functio
             </div>
           
           
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1336,10 +1336,10 @@ <h3 id="function-instance">function instance<a class="headerlink" href="#functio
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/index.html b/docs/api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/index.html
index 8743a489..3178b597 100644
--- a/docs/api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/index.html
+++ b/docs/api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
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@@ -103,12 +103,12 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1360,14 +1360,14 @@ <h3 id="variable-width">variable width<a class="headerlink" href="#variable-widt
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1401,10 +1401,10 @@ <h3 id="variable-width">variable width<a class="headerlink" href="#variable-widt
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
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     NOSALRO/robot_dart
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     Documentation of RobotDART
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   Back to top
 </button>
         
@@ -1275,10 +1275,10 @@ <h3 id="variable-shadowed_color">variable shadowed_color<a class="headerlink" hr
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/structrobot__dart_1_1gui_1_1magnum_1_1ShadowData/index.html b/docs/api/structrobot__dart_1_1gui_1_1magnum_1_1ShadowData/index.html
index 39ce8116..3eb8c83d 100644
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+++ b/docs/api/structrobot__dart_1_1gui_1_1magnum_1_1ShadowData/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1180,14 +1180,14 @@ <h3 id="variable-shadow_framebuffer">variable shadow_framebuffer<a class="header
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1221,10 +1221,10 @@ <h3 id="variable-shadow_framebuffer">variable shadow_framebuffer<a class="header
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/structrobot__dart_1_1sensor_1_1IMUConfig/index.html b/docs/api/structrobot__dart_1_1sensor_1_1IMUConfig/index.html
index 44fbf8e0..1c099115 100644
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
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@@ -367,7 +367,7 @@
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     </a>
     Documentation of RobotDART
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1313,14 +1313,14 @@ <h3 id="function-imuconfig-33">function IMUConfig [3/3]<a class="headerlink" hre
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1354,10 +1354,10 @@ <h3 id="function-imuconfig-33">function IMUConfig [3/3]<a class="headerlink" hre
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/structrobot__dart_1_1simu_1_1GUIData/index.html b/docs/api/structrobot__dart_1_1simu_1_1GUIData/index.html
index 693d668e..07d0688e 100644
--- a/docs/api/structrobot__dart_1_1simu_1_1GUIData/index.html
+++ b/docs/api/structrobot__dart_1_1simu_1_1GUIData/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
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@@ -103,12 +103,12 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1326,14 +1326,14 @@ <h3 id="function-update_robot">function update_robot<a class="headerlink" href="
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1367,10 +1367,10 @@ <h3 id="function-update_robot">function update_robot<a class="headerlink" href="
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/structrobot__dart_1_1simu_1_1GUIData_1_1RobotData/index.html b/docs/api/structrobot__dart_1_1simu_1_1GUIData_1_1RobotData/index.html
index 1ec65f9e..1ae2ed49 100644
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     Documentation of RobotDART
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   Back to top
 </button>
         
@@ -1221,10 +1221,10 @@ <h3 id="variable-is_ghost">variable is_ghost<a class="headerlink" href="#variabl
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+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1270,14 +1270,14 @@ <h3 id="variable-transformation">variable transformation<a class="headerlink" hr
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1311,10 +1311,10 @@ <h3 id="variable-transformation">variable transformation<a class="headerlink" hr
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/talos_8cpp/index.html b/docs/api/talos_8cpp/index.html
index e36f5c80..b41d3da4 100644
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
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         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
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     NOSALRO/robot_dart
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@@ -1182,10 +1182,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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diff --git a/docs/api/talos_8cpp_source/index.html b/docs/api/talos_8cpp_source/index.html
index e08114a5..abddf6f5 100644
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+++ b/docs/api/talos_8cpp_source/index.html
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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@@ -200,7 +200,7 @@
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     Documentation of RobotDART
@@ -377,7 +377,7 @@
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@@ -1214,14 +1214,14 @@ <h1 id="file-taloscpp">File talos.cpp<a class="headerlink" href="#file-taloscpp"
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+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
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@@ -1255,10 +1255,10 @@ <h1 id="file-taloscpp">File talos.cpp<a class="headerlink" href="#file-taloscpp"
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+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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diff --git a/docs/api/talos_8hpp/index.html b/docs/api/talos_8hpp/index.html
index 6aa2bde8..0eecbc8f 100644
--- a/docs/api/talos_8hpp/index.html
+++ b/docs/api/talos_8hpp/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
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     Documentation of RobotDART
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   Back to top
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@@ -1216,10 +1216,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
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+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/talos_8hpp_source/index.html b/docs/api/talos_8hpp_source/index.html
index c0aa63a1..96aa792b 100644
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1155,14 +1155,14 @@ <h1 id="file-taloshpp">File talos.hpp<a class="headerlink" href="#file-taloshpp"
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1196,10 +1196,10 @@ <h1 id="file-taloshpp">File talos.hpp<a class="headerlink" href="#file-taloshpp"
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/tiago_8cpp/index.html b/docs/api/tiago_8cpp/index.html
index 5e11137b..fe547ee2 100644
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
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     Documentation of RobotDART
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     NOSALRO/robot_dart
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@@ -1182,10 +1182,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/tiago_8cpp_source/index.html b/docs/api/tiago_8cpp_source/index.html
index fbd11e68..13acbe51 100644
--- a/docs/api/tiago_8cpp_source/index.html
+++ b/docs/api/tiago_8cpp_source/index.html
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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@@ -200,7 +200,7 @@
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1161,14 +1161,14 @@ <h1 id="file-tiagocpp">File tiago.cpp<a class="headerlink" href="#file-tiagocpp"
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
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@@ -1202,10 +1202,10 @@ <h1 id="file-tiagocpp">File tiago.cpp<a class="headerlink" href="#file-tiagocpp"
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/tiago_8hpp/index.html b/docs/api/tiago_8hpp/index.html
index baa0758e..f95aa65e 100644
--- a/docs/api/tiago_8hpp/index.html
+++ b/docs/api/tiago_8hpp/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -58,7 +58,7 @@
       
     
     
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
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     Documentation of RobotDART
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   Back to top
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@@ -1206,10 +1206,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/tiago_8hpp_source/index.html b/docs/api/tiago_8hpp_source/index.html
index c8ad52c4..fee8e9a8 100644
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
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-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1129,14 +1129,14 @@ <h1 id="file-tiagohpp">File tiago.hpp<a class="headerlink" href="#file-tiagohpp"
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
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@@ -1170,10 +1170,10 @@ <h1 id="file-tiagohpp">File tiago.hpp<a class="headerlink" href="#file-tiagohpp"
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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diff --git a/docs/api/torque_8cpp/index.html b/docs/api/torque_8cpp/index.html
index c044ec90..cf5770c2 100644
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
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@@ -1183,10 +1183,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/torque_8cpp_source/index.html b/docs/api/torque_8cpp_source/index.html
index 7c58fbaa..fe14b3ad 100644
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@@ -367,7 +367,7 @@
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@@ -377,7 +377,7 @@
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diff --git a/docs/api/torque_8hpp/index.html b/docs/api/torque_8hpp/index.html
index 98e653da..fb8caa3c 100644
--- a/docs/api/torque_8hpp/index.html
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
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     Documentation of RobotDART
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     NOSALRO/robot_dart
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   Back to top
 </button>
         
@@ -1205,10 +1205,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/torque_8hpp_source/index.html b/docs/api/torque_8hpp_source/index.html
index 9a8f2439..8abb4bad 100644
--- a/docs/api/torque_8hpp_source/index.html
+++ b/docs/api/torque_8hpp_source/index.html
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     Documentation of RobotDART
@@ -377,7 +377,7 @@
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   <div class="md-source__repository">
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@@ -1132,14 +1132,14 @@ <h1 id="file-torquehpp">File torque.hpp<a class="headerlink" href="#file-torqueh
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
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@@ -1173,10 +1173,10 @@ <h1 id="file-torquehpp">File torque.hpp<a class="headerlink" href="#file-torqueh
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+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/types_8hpp/index.html b/docs/api/types_8hpp/index.html
index de9a4202..b81b9033 100644
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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     NOSALRO/robot_dart
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1187,10 +1187,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/types_8hpp_source/index.html b/docs/api/types_8hpp_source/index.html
index c2f63261..03f99e32 100644
--- a/docs/api/types_8hpp_source/index.html
+++ b/docs/api/types_8hpp_source/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1118,14 +1118,14 @@ <h1 id="file-typeshpp">File types.hpp<a class="headerlink" href="#file-typeshpp"
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1159,10 +1159,10 @@ <h1 id="file-typeshpp">File types.hpp<a class="headerlink" href="#file-typeshpp"
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/ur3e_8cpp/index.html b/docs/api/ur3e_8cpp/index.html
index 0f508f4a..f0c4b06c 100644
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
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     Documentation of RobotDART
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@@ -1182,10 +1182,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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diff --git a/docs/api/ur3e_8cpp_source/index.html b/docs/api/ur3e_8cpp_source/index.html
index 9d96d0cf..9bcc8d5f 100644
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+++ b/docs/api/ur3e_8cpp_source/index.html
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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       <nav class="md-search__options" aria-label="Search">
         
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+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1128,14 +1128,14 @@ <h1 id="file-ur3ecpp">File ur3e.cpp<a class="headerlink" href="#file-ur3ecpp" ti
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+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
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@@ -1169,10 +1169,10 @@ <h1 id="file-ur3ecpp">File ur3e.cpp<a class="headerlink" href="#file-ur3ecpp" ti
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-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/ur3e_8hpp/index.html b/docs/api/ur3e_8hpp/index.html
index 38fe37ce..821824ce 100644
--- a/docs/api/ur3e_8hpp/index.html
+++ b/docs/api/ur3e_8hpp/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
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     Documentation of RobotDART
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     NOSALRO/robot_dart
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   Back to top
 </button>
         
@@ -1210,10 +1210,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
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+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
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+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/ur3e_8hpp_source/index.html b/docs/api/ur3e_8hpp_source/index.html
index aa247123..3147be5b 100644
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+++ b/docs/api/ur3e_8hpp_source/index.html
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1127,14 +1127,14 @@ <h1 id="file-ur3ehpp">File ur3e.hpp<a class="headerlink" href="#file-ur3ehpp" ti
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1168,10 +1168,10 @@ <h1 id="file-ur3ehpp">File ur3e.hpp<a class="headerlink" href="#file-ur3ehpp" ti
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/utils_8hpp/index.html b/docs/api/utils_8hpp/index.html
index b391935e..2d15330a 100644
--- a/docs/api/utils_8hpp/index.html
+++ b/docs/api/utils_8hpp/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -58,7 +58,7 @@
       
     
     
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1378,14 +1378,14 @@ <h3 id="define-robot_dart_warning">define ROBOT_DART_WARNING<a class="headerlink
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1419,10 +1419,10 @@ <h3 id="define-robot_dart_warning">define ROBOT_DART_WARNING<a class="headerlink
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/utils_8hpp_source/index.html b/docs/api/utils_8hpp_source/index.html
index 5b5e9e64..ba8e3ec9 100644
--- a/docs/api/utils_8hpp_source/index.html
+++ b/docs/api/utils_8hpp_source/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
-  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4V7Z"/></svg>');}</style>
+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -58,7 +58,7 @@
       
     
     
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+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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     <label class="md-header__button md-icon" for="__drawer">
       
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1216,14 +1216,14 @@ <h1 id="file-utilshpp">File utils.hpp<a class="headerlink" href="#file-utilshpp"
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1257,10 +1257,10 @@ <h1 id="file-utilshpp">File utils.hpp<a class="headerlink" href="#file-utilshpp"
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/utils__headers__dart__collision_8hpp/index.html b/docs/api/utils__headers__dart__collision_8hpp/index.html
index 7933b29c..ae13d6cd 100644
--- a/docs/api/utils__headers__dart__collision_8hpp/index.html
+++ b/docs/api/utils__headers__dart__collision_8hpp/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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   <div class="md-source__repository">
     NOSALRO/robot_dart
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             </div>
           
           
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1150,10 +1150,10 @@ <h1 id="file-utils_headers_dart_collisionhpp">File utils_headers_dart_collision.
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/utils__headers__dart__collision_8hpp_source/index.html b/docs/api/utils__headers__dart__collision_8hpp_source/index.html
index a8dbc74c..b280a4c5 100644
--- a/docs/api/utils__headers__dart__collision_8hpp_source/index.html
+++ b/docs/api/utils__headers__dart__collision_8hpp_source/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1122,14 +1122,14 @@ <h1 id="file-utils_headers_dart_collisionhpp">File utils_headers_dart_collision.
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1163,10 +1163,10 @@ <h1 id="file-utils_headers_dart_collisionhpp">File utils_headers_dart_collision.
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/utils__headers__dart__dynamics_8hpp/index.html b/docs/api/utils__headers__dart__dynamics_8hpp/index.html
index edbd474f..2f3330ef 100644
--- a/docs/api/utils__headers__dart__dynamics_8hpp/index.html
+++ b/docs/api/utils__headers__dart__dynamics_8hpp/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
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@@ -58,7 +58,7 @@
       
     
     
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@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1116,14 +1116,14 @@ <h1 id="file-utils_headers_dart_dynamicshpp">File utils_headers_dart_dynamics.hp
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1157,10 +1157,10 @@ <h1 id="file-utils_headers_dart_dynamicshpp">File utils_headers_dart_dynamics.hp
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/utils__headers__dart__dynamics_8hpp_source/index.html b/docs/api/utils__headers__dart__dynamics_8hpp_source/index.html
index 19289c43..bb5a3ca7 100644
--- a/docs/api/utils__headers__dart__dynamics_8hpp_source/index.html
+++ b/docs/api/utils__headers__dart__dynamics_8hpp_source/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1120,14 +1120,14 @@ <h1 id="file-utils_headers_dart_dynamicshpp">File utils_headers_dart_dynamics.hp
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1161,10 +1161,10 @@ <h1 id="file-utils_headers_dart_dynamicshpp">File utils_headers_dart_dynamics.hp
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/utils__headers__dart__io_8hpp/index.html b/docs/api/utils__headers__dart__io_8hpp/index.html
index 16ad7acd..f26b2f47 100644
--- a/docs/api/utils__headers__dart__io_8hpp/index.html
+++ b/docs/api/utils__headers__dart__io_8hpp/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -34,14 +34,14 @@
     
   
   
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
@@ -377,7 +377,7 @@
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1139,14 +1139,14 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
             </div>
           
           
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1180,10 +1180,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/utils__headers__dart__io_8hpp_source/index.html b/docs/api/utils__headers__dart__io_8hpp_source/index.html
index 1a223a3c..2891af45 100644
--- a/docs/api/utils__headers__dart__io_8hpp_source/index.html
+++ b/docs/api/utils__headers__dart__io_8hpp_source/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1123,14 +1123,14 @@ <h1 id="file-utils_headers_dart_iohpp">File utils_headers_dart_io.hpp<a class="h
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1164,10 +1164,10 @@ <h1 id="file-utils_headers_dart_iohpp">File utils_headers_dart_io.hpp<a class="h
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/utils__headers__eigen_8hpp/index.html b/docs/api/utils__headers__eigen_8hpp/index.html
index 2e149d30..9e79596d 100644
--- a/docs/api/utils__headers__eigen_8hpp/index.html
+++ b/docs/api/utils__headers__eigen_8hpp/index.html
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
@@ -377,7 +377,7 @@
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1105,14 +1105,14 @@ <h1 id="file-utils_headers_eigenhpp">File utils_headers_eigen.hpp<a class="heade
             </div>
           
           
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1146,10 +1146,10 @@ <h1 id="file-utils_headers_eigenhpp">File utils_headers_eigen.hpp<a class="heade
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/utils__headers__eigen_8hpp_source/index.html b/docs/api/utils__headers__eigen_8hpp_source/index.html
index 3dfc29dc..c2e42b58 100644
--- a/docs/api/utils__headers__eigen_8hpp_source/index.html
+++ b/docs/api/utils__headers__eigen_8hpp_source/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -34,14 +34,14 @@
     
   
   
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
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@@ -58,7 +58,7 @@
       
     
     
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@@ -103,12 +103,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1109,14 +1109,14 @@ <h1 id="file-utils_headers_eigenhpp">File utils_headers_eigen.hpp<a class="heade
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1150,10 +1150,10 @@ <h1 id="file-utils_headers_eigenhpp">File utils_headers_eigen.hpp<a class="heade
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/utils__headers__external_8hpp/index.html b/docs/api/utils__headers__external_8hpp/index.html
index bef845e1..77953b08 100644
--- a/docs/api/utils__headers__external_8hpp/index.html
+++ b/docs/api/utils__headers__external_8hpp/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     </a>
     Documentation of RobotDART
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   <div class="md-source__repository">
     NOSALRO/robot_dart
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1150,10 +1150,10 @@ <h1 id="file-utils_headers_externalhpp">File utils_headers_external.hpp<a class=
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/utils__headers__external_8hpp_source/index.html b/docs/api/utils__headers__external_8hpp_source/index.html
index 9ec5486b..e0f0277a 100644
--- a/docs/api/utils__headers__external_8hpp_source/index.html
+++ b/docs/api/utils__headers__external_8hpp_source/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1114,14 +1114,14 @@ <h1 id="file-utils_headers_externalhpp">File utils_headers_external.hpp<a class=
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1155,10 +1155,10 @@ <h1 id="file-utils_headers_externalhpp">File utils_headers_external.hpp<a class=
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/utils__headers__external__gui_8hpp/index.html b/docs/api/utils__headers__external__gui_8hpp/index.html
index cd937576..1b8962fd 100644
--- a/docs/api/utils__headers__external__gui_8hpp/index.html
+++ b/docs/api/utils__headers__external__gui_8hpp/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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   <div class="md-source__repository">
     NOSALRO/robot_dart
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1146,10 +1146,10 @@ <h1 id="file-utils_headers_external_guihpp">File utils_headers_external_gui.hpp<
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/utils__headers__external__gui_8hpp_source/index.html b/docs/api/utils__headers__external__gui_8hpp_source/index.html
index 9d46b6ca..58d70de8 100644
--- a/docs/api/utils__headers__external__gui_8hpp_source/index.html
+++ b/docs/api/utils__headers__external__gui_8hpp_source/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1110,14 +1110,14 @@ <h1 id="file-utils_headers_external_guihpp">File utils_headers_external_gui.hpp<
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1151,10 +1151,10 @@ <h1 id="file-utils_headers_external_guihpp">File utils_headers_external_gui.hpp<
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/variables/index.html b/docs/api/variables/index.html
index d4125fc5..609a1d19 100644
--- a/docs/api/variables/index.html
+++ b/docs/api/variables/index.html
@@ -18,7 +18,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -26,7 +26,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
@@ -38,14 +38,14 @@
     
   
   
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
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@@ -62,7 +62,7 @@
       
     
     
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+    <script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -107,12 +107,12 @@
     <a href="../.." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
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@@ -140,7 +140,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -150,7 +150,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -158,13 +158,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -173,15 +173,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -204,7 +204,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -373,7 +373,7 @@
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     </a>
     Documentation of RobotDART
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1181,14 +1181,14 @@ <h2 id="s">s<a class="headerlink" href="#s" title="Permanent link">&para;</a></h
             </div>
           
           
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1222,10 +1222,10 @@ <h2 id="s">s<a class="headerlink" href="#s" title="Permanent link">&para;</a></h
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/vx300_8hpp/index.html b/docs/api/vx300_8hpp/index.html
index d299ccf3..efa35898 100644
--- a/docs/api/vx300_8hpp/index.html
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1164,14 +1164,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1205,10 +1205,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/vx300_8hpp_source/index.html b/docs/api/vx300_8hpp_source/index.html
index 5577c4d6..65e8baee 100644
--- a/docs/api/vx300_8hpp_source/index.html
+++ b/docs/api/vx300_8hpp_source/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -58,7 +58,7 @@
       
     
     
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     Documentation of RobotDART
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     NOSALRO/robot_dart
@@ -1119,14 +1119,14 @@ <h1 id="file-vx300hpp">File vx300.hpp<a class="headerlink" href="#file-vx300hpp"
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   Back to top
 </button>
         
@@ -1160,10 +1160,10 @@ <h1 id="file-vx300hpp">File vx300.hpp<a class="headerlink" href="#file-vx300hpp"
     </div>
     
     
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+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/windowless__gl__application_8cpp/index.html b/docs/api/windowless__gl__application_8cpp/index.html
index 15b3bf47..afd8ac04 100644
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+++ b/docs/api/windowless__gl__application_8cpp/index.html
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+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -154,13 +154,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1146,14 +1146,14 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1187,10 +1187,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/windowless__gl__application_8cpp_source/index.html b/docs/api/windowless__gl__application_8cpp_source/index.html
index 2f549ffb..94866757 100644
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+++ b/docs/api/windowless__gl__application_8cpp_source/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
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   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1101,14 +1101,14 @@ <h1 id="macro-syntax-error"><em>Macro Syntax Error</em><a class="headerlink" hre
             </div>
           
           
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
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   Back to top
 </button>
         
@@ -1142,10 +1142,10 @@ <h1 id="macro-syntax-error"><em>Macro Syntax Error</em><a class="headerlink" hre
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/windowless__gl__application_8hpp/index.html b/docs/api/windowless__gl__application_8hpp/index.html
index 5627a6f3..86492616 100644
--- a/docs/api/windowless__gl__application_8hpp/index.html
+++ b/docs/api/windowless__gl__application_8hpp/index.html
@@ -14,7 +14,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1170,14 +1170,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1211,10 +1211,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/windowless__gl__application_8hpp_source/index.html b/docs/api/windowless__gl__application_8hpp_source/index.html
index 0b7267dc..ba22fcf0 100644
--- a/docs/api/windowless__gl__application_8hpp_source/index.html
+++ b/docs/api/windowless__gl__application_8hpp_source/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
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   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1134,14 +1134,14 @@ <h1 id="file-windowless_gl_applicationhpp">File windowless_gl_application.hpp<a
             </div>
           
           
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1175,10 +1175,10 @@ <h1 id="file-windowless_gl_applicationhpp">File windowless_gl_application.hpp<a
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/windowless__graphics_8cpp/index.html b/docs/api/windowless__graphics_8cpp/index.html
index 35ba8fa6..4adffd47 100644
--- a/docs/api/windowless__graphics_8cpp/index.html
+++ b/docs/api/windowless__graphics_8cpp/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -169,15 +169,15 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1144,14 +1144,14 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
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@@ -1185,10 +1185,10 @@ <h2 id="namespaces">Namespaces<a class="headerlink" href="#namespaces" title="Pe
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+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/windowless__graphics_8cpp_source/index.html b/docs/api/windowless__graphics_8cpp_source/index.html
index 49dec3ec..86504973 100644
--- a/docs/api/windowless__graphics_8cpp_source/index.html
+++ b/docs/api/windowless__graphics_8cpp_source/index.html
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
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@@ -169,15 +169,15 @@
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       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
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     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1127,14 +1127,14 @@ <h1 id="file-windowless_graphicscpp">File windowless_graphics.cpp<a class="heade
             </div>
           
           
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         </div>
         
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1168,10 +1168,10 @@ <h1 id="file-windowless_graphicscpp">File windowless_graphics.cpp<a class="heade
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../../javascripts/mathjax.js"></script>
       
diff --git a/docs/api/windowless__graphics_8hpp/index.html b/docs/api/windowless__graphics_8hpp/index.html
index b7a00b2c..7d51ccac 100644
--- a/docs/api/windowless__graphics_8hpp/index.html
+++ b/docs/api/windowless__graphics_8hpp/index.html
@@ -14,7 +14,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -22,7 +22,7 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -103,12 +103,12 @@
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1169,14 +1169,14 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1210,10 +1210,10 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/api/windowless__graphics_8hpp_source/index.html b/docs/api/windowless__graphics_8hpp_source/index.html
index e3451889..7b5fd6ee 100644
--- a/docs/api/windowless__graphics_8hpp_source/index.html
+++ b/docs/api/windowless__graphics_8hpp_source/index.html
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       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
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-      <link rel="stylesheet" href="../../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -58,7 +58,7 @@
       
     
     
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@@ -103,12 +103,12 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
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+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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@@ -136,7 +136,7 @@
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       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
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@@ -146,7 +146,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -154,13 +154,13 @@
       
     
     
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -169,15 +169,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -200,7 +200,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -367,7 +367,7 @@
     <a href="../.." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -377,7 +377,7 @@
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+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1123,14 +1123,14 @@ <h1 id="file-windowless_graphicshpp">File windowless_graphics.hpp<a class="heade
             </div>
           
           
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+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
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@@ -1164,10 +1164,10 @@ <h1 id="file-windowless_graphicshpp">File windowless_graphics.hpp<a class="heade
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/assets/.doxy/api/api/base__application_8hpp_source.md b/docs/assets/.doxy/api/api/base__application_8hpp_source.md
index f430256b..aaec0d8a 100644
--- a/docs/assets/.doxy/api/api/base__application_8hpp_source.md
+++ b/docs/assets/.doxy/api/api/base__application_8hpp_source.md
@@ -104,8 +104,14 @@ namespace robot_dart {
                 std::string title = "DART";
 
                 // Shadows
+#ifndef MAGNUM_MAC_OSX
                 bool shadowed = true;
                 bool transparent_shadows = true;
+#else
+                // Disabling shadows by default on OSX
+                bool shadowed = false;
+                bool transparent_shadows = false;
+#endif
                 size_t shadow_map_size = 1024;
 
                 // Lights
diff --git a/docs/assets/.doxy/api/api/classrobot__dart_1_1control_1_1PDControl.md b/docs/assets/.doxy/api/api/classrobot__dart_1_1control_1_1PDControl.md
index dace31db..6974f1cd 100644
--- a/docs/assets/.doxy/api/api/classrobot__dart_1_1control_1_1PDControl.md
+++ b/docs/assets/.doxy/api/api/classrobot__dart_1_1control_1_1PDControl.md
@@ -91,23 +91,23 @@ See [robot\_dart::control::RobotControl](classrobot__dart_1_1control_1_1RobotCon
 
 | Type | Name |
 | ---: | :--- |
-|   | [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md#function-robotcontrol-13) () <br> |
-|   | [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md#function-robotcontrol-23) (const Eigen::VectorXd & ctrl, bool full\_control=false) <br> |
-|   | [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md#function-robotcontrol-33) (const Eigen::VectorXd & ctrl, const std::vector&lt; std::string &gt; & controllable\_dofs) <br> |
-|  void | [**activate**](classrobot__dart_1_1control_1_1RobotControl.md#function-activate) (bool enable=true) <br> |
-|  bool | [**active**](classrobot__dart_1_1control_1_1RobotControl.md#function-active) () const<br> |
-| virtual Eigen::VectorXd | [**calculate**](classrobot__dart_1_1control_1_1RobotControl.md#function-calculate) (double t) = 0<br> |
-| virtual std::shared\_ptr&lt; [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**clone**](classrobot__dart_1_1control_1_1RobotControl.md#function-clone) () const = 0<br> |
-| virtual void | [**configure**](classrobot__dart_1_1control_1_1RobotControl.md#function-configure) () = 0<br> |
-|  const std::vector&lt; std::string &gt; & | [**controllable\_dofs**](classrobot__dart_1_1control_1_1RobotControl.md#function-controllable_dofs) () const<br> |
-|  void | [**init**](classrobot__dart_1_1control_1_1RobotControl.md#function-init) () <br> |
-|  const Eigen::VectorXd & | [**parameters**](classrobot__dart_1_1control_1_1RobotControl.md#function-parameters) () const<br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**robot**](classrobot__dart_1_1control_1_1RobotControl.md#function-robot) () const<br> |
-|  void | [**set\_parameters**](classrobot__dart_1_1control_1_1RobotControl.md#function-set_parameters) (const Eigen::VectorXd & ctrl) <br> |
-|  void | [**set\_robot**](classrobot__dart_1_1control_1_1RobotControl.md#function-set_robot) (const std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; & robot) <br> |
-|  void | [**set\_weight**](classrobot__dart_1_1control_1_1RobotControl.md#function-set_weight) (double weight) <br> |
-|  double | [**weight**](classrobot__dart_1_1control_1_1RobotControl.md#function-weight) () const<br> |
-| virtual  | [**~RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md#function-robotcontrol) () <br> |
+|   | [**RobotControl**](#function-robotcontrol-13) () <br> |
+|   | [**RobotControl**](#function-robotcontrol-23) (const Eigen::VectorXd & ctrl, bool full\_control=false) <br> |
+|   | [**RobotControl**](#function-robotcontrol-33) (const Eigen::VectorXd & ctrl, const std::vector&lt; std::string &gt; & controllable\_dofs) <br> |
+|  void | [**activate**](#function-activate) (bool enable=true) <br> |
+|  bool | [**active**](#function-active) () const<br> |
+| virtual Eigen::VectorXd | [**calculate**](#function-calculate) (double t) = 0<br> |
+| virtual std::shared\_ptr&lt; [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**clone**](#function-clone) () const = 0<br> |
+| virtual void | [**configure**](#function-configure) () = 0<br> |
+|  const std::vector&lt; std::string &gt; & | [**controllable\_dofs**](#function-controllable_dofs) () const<br> |
+|  void | [**init**](#function-init) () <br> |
+|  const Eigen::VectorXd & | [**parameters**](#function-parameters) () const<br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**robot**](#function-robot) () const<br> |
+|  void | [**set\_parameters**](#function-set_parameters) (const Eigen::VectorXd & ctrl) <br> |
+|  void | [**set\_robot**](#function-set_robot) (const std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; & robot) <br> |
+|  void | [**set\_weight**](#function-set_weight) (double weight) <br> |
+|  double | [**weight**](#function-weight) () const<br> |
+| virtual  | [**~RobotControl**](#function-robotcontrol) () <br> |
 
 
 
@@ -137,14 +137,14 @@ See [robot\_dart::control::RobotControl](classrobot__dart_1_1control_1_1RobotCon
 
 | Type | Name |
 | ---: | :--- |
-|  bool | [**\_active**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_active)  <br> |
-|  bool | [**\_check\_free**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_check_free)   = = false<br> |
-|  int | [**\_control\_dof**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_control_dof)  <br> |
-|  std::vector&lt; std::string &gt; | [**\_controllable\_dofs**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_controllable_dofs)  <br> |
-|  Eigen::VectorXd | [**\_ctrl**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_ctrl)  <br> |
-|  int | [**\_dof**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_dof)  <br> |
-|  std::weak\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**\_robot**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_robot)  <br> |
-|  double | [**\_weight**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_weight)  <br> |
+|  bool | [**\_active**](#variable-_active)  <br> |
+|  bool | [**\_check\_free**](#variable-_check_free)   = = false<br> |
+|  int | [**\_control\_dof**](#variable-_control_dof)  <br> |
+|  std::vector&lt; std::string &gt; | [**\_controllable\_dofs**](#variable-_controllable_dofs)  <br> |
+|  Eigen::VectorXd | [**\_ctrl**](#variable-_ctrl)  <br> |
+|  int | [**\_dof**](#variable-_dof)  <br> |
+|  std::weak\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**\_robot**](#variable-_robot)  <br> |
+|  double | [**\_weight**](#variable-_weight)  <br> |
 
 
 
diff --git a/docs/assets/.doxy/api/api/classrobot__dart_1_1control_1_1PolicyControl.md b/docs/assets/.doxy/api/api/classrobot__dart_1_1control_1_1PolicyControl.md
index ce7ffe87..54da5a43 100644
--- a/docs/assets/.doxy/api/api/classrobot__dart_1_1control_1_1PolicyControl.md
+++ b/docs/assets/.doxy/api/api/classrobot__dart_1_1control_1_1PolicyControl.md
@@ -92,23 +92,23 @@ See [robot\_dart::control::RobotControl](classrobot__dart_1_1control_1_1RobotCon
 
 | Type | Name |
 | ---: | :--- |
-|   | [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md#function-robotcontrol-13) () <br> |
-|   | [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md#function-robotcontrol-23) (const Eigen::VectorXd & ctrl, bool full\_control=false) <br> |
-|   | [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md#function-robotcontrol-33) (const Eigen::VectorXd & ctrl, const std::vector&lt; std::string &gt; & controllable\_dofs) <br> |
-|  void | [**activate**](classrobot__dart_1_1control_1_1RobotControl.md#function-activate) (bool enable=true) <br> |
-|  bool | [**active**](classrobot__dart_1_1control_1_1RobotControl.md#function-active) () const<br> |
-| virtual Eigen::VectorXd | [**calculate**](classrobot__dart_1_1control_1_1RobotControl.md#function-calculate) (double t) = 0<br> |
-| virtual std::shared\_ptr&lt; [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**clone**](classrobot__dart_1_1control_1_1RobotControl.md#function-clone) () const = 0<br> |
-| virtual void | [**configure**](classrobot__dart_1_1control_1_1RobotControl.md#function-configure) () = 0<br> |
-|  const std::vector&lt; std::string &gt; & | [**controllable\_dofs**](classrobot__dart_1_1control_1_1RobotControl.md#function-controllable_dofs) () const<br> |
-|  void | [**init**](classrobot__dart_1_1control_1_1RobotControl.md#function-init) () <br> |
-|  const Eigen::VectorXd & | [**parameters**](classrobot__dart_1_1control_1_1RobotControl.md#function-parameters) () const<br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**robot**](classrobot__dart_1_1control_1_1RobotControl.md#function-robot) () const<br> |
-|  void | [**set\_parameters**](classrobot__dart_1_1control_1_1RobotControl.md#function-set_parameters) (const Eigen::VectorXd & ctrl) <br> |
-|  void | [**set\_robot**](classrobot__dart_1_1control_1_1RobotControl.md#function-set_robot) (const std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; & robot) <br> |
-|  void | [**set\_weight**](classrobot__dart_1_1control_1_1RobotControl.md#function-set_weight) (double weight) <br> |
-|  double | [**weight**](classrobot__dart_1_1control_1_1RobotControl.md#function-weight) () const<br> |
-| virtual  | [**~RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md#function-robotcontrol) () <br> |
+|   | [**RobotControl**](#function-robotcontrol-13) () <br> |
+|   | [**RobotControl**](#function-robotcontrol-23) (const Eigen::VectorXd & ctrl, bool full\_control=false) <br> |
+|   | [**RobotControl**](#function-robotcontrol-33) (const Eigen::VectorXd & ctrl, const std::vector&lt; std::string &gt; & controllable\_dofs) <br> |
+|  void | [**activate**](#function-activate) (bool enable=true) <br> |
+|  bool | [**active**](#function-active) () const<br> |
+| virtual Eigen::VectorXd | [**calculate**](#function-calculate) (double t) = 0<br> |
+| virtual std::shared\_ptr&lt; [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**clone**](#function-clone) () const = 0<br> |
+| virtual void | [**configure**](#function-configure) () = 0<br> |
+|  const std::vector&lt; std::string &gt; & | [**controllable\_dofs**](#function-controllable_dofs) () const<br> |
+|  void | [**init**](#function-init) () <br> |
+|  const Eigen::VectorXd & | [**parameters**](#function-parameters) () const<br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**robot**](#function-robot) () const<br> |
+|  void | [**set\_parameters**](#function-set_parameters) (const Eigen::VectorXd & ctrl) <br> |
+|  void | [**set\_robot**](#function-set_robot) (const std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; & robot) <br> |
+|  void | [**set\_weight**](#function-set_weight) (double weight) <br> |
+|  double | [**weight**](#function-weight) () const<br> |
+| virtual  | [**~RobotControl**](#function-robotcontrol) () <br> |
 
 
 
@@ -143,14 +143,14 @@ See [robot\_dart::control::RobotControl](classrobot__dart_1_1control_1_1RobotCon
 
 | Type | Name |
 | ---: | :--- |
-|  bool | [**\_active**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_active)  <br> |
-|  bool | [**\_check\_free**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_check_free)   = = false<br> |
-|  int | [**\_control\_dof**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_control_dof)  <br> |
-|  std::vector&lt; std::string &gt; | [**\_controllable\_dofs**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_controllable_dofs)  <br> |
-|  Eigen::VectorXd | [**\_ctrl**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_ctrl)  <br> |
-|  int | [**\_dof**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_dof)  <br> |
-|  std::weak\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**\_robot**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_robot)  <br> |
-|  double | [**\_weight**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_weight)  <br> |
+|  bool | [**\_active**](#variable-_active)  <br> |
+|  bool | [**\_check\_free**](#variable-_check_free)   = = false<br> |
+|  int | [**\_control\_dof**](#variable-_control_dof)  <br> |
+|  std::vector&lt; std::string &gt; | [**\_controllable\_dofs**](#variable-_controllable_dofs)  <br> |
+|  Eigen::VectorXd | [**\_ctrl**](#variable-_ctrl)  <br> |
+|  int | [**\_dof**](#variable-_dof)  <br> |
+|  std::weak\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**\_robot**](#variable-_robot)  <br> |
+|  double | [**\_weight**](#variable-_weight)  <br> |
 
 
 
diff --git a/docs/assets/.doxy/api/api/classrobot__dart_1_1control_1_1SimpleControl.md b/docs/assets/.doxy/api/api/classrobot__dart_1_1control_1_1SimpleControl.md
index 6927acc0..a3633178 100644
--- a/docs/assets/.doxy/api/api/classrobot__dart_1_1control_1_1SimpleControl.md
+++ b/docs/assets/.doxy/api/api/classrobot__dart_1_1control_1_1SimpleControl.md
@@ -86,23 +86,23 @@ See [robot\_dart::control::RobotControl](classrobot__dart_1_1control_1_1RobotCon
 
 | Type | Name |
 | ---: | :--- |
-|   | [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md#function-robotcontrol-13) () <br> |
-|   | [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md#function-robotcontrol-23) (const Eigen::VectorXd & ctrl, bool full\_control=false) <br> |
-|   | [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md#function-robotcontrol-33) (const Eigen::VectorXd & ctrl, const std::vector&lt; std::string &gt; & controllable\_dofs) <br> |
-|  void | [**activate**](classrobot__dart_1_1control_1_1RobotControl.md#function-activate) (bool enable=true) <br> |
-|  bool | [**active**](classrobot__dart_1_1control_1_1RobotControl.md#function-active) () const<br> |
-| virtual Eigen::VectorXd | [**calculate**](classrobot__dart_1_1control_1_1RobotControl.md#function-calculate) (double t) = 0<br> |
-| virtual std::shared\_ptr&lt; [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**clone**](classrobot__dart_1_1control_1_1RobotControl.md#function-clone) () const = 0<br> |
-| virtual void | [**configure**](classrobot__dart_1_1control_1_1RobotControl.md#function-configure) () = 0<br> |
-|  const std::vector&lt; std::string &gt; & | [**controllable\_dofs**](classrobot__dart_1_1control_1_1RobotControl.md#function-controllable_dofs) () const<br> |
-|  void | [**init**](classrobot__dart_1_1control_1_1RobotControl.md#function-init) () <br> |
-|  const Eigen::VectorXd & | [**parameters**](classrobot__dart_1_1control_1_1RobotControl.md#function-parameters) () const<br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**robot**](classrobot__dart_1_1control_1_1RobotControl.md#function-robot) () const<br> |
-|  void | [**set\_parameters**](classrobot__dart_1_1control_1_1RobotControl.md#function-set_parameters) (const Eigen::VectorXd & ctrl) <br> |
-|  void | [**set\_robot**](classrobot__dart_1_1control_1_1RobotControl.md#function-set_robot) (const std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; & robot) <br> |
-|  void | [**set\_weight**](classrobot__dart_1_1control_1_1RobotControl.md#function-set_weight) (double weight) <br> |
-|  double | [**weight**](classrobot__dart_1_1control_1_1RobotControl.md#function-weight) () const<br> |
-| virtual  | [**~RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md#function-robotcontrol) () <br> |
+|   | [**RobotControl**](#function-robotcontrol-13) () <br> |
+|   | [**RobotControl**](#function-robotcontrol-23) (const Eigen::VectorXd & ctrl, bool full\_control=false) <br> |
+|   | [**RobotControl**](#function-robotcontrol-33) (const Eigen::VectorXd & ctrl, const std::vector&lt; std::string &gt; & controllable\_dofs) <br> |
+|  void | [**activate**](#function-activate) (bool enable=true) <br> |
+|  bool | [**active**](#function-active) () const<br> |
+| virtual Eigen::VectorXd | [**calculate**](#function-calculate) (double t) = 0<br> |
+| virtual std::shared\_ptr&lt; [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**clone**](#function-clone) () const = 0<br> |
+| virtual void | [**configure**](#function-configure) () = 0<br> |
+|  const std::vector&lt; std::string &gt; & | [**controllable\_dofs**](#function-controllable_dofs) () const<br> |
+|  void | [**init**](#function-init) () <br> |
+|  const Eigen::VectorXd & | [**parameters**](#function-parameters) () const<br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**robot**](#function-robot) () const<br> |
+|  void | [**set\_parameters**](#function-set_parameters) (const Eigen::VectorXd & ctrl) <br> |
+|  void | [**set\_robot**](#function-set_robot) (const std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; & robot) <br> |
+|  void | [**set\_weight**](#function-set_weight) (double weight) <br> |
+|  double | [**weight**](#function-weight) () const<br> |
+| virtual  | [**~RobotControl**](#function-robotcontrol) () <br> |
 
 
 
@@ -125,14 +125,14 @@ See [robot\_dart::control::RobotControl](classrobot__dart_1_1control_1_1RobotCon
 
 | Type | Name |
 | ---: | :--- |
-|  bool | [**\_active**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_active)  <br> |
-|  bool | [**\_check\_free**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_check_free)   = = false<br> |
-|  int | [**\_control\_dof**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_control_dof)  <br> |
-|  std::vector&lt; std::string &gt; | [**\_controllable\_dofs**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_controllable_dofs)  <br> |
-|  Eigen::VectorXd | [**\_ctrl**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_ctrl)  <br> |
-|  int | [**\_dof**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_dof)  <br> |
-|  std::weak\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**\_robot**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_robot)  <br> |
-|  double | [**\_weight**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_weight)  <br> |
+|  bool | [**\_active**](#variable-_active)  <br> |
+|  bool | [**\_check\_free**](#variable-_check_free)   = = false<br> |
+|  int | [**\_control\_dof**](#variable-_control_dof)  <br> |
+|  std::vector&lt; std::string &gt; | [**\_controllable\_dofs**](#variable-_controllable_dofs)  <br> |
+|  Eigen::VectorXd | [**\_ctrl**](#variable-_ctrl)  <br> |
+|  int | [**\_dof**](#variable-_dof)  <br> |
+|  std::weak\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**\_robot**](#variable-_robot)  <br> |
+|  double | [**\_weight**](#variable-_weight)  <br> |
 
 
 
diff --git a/docs/assets/.doxy/api/api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md b/docs/assets/.doxy/api/api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md
index ebd8dca9..d5ba6ae8 100644
--- a/docs/assets/.doxy/api/api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md
+++ b/docs/assets/.doxy/api/api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md
@@ -112,21 +112,21 @@ See [robot\_dart::gui::Base](classrobot__dart_1_1gui_1_1Base.md)
 
 | Type | Name |
 | ---: | :--- |
-|   | [**Base**](classrobot__dart_1_1gui_1_1Base.md#function-base) () <br> |
-| virtual [**DepthImage**](structrobot__dart_1_1gui_1_1DepthImage.md) | [**depth\_array**](classrobot__dart_1_1gui_1_1Base.md#function-depth_array) () <br> |
-| virtual [**GrayscaleImage**](structrobot__dart_1_1gui_1_1GrayscaleImage.md) | [**depth\_image**](classrobot__dart_1_1gui_1_1Base.md#function-depth_image) () <br> |
-| virtual bool | [**done**](classrobot__dart_1_1gui_1_1Base.md#function-done) () const<br> |
-| virtual size\_t | [**height**](classrobot__dart_1_1gui_1_1Base.md#function-height) () const<br> |
-| virtual [**Image**](structrobot__dart_1_1gui_1_1Image.md) | [**image**](classrobot__dart_1_1gui_1_1Base.md#function-image) () <br> |
-| virtual [**GrayscaleImage**](structrobot__dart_1_1gui_1_1GrayscaleImage.md) | [**raw\_depth\_image**](classrobot__dart_1_1gui_1_1Base.md#function-raw_depth_image) () <br> |
-| virtual void | [**refresh**](classrobot__dart_1_1gui_1_1Base.md#function-refresh) () <br> |
-| virtual void | [**set\_enable**](classrobot__dart_1_1gui_1_1Base.md#function-set_enable) (bool) <br> |
-| virtual void | [**set\_fps**](classrobot__dart_1_1gui_1_1Base.md#function-set_fps) (int) <br> |
-| virtual void | [**set\_render\_period**](classrobot__dart_1_1gui_1_1Base.md#function-set_render_period) (double) <br> |
-| virtual void | [**set\_simu**](classrobot__dart_1_1gui_1_1Base.md#function-set_simu) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* simu) <br> |
-|  const [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**simu**](classrobot__dart_1_1gui_1_1Base.md#function-simu) () const<br> |
-| virtual size\_t | [**width**](classrobot__dart_1_1gui_1_1Base.md#function-width) () const<br> |
-| virtual  | [**~Base**](classrobot__dart_1_1gui_1_1Base.md#function-base) () <br> |
+|   | [**Base**](#function-base) () <br> |
+| virtual [**DepthImage**](structrobot__dart_1_1gui_1_1DepthImage.md) | [**depth\_array**](#function-depth_array) () <br> |
+| virtual [**GrayscaleImage**](structrobot__dart_1_1gui_1_1GrayscaleImage.md) | [**depth\_image**](#function-depth_image) () <br> |
+| virtual bool | [**done**](#function-done) () const<br> |
+| virtual size\_t | [**height**](#function-height) () const<br> |
+| virtual [**Image**](structrobot__dart_1_1gui_1_1Image.md) | [**image**](#function-image) () <br> |
+| virtual [**GrayscaleImage**](structrobot__dart_1_1gui_1_1GrayscaleImage.md) | [**raw\_depth\_image**](#function-raw_depth_image) () <br> |
+| virtual void | [**refresh**](#function-refresh) () <br> |
+| virtual void | [**set\_enable**](#function-set_enable) (bool) <br> |
+| virtual void | [**set\_fps**](#function-set_fps) (int) <br> |
+| virtual void | [**set\_render\_period**](#function-set_render_period) (double) <br> |
+| virtual void | [**set\_simu**](#function-set_simu) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* simu) <br> |
+|  const [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**simu**](#function-simu) () const<br> |
+| virtual size\_t | [**width**](#function-width) () const<br> |
+| virtual  | [**~Base**](#function-base) () <br> |
 
 
 
@@ -158,7 +158,7 @@ See [robot\_dart::gui::Base](classrobot__dart_1_1gui_1_1Base.md)
 
 | Type | Name |
 | ---: | :--- |
-|  [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**\_simu**](classrobot__dart_1_1gui_1_1Base.md#variable-_simu)   = = nullptr<br> |
+|  [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**\_simu**](#variable-_simu)   = = nullptr<br> |
 
 
 
diff --git a/docs/assets/.doxy/api/api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication.md b/docs/assets/.doxy/api/api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication.md
index da21d5be..ef1e79bf 100644
--- a/docs/assets/.doxy/api/api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication.md
+++ b/docs/assets/.doxy/api/api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication.md
@@ -83,34 +83,34 @@ See [robot\_dart::gui::magnum::BaseApplication](classrobot__dart_1_1gui_1_1magnu
 
 | Type | Name |
 | ---: | :--- |
-|   | [**BaseApplication**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-baseapplication) (const [**GraphicsConfiguration**](structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.md) & configuration=[**GraphicsConfiguration**](structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.md)()) <br> |
-|  void | [**add\_light**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-add_light) (const [**gs::Light**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light.md) & light) <br> |
-|  bool | [**attach\_camera**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-attach_camera) ([**gs::Camera**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera.md) & camera, dart::dynamics::BodyNode \* body) <br> |
-|  [**gs::Camera**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera.md) & | [**camera**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-camera-12) () <br> |
-|  const [**gs::Camera**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera.md) & | [**camera**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-camera-22) () const<br> |
-|  void | [**clear\_lights**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-clear_lights) () <br> |
-|  [**DebugDrawData**](structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData.md) | [**debug\_draw\_data**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-debug_draw_data) () <br> |
-|  [**DepthImage**](structrobot__dart_1_1gui_1_1DepthImage.md) | [**depth\_array**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-depth_array) () <br> |
-|  [**GrayscaleImage**](structrobot__dart_1_1gui_1_1GrayscaleImage.md) | [**depth\_image**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-depth_image) () <br> |
-|  bool | [**done**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-done) () const<br> |
-|  Magnum::SceneGraph::DrawableGroup3D & | [**drawables**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-drawables) () <br> |
-|  void | [**enable\_shadows**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-enable_shadows) (bool enable=true, bool drawTransparentShadows=false) <br> |
-|  Corrade::Containers::Optional&lt; Magnum::Image2D &gt; & | [**image**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-image) () <br> |
-|  void | [**init**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-init) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* simu, const [**GraphicsConfiguration**](structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.md) & configuration) <br> |
-|  [**gs::Light**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light.md) & | [**light**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-light) (size\_t i) <br> |
-|  std::vector&lt; [**gs::Light**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light.md) &gt; & | [**lights**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-lights) () <br> |
-|  void | [**look\_at**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-look_at) (const Eigen::Vector3d & camera\_pos, const Eigen::Vector3d & look\_at, const Eigen::Vector3d & up) <br> |
-|  size\_t | [**num\_lights**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-num_lights) () const<br> |
-|  [**GrayscaleImage**](structrobot__dart_1_1gui_1_1GrayscaleImage.md) | [**raw\_depth\_image**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-raw_depth_image) () <br> |
-|  void | [**record\_video**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-record_video) (const std::string & video\_fname, int fps) <br> |
-| virtual void | [**render**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-render) () <br> |
-|  void | [**render\_shadows**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-render_shadows) () <br> |
-|  Scene3D & | [**scene**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-scene) () <br> |
-|  bool | [**shadowed**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-shadowed) () const<br> |
-|  bool | [**transparent\_shadows**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-transparent_shadows) () const<br> |
-|  void | [**update\_graphics**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-update_graphics) () <br> |
-|  void | [**update\_lights**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-update_lights) (const [**gs::Camera**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera.md) & camera) <br> |
-| virtual  | [**~BaseApplication**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-baseapplication) () <br> |
+|   | [**BaseApplication**](#function-baseapplication) (const [**GraphicsConfiguration**](structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.md) & configuration=[**GraphicsConfiguration**](structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.md)()) <br> |
+|  void | [**add\_light**](#function-add_light) (const [**gs::Light**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light.md) & light) <br> |
+|  bool | [**attach\_camera**](#function-attach_camera) ([**gs::Camera**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera.md) & camera, dart::dynamics::BodyNode \* body) <br> |
+|  [**gs::Camera**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera.md) & | [**camera**](#function-camera-12) () <br> |
+|  const [**gs::Camera**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera.md) & | [**camera**](#function-camera-22) () const<br> |
+|  void | [**clear\_lights**](#function-clear_lights) () <br> |
+|  [**DebugDrawData**](structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData.md) | [**debug\_draw\_data**](#function-debug_draw_data) () <br> |
+|  [**DepthImage**](structrobot__dart_1_1gui_1_1DepthImage.md) | [**depth\_array**](#function-depth_array) () <br> |
+|  [**GrayscaleImage**](structrobot__dart_1_1gui_1_1GrayscaleImage.md) | [**depth\_image**](#function-depth_image) () <br> |
+|  bool | [**done**](#function-done) () const<br> |
+|  Magnum::SceneGraph::DrawableGroup3D & | [**drawables**](#function-drawables) () <br> |
+|  void | [**enable\_shadows**](#function-enable_shadows) (bool enable=true, bool drawTransparentShadows=false) <br> |
+|  Corrade::Containers::Optional&lt; Magnum::Image2D &gt; & | [**image**](#function-image) () <br> |
+|  void | [**init**](#function-init) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* simu, const [**GraphicsConfiguration**](structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.md) & configuration) <br> |
+|  [**gs::Light**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light.md) & | [**light**](#function-light) (size\_t i) <br> |
+|  std::vector&lt; [**gs::Light**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light.md) &gt; & | [**lights**](#function-lights) () <br> |
+|  void | [**look\_at**](#function-look_at) (const Eigen::Vector3d & camera\_pos, const Eigen::Vector3d & look\_at, const Eigen::Vector3d & up) <br> |
+|  size\_t | [**num\_lights**](#function-num_lights) () const<br> |
+|  [**GrayscaleImage**](structrobot__dart_1_1gui_1_1GrayscaleImage.md) | [**raw\_depth\_image**](#function-raw_depth_image) () <br> |
+|  void | [**record\_video**](#function-record_video) (const std::string & video\_fname, int fps) <br> |
+| virtual void | [**render**](#function-render) () <br> |
+|  void | [**render\_shadows**](#function-render_shadows) () <br> |
+|  Scene3D & | [**scene**](#function-scene) () <br> |
+|  bool | [**shadowed**](#function-shadowed) () const<br> |
+|  bool | [**transparent\_shadows**](#function-transparent_shadows) () const<br> |
+|  void | [**update\_graphics**](#function-update_graphics) () <br> |
+|  void | [**update\_lights**](#function-update_lights) (const [**gs::Camera**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera.md) & camera) <br> |
+| virtual  | [**~BaseApplication**](#function-baseapplication) () <br> |
 
 
 
@@ -143,52 +143,52 @@ See [robot\_dart::gui::magnum::BaseApplication](classrobot__dart_1_1gui_1_1magnu
 
 | Type | Name |
 | ---: | :--- |
-|  std::unique\_ptr&lt; Magnum::GL::Mesh &gt; | [**\_3D\_axis\_mesh**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_3d_axis_mesh)  <br> |
-|  std::unique\_ptr&lt; Magnum::Shaders::VertexColorGL3D &gt; | [**\_3D\_axis\_shader**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_3d_axis_shader)  <br> |
-|  std::unique\_ptr&lt; Magnum::GL::Mesh &gt; | [**\_background\_mesh**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_background_mesh)  <br> |
-|  std::unique\_ptr&lt; Magnum::Shaders::FlatGL2D &gt; | [**\_background\_shader**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_background_shader)  <br> |
-|  std::unique\_ptr&lt; [**gs::Camera**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera.md) &gt; | [**\_camera**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_camera)  <br> |
-|  std::unique\_ptr&lt; [**gs::PhongMultiLight**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight.md) &gt; | [**\_color\_shader**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_color_shader)  <br> |
-|  [**GraphicsConfiguration**](structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.md) | [**\_configuration**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_configuration)  <br> |
-|  Magnum::SceneGraph::DrawableGroup3D | [**\_cubemap\_color\_drawables**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_cubemap_color_drawables)  <br> |
-|  std::unique\_ptr&lt; [**gs::CubeMapColor**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor.md) &gt; | [**\_cubemap\_color\_shader**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_cubemap_color_shader)  <br> |
-|  Magnum::SceneGraph::DrawableGroup3D | [**\_cubemap\_drawables**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_cubemap_drawables)  <br> |
-|  std::unique\_ptr&lt; [**gs::CubeMap**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap.md) &gt; | [**\_cubemap\_shader**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_cubemap_shader)  <br> |
-|  std::unique\_ptr&lt; [**gs::CubeMapColor**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor.md) &gt; | [**\_cubemap\_texture\_color\_shader**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_cubemap_texture_color_shader)  <br> |
-|  std::unique\_ptr&lt; [**gs::CubeMap**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap.md) &gt; | [**\_cubemap\_texture\_shader**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_cubemap_texture_shader)  <br> |
-|  std::unique\_ptr&lt; Magnum::DartIntegration::World &gt; | [**\_dart\_world**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_dart_world)  <br> |
-|  bool | [**\_done**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_done)   = = false<br> |
-|  std::unordered\_map&lt; Magnum::DartIntegration::Object \*, [**ObjectStruct**](structrobot__dart_1_1gui_1_1magnum_1_1ObjectStruct.md) \* &gt; | [**\_drawable\_objects**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_drawable_objects)  <br> |
-|  Magnum::SceneGraph::DrawableGroup3D | [**\_drawables**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_drawables)  <br> |
-|  Corrade::Containers::Pointer&lt; Magnum::Text::AbstractFont &gt; | [**\_font**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_font)  <br> |
-|  Corrade::PluginManager::Manager&lt; Magnum::Text::AbstractFont &gt; | [**\_font\_manager**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_font_manager)  <br> |
-|  Corrade::Containers::Pointer&lt; Magnum::Text::DistanceFieldGlyphCache &gt; | [**\_glyph\_cache**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_glyph_cache)  <br> |
-|  Corrade::PluginManager::Manager&lt; Magnum::Trade::AbstractImporter &gt; | [**\_importer\_manager**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_importer_manager)  <br> |
-|  std::vector&lt; [**gs::Light**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light.md) &gt; | [**\_lights**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_lights)  <br> |
-|  int | [**\_max\_lights**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_max_lights)   = = 5<br> |
-|  Scene3D | [**\_scene**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_scene)  <br> |
-|  std::unique\_ptr&lt; Camera3D &gt; | [**\_shadow\_camera**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadow_camera)  <br> |
-|  Object3D \* | [**\_shadow\_camera\_object**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadow_camera_object)  <br> |
-|  std::unique\_ptr&lt; Magnum::GL::CubeMapTextureArray &gt; | [**\_shadow\_color\_cube\_map**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadow_color_cube_map)  <br> |
-|  std::unique\_ptr&lt; [**gs::ShadowMapColor**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor.md) &gt; | [**\_shadow\_color\_shader**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadow_color_shader)  <br> |
-|  std::unique\_ptr&lt; Magnum::GL::Texture2DArray &gt; | [**\_shadow\_color\_texture**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadow_color_texture)  <br> |
-|  std::unique\_ptr&lt; Magnum::GL::CubeMapTextureArray &gt; | [**\_shadow\_cube\_map**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadow_cube_map)  <br> |
-|  std::vector&lt; [**ShadowData**](structrobot__dart_1_1gui_1_1magnum_1_1ShadowData.md) &gt; | [**\_shadow\_data**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadow_data)  <br> |
-|  int | [**\_shadow\_map\_size**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadow_map_size)   = = 512<br> |
-|  std::unique\_ptr&lt; [**gs::ShadowMap**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap.md) &gt; | [**\_shadow\_shader**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadow_shader)  <br> |
-|  std::unique\_ptr&lt; Magnum::GL::Texture2DArray &gt; | [**\_shadow\_texture**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadow_texture)  <br> |
-|  std::unique\_ptr&lt; [**gs::ShadowMapColor**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor.md) &gt; | [**\_shadow\_texture\_color\_shader**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadow_texture_color_shader)  <br> |
-|  std::unique\_ptr&lt; [**gs::ShadowMap**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap.md) &gt; | [**\_shadow\_texture\_shader**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadow_texture_shader)  <br> |
-|  bool | [**\_shadowed**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadowed)   = = true<br> |
-|  Magnum::SceneGraph::DrawableGroup3D | [**\_shadowed\_color\_drawables**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadowed_color_drawables)  <br> |
-|  Magnum::SceneGraph::DrawableGroup3D | [**\_shadowed\_drawables**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadowed_drawables)  <br> |
-|  [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**\_simu**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_simu)  <br> |
-|  Corrade::Containers::Pointer&lt; Magnum::GL::Buffer &gt; | [**\_text\_indices**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_text_indices)  <br> |
-|  std::unique\_ptr&lt; Magnum::Shaders::DistanceFieldVectorGL2D &gt; | [**\_text\_shader**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_text_shader)  <br> |
-|  Corrade::Containers::Pointer&lt; Magnum::GL::Buffer &gt; | [**\_text\_vertices**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_text_vertices)  <br> |
-|  std::unique\_ptr&lt; [**gs::PhongMultiLight**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight.md) &gt; | [**\_texture\_shader**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_texture_shader)  <br> |
-|  int | [**\_transparentSize**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_transparentsize)   = = 0<br> |
-|  bool | [**\_transparent\_shadows**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_transparent_shadows)   = = false<br> |
+|  std::unique\_ptr&lt; Magnum::GL::Mesh &gt; | [**\_3D\_axis\_mesh**](#variable-_3d_axis_mesh)  <br> |
+|  std::unique\_ptr&lt; Magnum::Shaders::VertexColorGL3D &gt; | [**\_3D\_axis\_shader**](#variable-_3d_axis_shader)  <br> |
+|  std::unique\_ptr&lt; Magnum::GL::Mesh &gt; | [**\_background\_mesh**](#variable-_background_mesh)  <br> |
+|  std::unique\_ptr&lt; Magnum::Shaders::FlatGL2D &gt; | [**\_background\_shader**](#variable-_background_shader)  <br> |
+|  std::unique\_ptr&lt; [**gs::Camera**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera.md) &gt; | [**\_camera**](#variable-_camera)  <br> |
+|  std::unique\_ptr&lt; [**gs::PhongMultiLight**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight.md) &gt; | [**\_color\_shader**](#variable-_color_shader)  <br> |
+|  [**GraphicsConfiguration**](structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.md) | [**\_configuration**](#variable-_configuration)  <br> |
+|  Magnum::SceneGraph::DrawableGroup3D | [**\_cubemap\_color\_drawables**](#variable-_cubemap_color_drawables)  <br> |
+|  std::unique\_ptr&lt; [**gs::CubeMapColor**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor.md) &gt; | [**\_cubemap\_color\_shader**](#variable-_cubemap_color_shader)  <br> |
+|  Magnum::SceneGraph::DrawableGroup3D | [**\_cubemap\_drawables**](#variable-_cubemap_drawables)  <br> |
+|  std::unique\_ptr&lt; [**gs::CubeMap**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap.md) &gt; | [**\_cubemap\_shader**](#variable-_cubemap_shader)  <br> |
+|  std::unique\_ptr&lt; [**gs::CubeMapColor**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor.md) &gt; | [**\_cubemap\_texture\_color\_shader**](#variable-_cubemap_texture_color_shader)  <br> |
+|  std::unique\_ptr&lt; [**gs::CubeMap**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap.md) &gt; | [**\_cubemap\_texture\_shader**](#variable-_cubemap_texture_shader)  <br> |
+|  std::unique\_ptr&lt; Magnum::DartIntegration::World &gt; | [**\_dart\_world**](#variable-_dart_world)  <br> |
+|  bool | [**\_done**](#variable-_done)   = = false<br> |
+|  std::unordered\_map&lt; Magnum::DartIntegration::Object \*, [**ObjectStruct**](structrobot__dart_1_1gui_1_1magnum_1_1ObjectStruct.md) \* &gt; | [**\_drawable\_objects**](#variable-_drawable_objects)  <br> |
+|  Magnum::SceneGraph::DrawableGroup3D | [**\_drawables**](#variable-_drawables)  <br> |
+|  Corrade::Containers::Pointer&lt; Magnum::Text::AbstractFont &gt; | [**\_font**](#variable-_font)  <br> |
+|  Corrade::PluginManager::Manager&lt; Magnum::Text::AbstractFont &gt; | [**\_font\_manager**](#variable-_font_manager)  <br> |
+|  Corrade::Containers::Pointer&lt; Magnum::Text::DistanceFieldGlyphCache &gt; | [**\_glyph\_cache**](#variable-_glyph_cache)  <br> |
+|  Corrade::PluginManager::Manager&lt; Magnum::Trade::AbstractImporter &gt; | [**\_importer\_manager**](#variable-_importer_manager)  <br> |
+|  std::vector&lt; [**gs::Light**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light.md) &gt; | [**\_lights**](#variable-_lights)  <br> |
+|  int | [**\_max\_lights**](#variable-_max_lights)   = = 5<br> |
+|  Scene3D | [**\_scene**](#variable-_scene)  <br> |
+|  std::unique\_ptr&lt; Camera3D &gt; | [**\_shadow\_camera**](#variable-_shadow_camera)  <br> |
+|  Object3D \* | [**\_shadow\_camera\_object**](#variable-_shadow_camera_object)  <br> |
+|  std::unique\_ptr&lt; Magnum::GL::CubeMapTextureArray &gt; | [**\_shadow\_color\_cube\_map**](#variable-_shadow_color_cube_map)  <br> |
+|  std::unique\_ptr&lt; [**gs::ShadowMapColor**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor.md) &gt; | [**\_shadow\_color\_shader**](#variable-_shadow_color_shader)  <br> |
+|  std::unique\_ptr&lt; Magnum::GL::Texture2DArray &gt; | [**\_shadow\_color\_texture**](#variable-_shadow_color_texture)  <br> |
+|  std::unique\_ptr&lt; Magnum::GL::CubeMapTextureArray &gt; | [**\_shadow\_cube\_map**](#variable-_shadow_cube_map)  <br> |
+|  std::vector&lt; [**ShadowData**](structrobot__dart_1_1gui_1_1magnum_1_1ShadowData.md) &gt; | [**\_shadow\_data**](#variable-_shadow_data)  <br> |
+|  int | [**\_shadow\_map\_size**](#variable-_shadow_map_size)   = = 512<br> |
+|  std::unique\_ptr&lt; [**gs::ShadowMap**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap.md) &gt; | [**\_shadow\_shader**](#variable-_shadow_shader)  <br> |
+|  std::unique\_ptr&lt; Magnum::GL::Texture2DArray &gt; | [**\_shadow\_texture**](#variable-_shadow_texture)  <br> |
+|  std::unique\_ptr&lt; [**gs::ShadowMapColor**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor.md) &gt; | [**\_shadow\_texture\_color\_shader**](#variable-_shadow_texture_color_shader)  <br> |
+|  std::unique\_ptr&lt; [**gs::ShadowMap**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap.md) &gt; | [**\_shadow\_texture\_shader**](#variable-_shadow_texture_shader)  <br> |
+|  bool | [**\_shadowed**](#variable-_shadowed)   = = true<br> |
+|  Magnum::SceneGraph::DrawableGroup3D | [**\_shadowed\_color\_drawables**](#variable-_shadowed_color_drawables)  <br> |
+|  Magnum::SceneGraph::DrawableGroup3D | [**\_shadowed\_drawables**](#variable-_shadowed_drawables)  <br> |
+|  [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**\_simu**](#variable-_simu)  <br> |
+|  Corrade::Containers::Pointer&lt; Magnum::GL::Buffer &gt; | [**\_text\_indices**](#variable-_text_indices)  <br> |
+|  std::unique\_ptr&lt; Magnum::Shaders::DistanceFieldVectorGL2D &gt; | [**\_text\_shader**](#variable-_text_shader)  <br> |
+|  Corrade::Containers::Pointer&lt; Magnum::GL::Buffer &gt; | [**\_text\_vertices**](#variable-_text_vertices)  <br> |
+|  std::unique\_ptr&lt; [**gs::PhongMultiLight**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight.md) &gt; | [**\_texture\_shader**](#variable-_texture_shader)  <br> |
+|  int | [**\_transparentSize**](#variable-_transparentsize)   = = 0<br> |
+|  bool | [**\_transparent\_shadows**](#variable-_transparent_shadows)   = = false<br> |
 
 
 ## Protected Static Attributes
@@ -243,8 +243,8 @@ See [robot\_dart::gui::magnum::BaseApplication](classrobot__dart_1_1gui_1_1magnu
 
 | Type | Name |
 | ---: | :--- |
-|  void | [**\_gl\_clean\_up**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-_gl_clean_up) () <br> |
-|  void | [**\_prepare\_shadows**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-_prepare_shadows) () <br> |
+|  void | [**\_gl\_clean\_up**](#function-_gl_clean_up) () <br> |
+|  void | [**\_prepare\_shadows**](#function-_prepare_shadows) () <br> |
 
 
 
diff --git a/docs/assets/.doxy/api/api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics.md b/docs/assets/.doxy/api/api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics.md
index ea74a7aa..1bde3234 100644
--- a/docs/assets/.doxy/api/api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics.md
+++ b/docs/assets/.doxy/api/api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics.md
@@ -103,36 +103,36 @@ See [robot\_dart::gui::magnum::BaseGraphics](classrobot__dart_1_1gui_1_1magnum_1
 
 | Type | Name |
 | ---: | :--- |
-|   | [**BaseGraphics**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-basegraphics) (const [**GraphicsConfiguration**](structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.md) & configuration=[**GraphicsConfiguration**](structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.md)()) <br> |
-|  void | [**add\_light**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-add_light) (const [**magnum::gs::Light**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light.md) & light) <br> |
-|  [**gs::Camera**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera.md) & | [**camera**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-camera-12) () <br> |
-|  const [**gs::Camera**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera.md) & | [**camera**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-camera-22) () const<br> |
-|  Eigen::Matrix4d | [**camera\_extrinsic\_matrix**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-camera_extrinsic_matrix) () const<br> |
-|  Eigen::Matrix3d | [**camera\_intrinsic\_matrix**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-camera_intrinsic_matrix) () const<br> |
-|  void | [**clear\_lights**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-clear_lights) () <br> |
-| virtual [**DepthImage**](structrobot__dart_1_1gui_1_1DepthImage.md) | [**depth\_array**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-depth_array) () override<br> |
-| virtual [**GrayscaleImage**](structrobot__dart_1_1gui_1_1GrayscaleImage.md) | [**depth\_image**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-depth_image) () override<br> |
-| virtual bool | [**done**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-done) () override const<br> |
-|  void | [**enable\_shadows**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-enable_shadows) (bool enable=true, bool transparent=true) <br> |
-| virtual size\_t | [**height**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-height) () override const<br> |
-| virtual [**Image**](structrobot__dart_1_1gui_1_1Image.md) | [**image**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-image) () override<br> |
-|  [**magnum::gs::Light**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light.md) & | [**light**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-light) (size\_t i) <br> |
-|  std::vector&lt; [**gs::Light**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light.md) &gt; & | [**lights**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-lights) () <br> |
-|  void | [**look\_at**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-look_at) (const Eigen::Vector3d & camera\_pos, const Eigen::Vector3d & look\_at=Eigen::Vector3d(0, 0, 0), const Eigen::Vector3d & up=Eigen::Vector3d(0, 0, 1)) <br> |
-|  [**BaseApplication**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md) \* | [**magnum\_app**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-magnum_app-12) () <br> |
-|  const [**BaseApplication**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md) \* | [**magnum\_app**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-magnum_app-22) () const<br> |
-|  Magnum::Image2D \* | [**magnum\_image**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-magnum_image) () <br> |
-|  size\_t | [**num\_lights**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-num_lights) () const<br> |
-| virtual [**GrayscaleImage**](structrobot__dart_1_1gui_1_1GrayscaleImage.md) | [**raw\_depth\_image**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-raw_depth_image) () override<br> |
-|  void | [**record\_video**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-record_video) (const std::string & video\_fname, int fps=-1) <br> |
-| virtual void | [**refresh**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-refresh) () override<br> |
-| virtual void | [**set\_enable**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-set_enable) (bool enable) override<br> |
-| virtual void | [**set\_fps**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-set_fps) (int fps) override<br> |
-| virtual void | [**set\_simu**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-set_simu) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* simu) override<br> |
-|  bool | [**shadowed**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-shadowed) () const<br> |
-|  bool | [**transparent\_shadows**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-transparent_shadows) () const<br> |
-| virtual size\_t | [**width**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-width) () override const<br> |
-| virtual  | [**~BaseGraphics**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-basegraphics) () <br> |
+|   | [**BaseGraphics**](#function-basegraphics) (const [**GraphicsConfiguration**](structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.md) & configuration=[**GraphicsConfiguration**](structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.md)()) <br> |
+|  void | [**add\_light**](#function-add_light) (const [**magnum::gs::Light**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light.md) & light) <br> |
+|  [**gs::Camera**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera.md) & | [**camera**](#function-camera-12) () <br> |
+|  const [**gs::Camera**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera.md) & | [**camera**](#function-camera-22) () const<br> |
+|  Eigen::Matrix4d | [**camera\_extrinsic\_matrix**](#function-camera_extrinsic_matrix) () const<br> |
+|  Eigen::Matrix3d | [**camera\_intrinsic\_matrix**](#function-camera_intrinsic_matrix) () const<br> |
+|  void | [**clear\_lights**](#function-clear_lights) () <br> |
+| virtual [**DepthImage**](structrobot__dart_1_1gui_1_1DepthImage.md) | [**depth\_array**](#function-depth_array) () override<br> |
+| virtual [**GrayscaleImage**](structrobot__dart_1_1gui_1_1GrayscaleImage.md) | [**depth\_image**](#function-depth_image) () override<br> |
+| virtual bool | [**done**](#function-done) () override const<br> |
+|  void | [**enable\_shadows**](#function-enable_shadows) (bool enable=true, bool transparent=true) <br> |
+| virtual size\_t | [**height**](#function-height) () override const<br> |
+| virtual [**Image**](structrobot__dart_1_1gui_1_1Image.md) | [**image**](#function-image) () override<br> |
+|  [**magnum::gs::Light**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light.md) & | [**light**](#function-light) (size\_t i) <br> |
+|  std::vector&lt; [**gs::Light**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light.md) &gt; & | [**lights**](#function-lights) () <br> |
+|  void | [**look\_at**](#function-look_at) (const Eigen::Vector3d & camera\_pos, const Eigen::Vector3d & look\_at=Eigen::Vector3d(0, 0, 0), const Eigen::Vector3d & up=Eigen::Vector3d(0, 0, 1)) <br> |
+|  [**BaseApplication**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md) \* | [**magnum\_app**](#function-magnum_app-12) () <br> |
+|  const [**BaseApplication**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md) \* | [**magnum\_app**](#function-magnum_app-22) () const<br> |
+|  Magnum::Image2D \* | [**magnum\_image**](#function-magnum_image) () <br> |
+|  size\_t | [**num\_lights**](#function-num_lights) () const<br> |
+| virtual [**GrayscaleImage**](structrobot__dart_1_1gui_1_1GrayscaleImage.md) | [**raw\_depth\_image**](#function-raw_depth_image) () override<br> |
+|  void | [**record\_video**](#function-record_video) (const std::string & video\_fname, int fps=-1) <br> |
+| virtual void | [**refresh**](#function-refresh) () override<br> |
+| virtual void | [**set\_enable**](#function-set_enable) (bool enable) override<br> |
+| virtual void | [**set\_fps**](#function-set_fps) (int fps) override<br> |
+| virtual void | [**set\_simu**](#function-set_simu) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* simu) override<br> |
+|  bool | [**shadowed**](#function-shadowed) () const<br> |
+|  bool | [**transparent\_shadows**](#function-transparent_shadows) () const<br> |
+| virtual size\_t | [**width**](#function-width) () override const<br> |
+| virtual  | [**~BaseGraphics**](#function-basegraphics) () <br> |
 
 
 ## Public Functions inherited from robot_dart::gui::Base
@@ -141,21 +141,21 @@ See [robot\_dart::gui::Base](classrobot__dart_1_1gui_1_1Base.md)
 
 | Type | Name |
 | ---: | :--- |
-|   | [**Base**](classrobot__dart_1_1gui_1_1Base.md#function-base) () <br> |
-| virtual [**DepthImage**](structrobot__dart_1_1gui_1_1DepthImage.md) | [**depth\_array**](classrobot__dart_1_1gui_1_1Base.md#function-depth_array) () <br> |
-| virtual [**GrayscaleImage**](structrobot__dart_1_1gui_1_1GrayscaleImage.md) | [**depth\_image**](classrobot__dart_1_1gui_1_1Base.md#function-depth_image) () <br> |
-| virtual bool | [**done**](classrobot__dart_1_1gui_1_1Base.md#function-done) () const<br> |
-| virtual size\_t | [**height**](classrobot__dart_1_1gui_1_1Base.md#function-height) () const<br> |
-| virtual [**Image**](structrobot__dart_1_1gui_1_1Image.md) | [**image**](classrobot__dart_1_1gui_1_1Base.md#function-image) () <br> |
-| virtual [**GrayscaleImage**](structrobot__dart_1_1gui_1_1GrayscaleImage.md) | [**raw\_depth\_image**](classrobot__dart_1_1gui_1_1Base.md#function-raw_depth_image) () <br> |
-| virtual void | [**refresh**](classrobot__dart_1_1gui_1_1Base.md#function-refresh) () <br> |
-| virtual void | [**set\_enable**](classrobot__dart_1_1gui_1_1Base.md#function-set_enable) (bool) <br> |
-| virtual void | [**set\_fps**](classrobot__dart_1_1gui_1_1Base.md#function-set_fps) (int) <br> |
-| virtual void | [**set\_render\_period**](classrobot__dart_1_1gui_1_1Base.md#function-set_render_period) (double) <br> |
-| virtual void | [**set\_simu**](classrobot__dart_1_1gui_1_1Base.md#function-set_simu) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* simu) <br> |
-|  const [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**simu**](classrobot__dart_1_1gui_1_1Base.md#function-simu) () const<br> |
-| virtual size\_t | [**width**](classrobot__dart_1_1gui_1_1Base.md#function-width) () const<br> |
-| virtual  | [**~Base**](classrobot__dart_1_1gui_1_1Base.md#function-base) () <br> |
+|   | [**Base**](#function-base) () <br> |
+| virtual [**DepthImage**](structrobot__dart_1_1gui_1_1DepthImage.md) | [**depth\_array**](#function-depth_array) () <br> |
+| virtual [**GrayscaleImage**](structrobot__dart_1_1gui_1_1GrayscaleImage.md) | [**depth\_image**](#function-depth_image) () <br> |
+| virtual bool | [**done**](#function-done) () const<br> |
+| virtual size\_t | [**height**](#function-height) () const<br> |
+| virtual [**Image**](structrobot__dart_1_1gui_1_1Image.md) | [**image**](#function-image) () <br> |
+| virtual [**GrayscaleImage**](structrobot__dart_1_1gui_1_1GrayscaleImage.md) | [**raw\_depth\_image**](#function-raw_depth_image) () <br> |
+| virtual void | [**refresh**](#function-refresh) () <br> |
+| virtual void | [**set\_enable**](#function-set_enable) (bool) <br> |
+| virtual void | [**set\_fps**](#function-set_fps) (int) <br> |
+| virtual void | [**set\_render\_period**](#function-set_render_period) (double) <br> |
+| virtual void | [**set\_simu**](#function-set_simu) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* simu) <br> |
+|  const [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**simu**](#function-simu) () const<br> |
+| virtual size\_t | [**width**](#function-width) () const<br> |
+| virtual  | [**~Base**](#function-base) () <br> |
 
 
 ## Public Static Functions
@@ -189,11 +189,11 @@ See [robot\_dart::gui::magnum::BaseGraphics](classrobot__dart_1_1gui_1_1magnum_1
 
 | Type | Name |
 | ---: | :--- |
-|  [**GraphicsConfiguration**](structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.md) | [**\_configuration**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#variable-_configuration)  <br> |
-|  bool | [**\_enabled**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#variable-_enabled)  <br> |
-|  int | [**\_fps**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#variable-_fps)  <br> |
-|  std::unique\_ptr&lt; [**BaseApplication**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md) &gt; | [**\_magnum\_app**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#variable-_magnum_app)  <br> |
-|  Corrade::Utility::Debug | [**\_magnum\_silence\_output**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#variable-_magnum_silence_output)   = {nullptr}<br> |
+|  [**GraphicsConfiguration**](structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.md) | [**\_configuration**](#variable-_configuration)  <br> |
+|  bool | [**\_enabled**](#variable-_enabled)  <br> |
+|  int | [**\_fps**](#variable-_fps)  <br> |
+|  std::unique\_ptr&lt; [**BaseApplication**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md) &gt; | [**\_magnum\_app**](#variable-_magnum_app)  <br> |
+|  Corrade::Utility::Debug | [**\_magnum\_silence\_output**](#variable-_magnum_silence_output)   = {nullptr}<br> |
 
 
 ## Protected Attributes inherited from robot_dart::gui::Base
@@ -202,7 +202,7 @@ See [robot\_dart::gui::Base](classrobot__dart_1_1gui_1_1Base.md)
 
 | Type | Name |
 | ---: | :--- |
-|  [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**\_simu**](classrobot__dart_1_1gui_1_1Base.md#variable-_simu)   = = nullptr<br> |
+|  [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**\_simu**](#variable-_simu)   = = nullptr<br> |
 
 
 
diff --git a/docs/assets/.doxy/api/api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication.md b/docs/assets/.doxy/api/api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication.md
index a647e1b6..8267473f 100644
--- a/docs/assets/.doxy/api/api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication.md
+++ b/docs/assets/.doxy/api/api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication.md
@@ -83,34 +83,34 @@ See [robot\_dart::gui::magnum::BaseApplication](classrobot__dart_1_1gui_1_1magnu
 
 | Type | Name |
 | ---: | :--- |
-|   | [**BaseApplication**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-baseapplication) (const [**GraphicsConfiguration**](structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.md) & configuration=[**GraphicsConfiguration**](structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.md)()) <br> |
-|  void | [**add\_light**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-add_light) (const [**gs::Light**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light.md) & light) <br> |
-|  bool | [**attach\_camera**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-attach_camera) ([**gs::Camera**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera.md) & camera, dart::dynamics::BodyNode \* body) <br> |
-|  [**gs::Camera**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera.md) & | [**camera**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-camera-12) () <br> |
-|  const [**gs::Camera**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera.md) & | [**camera**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-camera-22) () const<br> |
-|  void | [**clear\_lights**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-clear_lights) () <br> |
-|  [**DebugDrawData**](structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData.md) | [**debug\_draw\_data**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-debug_draw_data) () <br> |
-|  [**DepthImage**](structrobot__dart_1_1gui_1_1DepthImage.md) | [**depth\_array**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-depth_array) () <br> |
-|  [**GrayscaleImage**](structrobot__dart_1_1gui_1_1GrayscaleImage.md) | [**depth\_image**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-depth_image) () <br> |
-|  bool | [**done**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-done) () const<br> |
-|  Magnum::SceneGraph::DrawableGroup3D & | [**drawables**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-drawables) () <br> |
-|  void | [**enable\_shadows**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-enable_shadows) (bool enable=true, bool drawTransparentShadows=false) <br> |
-|  Corrade::Containers::Optional&lt; Magnum::Image2D &gt; & | [**image**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-image) () <br> |
-|  void | [**init**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-init) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* simu, const [**GraphicsConfiguration**](structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.md) & configuration) <br> |
-|  [**gs::Light**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light.md) & | [**light**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-light) (size\_t i) <br> |
-|  std::vector&lt; [**gs::Light**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light.md) &gt; & | [**lights**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-lights) () <br> |
-|  void | [**look\_at**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-look_at) (const Eigen::Vector3d & camera\_pos, const Eigen::Vector3d & look\_at, const Eigen::Vector3d & up) <br> |
-|  size\_t | [**num\_lights**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-num_lights) () const<br> |
-|  [**GrayscaleImage**](structrobot__dart_1_1gui_1_1GrayscaleImage.md) | [**raw\_depth\_image**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-raw_depth_image) () <br> |
-|  void | [**record\_video**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-record_video) (const std::string & video\_fname, int fps) <br> |
-| virtual void | [**render**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-render) () <br> |
-|  void | [**render\_shadows**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-render_shadows) () <br> |
-|  Scene3D & | [**scene**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-scene) () <br> |
-|  bool | [**shadowed**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-shadowed) () const<br> |
-|  bool | [**transparent\_shadows**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-transparent_shadows) () const<br> |
-|  void | [**update\_graphics**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-update_graphics) () <br> |
-|  void | [**update\_lights**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-update_lights) (const [**gs::Camera**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera.md) & camera) <br> |
-| virtual  | [**~BaseApplication**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-baseapplication) () <br> |
+|   | [**BaseApplication**](#function-baseapplication) (const [**GraphicsConfiguration**](structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.md) & configuration=[**GraphicsConfiguration**](structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.md)()) <br> |
+|  void | [**add\_light**](#function-add_light) (const [**gs::Light**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light.md) & light) <br> |
+|  bool | [**attach\_camera**](#function-attach_camera) ([**gs::Camera**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera.md) & camera, dart::dynamics::BodyNode \* body) <br> |
+|  [**gs::Camera**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera.md) & | [**camera**](#function-camera-12) () <br> |
+|  const [**gs::Camera**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera.md) & | [**camera**](#function-camera-22) () const<br> |
+|  void | [**clear\_lights**](#function-clear_lights) () <br> |
+|  [**DebugDrawData**](structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData.md) | [**debug\_draw\_data**](#function-debug_draw_data) () <br> |
+|  [**DepthImage**](structrobot__dart_1_1gui_1_1DepthImage.md) | [**depth\_array**](#function-depth_array) () <br> |
+|  [**GrayscaleImage**](structrobot__dart_1_1gui_1_1GrayscaleImage.md) | [**depth\_image**](#function-depth_image) () <br> |
+|  bool | [**done**](#function-done) () const<br> |
+|  Magnum::SceneGraph::DrawableGroup3D & | [**drawables**](#function-drawables) () <br> |
+|  void | [**enable\_shadows**](#function-enable_shadows) (bool enable=true, bool drawTransparentShadows=false) <br> |
+|  Corrade::Containers::Optional&lt; Magnum::Image2D &gt; & | [**image**](#function-image) () <br> |
+|  void | [**init**](#function-init) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* simu, const [**GraphicsConfiguration**](structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.md) & configuration) <br> |
+|  [**gs::Light**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light.md) & | [**light**](#function-light) (size\_t i) <br> |
+|  std::vector&lt; [**gs::Light**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light.md) &gt; & | [**lights**](#function-lights) () <br> |
+|  void | [**look\_at**](#function-look_at) (const Eigen::Vector3d & camera\_pos, const Eigen::Vector3d & look\_at, const Eigen::Vector3d & up) <br> |
+|  size\_t | [**num\_lights**](#function-num_lights) () const<br> |
+|  [**GrayscaleImage**](structrobot__dart_1_1gui_1_1GrayscaleImage.md) | [**raw\_depth\_image**](#function-raw_depth_image) () <br> |
+|  void | [**record\_video**](#function-record_video) (const std::string & video\_fname, int fps) <br> |
+| virtual void | [**render**](#function-render) () <br> |
+|  void | [**render\_shadows**](#function-render_shadows) () <br> |
+|  Scene3D & | [**scene**](#function-scene) () <br> |
+|  bool | [**shadowed**](#function-shadowed) () const<br> |
+|  bool | [**transparent\_shadows**](#function-transparent_shadows) () const<br> |
+|  void | [**update\_graphics**](#function-update_graphics) () <br> |
+|  void | [**update\_lights**](#function-update_lights) (const [**gs::Camera**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera.md) & camera) <br> |
+| virtual  | [**~BaseApplication**](#function-baseapplication) () <br> |
 
 
 
@@ -145,52 +145,52 @@ See [robot\_dart::gui::magnum::BaseApplication](classrobot__dart_1_1gui_1_1magnu
 
 | Type | Name |
 | ---: | :--- |
-|  std::unique\_ptr&lt; Magnum::GL::Mesh &gt; | [**\_3D\_axis\_mesh**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_3d_axis_mesh)  <br> |
-|  std::unique\_ptr&lt; Magnum::Shaders::VertexColorGL3D &gt; | [**\_3D\_axis\_shader**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_3d_axis_shader)  <br> |
-|  std::unique\_ptr&lt; Magnum::GL::Mesh &gt; | [**\_background\_mesh**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_background_mesh)  <br> |
-|  std::unique\_ptr&lt; Magnum::Shaders::FlatGL2D &gt; | [**\_background\_shader**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_background_shader)  <br> |
-|  std::unique\_ptr&lt; [**gs::Camera**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera.md) &gt; | [**\_camera**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_camera)  <br> |
-|  std::unique\_ptr&lt; [**gs::PhongMultiLight**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight.md) &gt; | [**\_color\_shader**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_color_shader)  <br> |
-|  [**GraphicsConfiguration**](structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.md) | [**\_configuration**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_configuration)  <br> |
-|  Magnum::SceneGraph::DrawableGroup3D | [**\_cubemap\_color\_drawables**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_cubemap_color_drawables)  <br> |
-|  std::unique\_ptr&lt; [**gs::CubeMapColor**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor.md) &gt; | [**\_cubemap\_color\_shader**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_cubemap_color_shader)  <br> |
-|  Magnum::SceneGraph::DrawableGroup3D | [**\_cubemap\_drawables**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_cubemap_drawables)  <br> |
-|  std::unique\_ptr&lt; [**gs::CubeMap**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap.md) &gt; | [**\_cubemap\_shader**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_cubemap_shader)  <br> |
-|  std::unique\_ptr&lt; [**gs::CubeMapColor**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor.md) &gt; | [**\_cubemap\_texture\_color\_shader**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_cubemap_texture_color_shader)  <br> |
-|  std::unique\_ptr&lt; [**gs::CubeMap**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap.md) &gt; | [**\_cubemap\_texture\_shader**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_cubemap_texture_shader)  <br> |
-|  std::unique\_ptr&lt; Magnum::DartIntegration::World &gt; | [**\_dart\_world**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_dart_world)  <br> |
-|  bool | [**\_done**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_done)   = = false<br> |
-|  std::unordered\_map&lt; Magnum::DartIntegration::Object \*, [**ObjectStruct**](structrobot__dart_1_1gui_1_1magnum_1_1ObjectStruct.md) \* &gt; | [**\_drawable\_objects**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_drawable_objects)  <br> |
-|  Magnum::SceneGraph::DrawableGroup3D | [**\_drawables**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_drawables)  <br> |
-|  Corrade::Containers::Pointer&lt; Magnum::Text::AbstractFont &gt; | [**\_font**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_font)  <br> |
-|  Corrade::PluginManager::Manager&lt; Magnum::Text::AbstractFont &gt; | [**\_font\_manager**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_font_manager)  <br> |
-|  Corrade::Containers::Pointer&lt; Magnum::Text::DistanceFieldGlyphCache &gt; | [**\_glyph\_cache**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_glyph_cache)  <br> |
-|  Corrade::PluginManager::Manager&lt; Magnum::Trade::AbstractImporter &gt; | [**\_importer\_manager**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_importer_manager)  <br> |
-|  std::vector&lt; [**gs::Light**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light.md) &gt; | [**\_lights**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_lights)  <br> |
-|  int | [**\_max\_lights**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_max_lights)   = = 5<br> |
-|  Scene3D | [**\_scene**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_scene)  <br> |
-|  std::unique\_ptr&lt; Camera3D &gt; | [**\_shadow\_camera**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadow_camera)  <br> |
-|  Object3D \* | [**\_shadow\_camera\_object**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadow_camera_object)  <br> |
-|  std::unique\_ptr&lt; Magnum::GL::CubeMapTextureArray &gt; | [**\_shadow\_color\_cube\_map**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadow_color_cube_map)  <br> |
-|  std::unique\_ptr&lt; [**gs::ShadowMapColor**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor.md) &gt; | [**\_shadow\_color\_shader**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadow_color_shader)  <br> |
-|  std::unique\_ptr&lt; Magnum::GL::Texture2DArray &gt; | [**\_shadow\_color\_texture**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadow_color_texture)  <br> |
-|  std::unique\_ptr&lt; Magnum::GL::CubeMapTextureArray &gt; | [**\_shadow\_cube\_map**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadow_cube_map)  <br> |
-|  std::vector&lt; [**ShadowData**](structrobot__dart_1_1gui_1_1magnum_1_1ShadowData.md) &gt; | [**\_shadow\_data**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadow_data)  <br> |
-|  int | [**\_shadow\_map\_size**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadow_map_size)   = = 512<br> |
-|  std::unique\_ptr&lt; [**gs::ShadowMap**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap.md) &gt; | [**\_shadow\_shader**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadow_shader)  <br> |
-|  std::unique\_ptr&lt; Magnum::GL::Texture2DArray &gt; | [**\_shadow\_texture**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadow_texture)  <br> |
-|  std::unique\_ptr&lt; [**gs::ShadowMapColor**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor.md) &gt; | [**\_shadow\_texture\_color\_shader**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadow_texture_color_shader)  <br> |
-|  std::unique\_ptr&lt; [**gs::ShadowMap**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap.md) &gt; | [**\_shadow\_texture\_shader**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadow_texture_shader)  <br> |
-|  bool | [**\_shadowed**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadowed)   = = true<br> |
-|  Magnum::SceneGraph::DrawableGroup3D | [**\_shadowed\_color\_drawables**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadowed_color_drawables)  <br> |
-|  Magnum::SceneGraph::DrawableGroup3D | [**\_shadowed\_drawables**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_shadowed_drawables)  <br> |
-|  [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**\_simu**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_simu)  <br> |
-|  Corrade::Containers::Pointer&lt; Magnum::GL::Buffer &gt; | [**\_text\_indices**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_text_indices)  <br> |
-|  std::unique\_ptr&lt; Magnum::Shaders::DistanceFieldVectorGL2D &gt; | [**\_text\_shader**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_text_shader)  <br> |
-|  Corrade::Containers::Pointer&lt; Magnum::GL::Buffer &gt; | [**\_text\_vertices**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_text_vertices)  <br> |
-|  std::unique\_ptr&lt; [**gs::PhongMultiLight**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight.md) &gt; | [**\_texture\_shader**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_texture_shader)  <br> |
-|  int | [**\_transparentSize**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_transparentsize)   = = 0<br> |
-|  bool | [**\_transparent\_shadows**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#variable-_transparent_shadows)   = = false<br> |
+|  std::unique\_ptr&lt; Magnum::GL::Mesh &gt; | [**\_3D\_axis\_mesh**](#variable-_3d_axis_mesh)  <br> |
+|  std::unique\_ptr&lt; Magnum::Shaders::VertexColorGL3D &gt; | [**\_3D\_axis\_shader**](#variable-_3d_axis_shader)  <br> |
+|  std::unique\_ptr&lt; Magnum::GL::Mesh &gt; | [**\_background\_mesh**](#variable-_background_mesh)  <br> |
+|  std::unique\_ptr&lt; Magnum::Shaders::FlatGL2D &gt; | [**\_background\_shader**](#variable-_background_shader)  <br> |
+|  std::unique\_ptr&lt; [**gs::Camera**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera.md) &gt; | [**\_camera**](#variable-_camera)  <br> |
+|  std::unique\_ptr&lt; [**gs::PhongMultiLight**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight.md) &gt; | [**\_color\_shader**](#variable-_color_shader)  <br> |
+|  [**GraphicsConfiguration**](structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.md) | [**\_configuration**](#variable-_configuration)  <br> |
+|  Magnum::SceneGraph::DrawableGroup3D | [**\_cubemap\_color\_drawables**](#variable-_cubemap_color_drawables)  <br> |
+|  std::unique\_ptr&lt; [**gs::CubeMapColor**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor.md) &gt; | [**\_cubemap\_color\_shader**](#variable-_cubemap_color_shader)  <br> |
+|  Magnum::SceneGraph::DrawableGroup3D | [**\_cubemap\_drawables**](#variable-_cubemap_drawables)  <br> |
+|  std::unique\_ptr&lt; [**gs::CubeMap**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap.md) &gt; | [**\_cubemap\_shader**](#variable-_cubemap_shader)  <br> |
+|  std::unique\_ptr&lt; [**gs::CubeMapColor**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor.md) &gt; | [**\_cubemap\_texture\_color\_shader**](#variable-_cubemap_texture_color_shader)  <br> |
+|  std::unique\_ptr&lt; [**gs::CubeMap**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap.md) &gt; | [**\_cubemap\_texture\_shader**](#variable-_cubemap_texture_shader)  <br> |
+|  std::unique\_ptr&lt; Magnum::DartIntegration::World &gt; | [**\_dart\_world**](#variable-_dart_world)  <br> |
+|  bool | [**\_done**](#variable-_done)   = = false<br> |
+|  std::unordered\_map&lt; Magnum::DartIntegration::Object \*, [**ObjectStruct**](structrobot__dart_1_1gui_1_1magnum_1_1ObjectStruct.md) \* &gt; | [**\_drawable\_objects**](#variable-_drawable_objects)  <br> |
+|  Magnum::SceneGraph::DrawableGroup3D | [**\_drawables**](#variable-_drawables)  <br> |
+|  Corrade::Containers::Pointer&lt; Magnum::Text::AbstractFont &gt; | [**\_font**](#variable-_font)  <br> |
+|  Corrade::PluginManager::Manager&lt; Magnum::Text::AbstractFont &gt; | [**\_font\_manager**](#variable-_font_manager)  <br> |
+|  Corrade::Containers::Pointer&lt; Magnum::Text::DistanceFieldGlyphCache &gt; | [**\_glyph\_cache**](#variable-_glyph_cache)  <br> |
+|  Corrade::PluginManager::Manager&lt; Magnum::Trade::AbstractImporter &gt; | [**\_importer\_manager**](#variable-_importer_manager)  <br> |
+|  std::vector&lt; [**gs::Light**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light.md) &gt; | [**\_lights**](#variable-_lights)  <br> |
+|  int | [**\_max\_lights**](#variable-_max_lights)   = = 5<br> |
+|  Scene3D | [**\_scene**](#variable-_scene)  <br> |
+|  std::unique\_ptr&lt; Camera3D &gt; | [**\_shadow\_camera**](#variable-_shadow_camera)  <br> |
+|  Object3D \* | [**\_shadow\_camera\_object**](#variable-_shadow_camera_object)  <br> |
+|  std::unique\_ptr&lt; Magnum::GL::CubeMapTextureArray &gt; | [**\_shadow\_color\_cube\_map**](#variable-_shadow_color_cube_map)  <br> |
+|  std::unique\_ptr&lt; [**gs::ShadowMapColor**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor.md) &gt; | [**\_shadow\_color\_shader**](#variable-_shadow_color_shader)  <br> |
+|  std::unique\_ptr&lt; Magnum::GL::Texture2DArray &gt; | [**\_shadow\_color\_texture**](#variable-_shadow_color_texture)  <br> |
+|  std::unique\_ptr&lt; Magnum::GL::CubeMapTextureArray &gt; | [**\_shadow\_cube\_map**](#variable-_shadow_cube_map)  <br> |
+|  std::vector&lt; [**ShadowData**](structrobot__dart_1_1gui_1_1magnum_1_1ShadowData.md) &gt; | [**\_shadow\_data**](#variable-_shadow_data)  <br> |
+|  int | [**\_shadow\_map\_size**](#variable-_shadow_map_size)   = = 512<br> |
+|  std::unique\_ptr&lt; [**gs::ShadowMap**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap.md) &gt; | [**\_shadow\_shader**](#variable-_shadow_shader)  <br> |
+|  std::unique\_ptr&lt; Magnum::GL::Texture2DArray &gt; | [**\_shadow\_texture**](#variable-_shadow_texture)  <br> |
+|  std::unique\_ptr&lt; [**gs::ShadowMapColor**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor.md) &gt; | [**\_shadow\_texture\_color\_shader**](#variable-_shadow_texture_color_shader)  <br> |
+|  std::unique\_ptr&lt; [**gs::ShadowMap**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap.md) &gt; | [**\_shadow\_texture\_shader**](#variable-_shadow_texture_shader)  <br> |
+|  bool | [**\_shadowed**](#variable-_shadowed)   = = true<br> |
+|  Magnum::SceneGraph::DrawableGroup3D | [**\_shadowed\_color\_drawables**](#variable-_shadowed_color_drawables)  <br> |
+|  Magnum::SceneGraph::DrawableGroup3D | [**\_shadowed\_drawables**](#variable-_shadowed_drawables)  <br> |
+|  [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**\_simu**](#variable-_simu)  <br> |
+|  Corrade::Containers::Pointer&lt; Magnum::GL::Buffer &gt; | [**\_text\_indices**](#variable-_text_indices)  <br> |
+|  std::unique\_ptr&lt; Magnum::Shaders::DistanceFieldVectorGL2D &gt; | [**\_text\_shader**](#variable-_text_shader)  <br> |
+|  Corrade::Containers::Pointer&lt; Magnum::GL::Buffer &gt; | [**\_text\_vertices**](#variable-_text_vertices)  <br> |
+|  std::unique\_ptr&lt; [**gs::PhongMultiLight**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight.md) &gt; | [**\_texture\_shader**](#variable-_texture_shader)  <br> |
+|  int | [**\_transparentSize**](#variable-_transparentsize)   = = 0<br> |
+|  bool | [**\_transparent\_shadows**](#variable-_transparent_shadows)   = = false<br> |
 
 
 
@@ -234,8 +234,8 @@ See [robot\_dart::gui::magnum::BaseApplication](classrobot__dart_1_1gui_1_1magnu
 
 | Type | Name |
 | ---: | :--- |
-|  void | [**\_gl\_clean\_up**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-_gl_clean_up) () <br> |
-|  void | [**\_prepare\_shadows**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md#function-_prepare_shadows) () <br> |
+|  void | [**\_gl\_clean\_up**](#function-_gl_clean_up) () <br> |
+|  void | [**\_prepare\_shadows**](#function-_prepare_shadows) () <br> |
 
 
 
diff --git a/docs/assets/.doxy/api/api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics.md b/docs/assets/.doxy/api/api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics.md
index 5b95b9b9..ed06d974 100644
--- a/docs/assets/.doxy/api/api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics.md
+++ b/docs/assets/.doxy/api/api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics.md
@@ -103,36 +103,36 @@ See [robot\_dart::gui::magnum::BaseGraphics](classrobot__dart_1_1gui_1_1magnum_1
 
 | Type | Name |
 | ---: | :--- |
-|   | [**BaseGraphics**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-basegraphics) (const [**GraphicsConfiguration**](structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.md) & configuration=[**GraphicsConfiguration**](structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.md)()) <br> |
-|  void | [**add\_light**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-add_light) (const [**magnum::gs::Light**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light.md) & light) <br> |
-|  [**gs::Camera**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera.md) & | [**camera**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-camera-12) () <br> |
-|  const [**gs::Camera**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera.md) & | [**camera**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-camera-22) () const<br> |
-|  Eigen::Matrix4d | [**camera\_extrinsic\_matrix**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-camera_extrinsic_matrix) () const<br> |
-|  Eigen::Matrix3d | [**camera\_intrinsic\_matrix**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-camera_intrinsic_matrix) () const<br> |
-|  void | [**clear\_lights**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-clear_lights) () <br> |
-| virtual [**DepthImage**](structrobot__dart_1_1gui_1_1DepthImage.md) | [**depth\_array**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-depth_array) () override<br> |
-| virtual [**GrayscaleImage**](structrobot__dart_1_1gui_1_1GrayscaleImage.md) | [**depth\_image**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-depth_image) () override<br> |
-| virtual bool | [**done**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-done) () override const<br> |
-|  void | [**enable\_shadows**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-enable_shadows) (bool enable=true, bool transparent=true) <br> |
-| virtual size\_t | [**height**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-height) () override const<br> |
-| virtual [**Image**](structrobot__dart_1_1gui_1_1Image.md) | [**image**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-image) () override<br> |
-|  [**magnum::gs::Light**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light.md) & | [**light**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-light) (size\_t i) <br> |
-|  std::vector&lt; [**gs::Light**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light.md) &gt; & | [**lights**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-lights) () <br> |
-|  void | [**look\_at**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-look_at) (const Eigen::Vector3d & camera\_pos, const Eigen::Vector3d & look\_at=Eigen::Vector3d(0, 0, 0), const Eigen::Vector3d & up=Eigen::Vector3d(0, 0, 1)) <br> |
-|  [**BaseApplication**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md) \* | [**magnum\_app**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-magnum_app-12) () <br> |
-|  const [**BaseApplication**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md) \* | [**magnum\_app**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-magnum_app-22) () const<br> |
-|  Magnum::Image2D \* | [**magnum\_image**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-magnum_image) () <br> |
-|  size\_t | [**num\_lights**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-num_lights) () const<br> |
-| virtual [**GrayscaleImage**](structrobot__dart_1_1gui_1_1GrayscaleImage.md) | [**raw\_depth\_image**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-raw_depth_image) () override<br> |
-|  void | [**record\_video**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-record_video) (const std::string & video\_fname, int fps=-1) <br> |
-| virtual void | [**refresh**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-refresh) () override<br> |
-| virtual void | [**set\_enable**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-set_enable) (bool enable) override<br> |
-| virtual void | [**set\_fps**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-set_fps) (int fps) override<br> |
-| virtual void | [**set\_simu**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-set_simu) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* simu) override<br> |
-|  bool | [**shadowed**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-shadowed) () const<br> |
-|  bool | [**transparent\_shadows**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-transparent_shadows) () const<br> |
-| virtual size\_t | [**width**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-width) () override const<br> |
-| virtual  | [**~BaseGraphics**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#function-basegraphics) () <br> |
+|   | [**BaseGraphics**](#function-basegraphics) (const [**GraphicsConfiguration**](structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.md) & configuration=[**GraphicsConfiguration**](structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.md)()) <br> |
+|  void | [**add\_light**](#function-add_light) (const [**magnum::gs::Light**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light.md) & light) <br> |
+|  [**gs::Camera**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera.md) & | [**camera**](#function-camera-12) () <br> |
+|  const [**gs::Camera**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera.md) & | [**camera**](#function-camera-22) () const<br> |
+|  Eigen::Matrix4d | [**camera\_extrinsic\_matrix**](#function-camera_extrinsic_matrix) () const<br> |
+|  Eigen::Matrix3d | [**camera\_intrinsic\_matrix**](#function-camera_intrinsic_matrix) () const<br> |
+|  void | [**clear\_lights**](#function-clear_lights) () <br> |
+| virtual [**DepthImage**](structrobot__dart_1_1gui_1_1DepthImage.md) | [**depth\_array**](#function-depth_array) () override<br> |
+| virtual [**GrayscaleImage**](structrobot__dart_1_1gui_1_1GrayscaleImage.md) | [**depth\_image**](#function-depth_image) () override<br> |
+| virtual bool | [**done**](#function-done) () override const<br> |
+|  void | [**enable\_shadows**](#function-enable_shadows) (bool enable=true, bool transparent=true) <br> |
+| virtual size\_t | [**height**](#function-height) () override const<br> |
+| virtual [**Image**](structrobot__dart_1_1gui_1_1Image.md) | [**image**](#function-image) () override<br> |
+|  [**magnum::gs::Light**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light.md) & | [**light**](#function-light) (size\_t i) <br> |
+|  std::vector&lt; [**gs::Light**](classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light.md) &gt; & | [**lights**](#function-lights) () <br> |
+|  void | [**look\_at**](#function-look_at) (const Eigen::Vector3d & camera\_pos, const Eigen::Vector3d & look\_at=Eigen::Vector3d(0, 0, 0), const Eigen::Vector3d & up=Eigen::Vector3d(0, 0, 1)) <br> |
+|  [**BaseApplication**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md) \* | [**magnum\_app**](#function-magnum_app-12) () <br> |
+|  const [**BaseApplication**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md) \* | [**magnum\_app**](#function-magnum_app-22) () const<br> |
+|  Magnum::Image2D \* | [**magnum\_image**](#function-magnum_image) () <br> |
+|  size\_t | [**num\_lights**](#function-num_lights) () const<br> |
+| virtual [**GrayscaleImage**](structrobot__dart_1_1gui_1_1GrayscaleImage.md) | [**raw\_depth\_image**](#function-raw_depth_image) () override<br> |
+|  void | [**record\_video**](#function-record_video) (const std::string & video\_fname, int fps=-1) <br> |
+| virtual void | [**refresh**](#function-refresh) () override<br> |
+| virtual void | [**set\_enable**](#function-set_enable) (bool enable) override<br> |
+| virtual void | [**set\_fps**](#function-set_fps) (int fps) override<br> |
+| virtual void | [**set\_simu**](#function-set_simu) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* simu) override<br> |
+|  bool | [**shadowed**](#function-shadowed) () const<br> |
+|  bool | [**transparent\_shadows**](#function-transparent_shadows) () const<br> |
+| virtual size\_t | [**width**](#function-width) () override const<br> |
+| virtual  | [**~BaseGraphics**](#function-basegraphics) () <br> |
 
 
 ## Public Functions inherited from robot_dart::gui::Base
@@ -141,21 +141,21 @@ See [robot\_dart::gui::Base](classrobot__dart_1_1gui_1_1Base.md)
 
 | Type | Name |
 | ---: | :--- |
-|   | [**Base**](classrobot__dart_1_1gui_1_1Base.md#function-base) () <br> |
-| virtual [**DepthImage**](structrobot__dart_1_1gui_1_1DepthImage.md) | [**depth\_array**](classrobot__dart_1_1gui_1_1Base.md#function-depth_array) () <br> |
-| virtual [**GrayscaleImage**](structrobot__dart_1_1gui_1_1GrayscaleImage.md) | [**depth\_image**](classrobot__dart_1_1gui_1_1Base.md#function-depth_image) () <br> |
-| virtual bool | [**done**](classrobot__dart_1_1gui_1_1Base.md#function-done) () const<br> |
-| virtual size\_t | [**height**](classrobot__dart_1_1gui_1_1Base.md#function-height) () const<br> |
-| virtual [**Image**](structrobot__dart_1_1gui_1_1Image.md) | [**image**](classrobot__dart_1_1gui_1_1Base.md#function-image) () <br> |
-| virtual [**GrayscaleImage**](structrobot__dart_1_1gui_1_1GrayscaleImage.md) | [**raw\_depth\_image**](classrobot__dart_1_1gui_1_1Base.md#function-raw_depth_image) () <br> |
-| virtual void | [**refresh**](classrobot__dart_1_1gui_1_1Base.md#function-refresh) () <br> |
-| virtual void | [**set\_enable**](classrobot__dart_1_1gui_1_1Base.md#function-set_enable) (bool) <br> |
-| virtual void | [**set\_fps**](classrobot__dart_1_1gui_1_1Base.md#function-set_fps) (int) <br> |
-| virtual void | [**set\_render\_period**](classrobot__dart_1_1gui_1_1Base.md#function-set_render_period) (double) <br> |
-| virtual void | [**set\_simu**](classrobot__dart_1_1gui_1_1Base.md#function-set_simu) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* simu) <br> |
-|  const [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**simu**](classrobot__dart_1_1gui_1_1Base.md#function-simu) () const<br> |
-| virtual size\_t | [**width**](classrobot__dart_1_1gui_1_1Base.md#function-width) () const<br> |
-| virtual  | [**~Base**](classrobot__dart_1_1gui_1_1Base.md#function-base) () <br> |
+|   | [**Base**](#function-base) () <br> |
+| virtual [**DepthImage**](structrobot__dart_1_1gui_1_1DepthImage.md) | [**depth\_array**](#function-depth_array) () <br> |
+| virtual [**GrayscaleImage**](structrobot__dart_1_1gui_1_1GrayscaleImage.md) | [**depth\_image**](#function-depth_image) () <br> |
+| virtual bool | [**done**](#function-done) () const<br> |
+| virtual size\_t | [**height**](#function-height) () const<br> |
+| virtual [**Image**](structrobot__dart_1_1gui_1_1Image.md) | [**image**](#function-image) () <br> |
+| virtual [**GrayscaleImage**](structrobot__dart_1_1gui_1_1GrayscaleImage.md) | [**raw\_depth\_image**](#function-raw_depth_image) () <br> |
+| virtual void | [**refresh**](#function-refresh) () <br> |
+| virtual void | [**set\_enable**](#function-set_enable) (bool) <br> |
+| virtual void | [**set\_fps**](#function-set_fps) (int) <br> |
+| virtual void | [**set\_render\_period**](#function-set_render_period) (double) <br> |
+| virtual void | [**set\_simu**](#function-set_simu) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* simu) <br> |
+|  const [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**simu**](#function-simu) () const<br> |
+| virtual size\_t | [**width**](#function-width) () const<br> |
+| virtual  | [**~Base**](#function-base) () <br> |
 
 
 ## Public Static Functions
@@ -189,11 +189,11 @@ See [robot\_dart::gui::magnum::BaseGraphics](classrobot__dart_1_1gui_1_1magnum_1
 
 | Type | Name |
 | ---: | :--- |
-|  [**GraphicsConfiguration**](structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.md) | [**\_configuration**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#variable-_configuration)  <br> |
-|  bool | [**\_enabled**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#variable-_enabled)  <br> |
-|  int | [**\_fps**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#variable-_fps)  <br> |
-|  std::unique\_ptr&lt; [**BaseApplication**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md) &gt; | [**\_magnum\_app**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#variable-_magnum_app)  <br> |
-|  Corrade::Utility::Debug | [**\_magnum\_silence\_output**](classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics.md#variable-_magnum_silence_output)   = {nullptr}<br> |
+|  [**GraphicsConfiguration**](structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.md) | [**\_configuration**](#variable-_configuration)  <br> |
+|  bool | [**\_enabled**](#variable-_enabled)  <br> |
+|  int | [**\_fps**](#variable-_fps)  <br> |
+|  std::unique\_ptr&lt; [**BaseApplication**](classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.md) &gt; | [**\_magnum\_app**](#variable-_magnum_app)  <br> |
+|  Corrade::Utility::Debug | [**\_magnum\_silence\_output**](#variable-_magnum_silence_output)   = {nullptr}<br> |
 
 
 ## Protected Attributes inherited from robot_dart::gui::Base
@@ -202,7 +202,7 @@ See [robot\_dart::gui::Base](classrobot__dart_1_1gui_1_1Base.md)
 
 | Type | Name |
 | ---: | :--- |
-|  [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**\_simu**](classrobot__dart_1_1gui_1_1Base.md#variable-_simu)   = = nullptr<br> |
+|  [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**\_simu**](#variable-_simu)   = = nullptr<br> |
 
 
 
diff --git a/docs/assets/.doxy/api/api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera.md b/docs/assets/.doxy/api/api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera.md
index 29086a69..37c4a74a 100644
--- a/docs/assets/.doxy/api/api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera.md
+++ b/docs/assets/.doxy/api/api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera.md
@@ -101,26 +101,26 @@ See [robot\_dart::sensor::Sensor](classrobot__dart_1_1sensor_1_1Sensor.md)
 
 | Type | Name |
 | ---: | :--- |
-|   | [**Sensor**](classrobot__dart_1_1sensor_1_1Sensor.md#function-sensor) (size\_t freq=40) <br> |
-|  void | [**activate**](classrobot__dart_1_1sensor_1_1Sensor.md#function-activate) (bool enable=true) <br> |
-|  bool | [**active**](classrobot__dart_1_1sensor_1_1Sensor.md#function-active) () const<br> |
-| virtual void | [**attach\_to\_body**](classrobot__dart_1_1sensor_1_1Sensor.md#function-attach_to_body-12) (dart::dynamics::BodyNode \* body, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
-|  void | [**attach\_to\_body**](classrobot__dart_1_1sensor_1_1Sensor.md#function-attach_to_body-22) (const std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; & robot, const std::string & body\_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
-| virtual void | [**attach\_to\_joint**](classrobot__dart_1_1sensor_1_1Sensor.md#function-attach_to_joint-12) (dart::dynamics::Joint \* joint, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
-|  void | [**attach\_to\_joint**](classrobot__dart_1_1sensor_1_1Sensor.md#function-attach_to_joint-22) (const std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; & robot, const std::string & joint\_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
-|  const std::string & | [**attached\_to**](classrobot__dart_1_1sensor_1_1Sensor.md#function-attached_to) () const<br> |
-| virtual void | [**calculate**](classrobot__dart_1_1sensor_1_1Sensor.md#function-calculate) (double) = 0<br> |
-|  void | [**detach**](classrobot__dart_1_1sensor_1_1Sensor.md#function-detach) () <br> |
-|  size\_t | [**frequency**](classrobot__dart_1_1sensor_1_1Sensor.md#function-frequency) () const<br> |
-| virtual void | [**init**](classrobot__dart_1_1sensor_1_1Sensor.md#function-init) () = 0<br> |
-|  const Eigen::Isometry3d & | [**pose**](classrobot__dart_1_1sensor_1_1Sensor.md#function-pose) () const<br> |
-|  void | [**refresh**](classrobot__dart_1_1sensor_1_1Sensor.md#function-refresh) (double t) <br> |
-|  void | [**set\_frequency**](classrobot__dart_1_1sensor_1_1Sensor.md#function-set_frequency) (size\_t freq) <br> |
-|  void | [**set\_pose**](classrobot__dart_1_1sensor_1_1Sensor.md#function-set_pose) (const Eigen::Isometry3d & tf) <br> |
-|  void | [**set\_simu**](classrobot__dart_1_1sensor_1_1Sensor.md#function-set_simu) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* simu) <br> |
-|  const [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**simu**](classrobot__dart_1_1sensor_1_1Sensor.md#function-simu) () const<br> |
-| virtual std::string | [**type**](classrobot__dart_1_1sensor_1_1Sensor.md#function-type) () const = 0<br> |
-| virtual  | [**~Sensor**](classrobot__dart_1_1sensor_1_1Sensor.md#function-sensor) () <br> |
+|   | [**Sensor**](#function-sensor) (size\_t freq=40) <br> |
+|  void | [**activate**](#function-activate) (bool enable=true) <br> |
+|  bool | [**active**](#function-active) () const<br> |
+| virtual void | [**attach\_to\_body**](#function-attach_to_body-12) (dart::dynamics::BodyNode \* body, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
+|  void | [**attach\_to\_body**](#function-attach_to_body-22) (const std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; & robot, const std::string & body\_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
+| virtual void | [**attach\_to\_joint**](#function-attach_to_joint-12) (dart::dynamics::Joint \* joint, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
+|  void | [**attach\_to\_joint**](#function-attach_to_joint-22) (const std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; & robot, const std::string & joint\_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
+|  const std::string & | [**attached\_to**](#function-attached_to) () const<br> |
+| virtual void | [**calculate**](#function-calculate) (double) = 0<br> |
+|  void | [**detach**](#function-detach) () <br> |
+|  size\_t | [**frequency**](#function-frequency) () const<br> |
+| virtual void | [**init**](#function-init) () = 0<br> |
+|  const Eigen::Isometry3d & | [**pose**](#function-pose) () const<br> |
+|  void | [**refresh**](#function-refresh) (double t) <br> |
+|  void | [**set\_frequency**](#function-set_frequency) (size\_t freq) <br> |
+|  void | [**set\_pose**](#function-set_pose) (const Eigen::Isometry3d & tf) <br> |
+|  void | [**set\_simu**](#function-set_simu) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* simu) <br> |
+|  const [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**simu**](#function-simu) () const<br> |
+| virtual std::string | [**type**](#function-type) () const = 0<br> |
+| virtual  | [**~Sensor**](#function-sensor) () <br> |
 
 
 
@@ -156,17 +156,17 @@ See [robot\_dart::sensor::Sensor](classrobot__dart_1_1sensor_1_1Sensor.md)
 
 | Type | Name |
 | ---: | :--- |
-|  bool | [**\_active**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_active)  <br> |
-|  Eigen::Isometry3d | [**\_attached\_tf**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_attached_tf)  <br> |
-|  bool | [**\_attached\_to\_body**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_attached_to_body)   = = false<br> |
-|  bool | [**\_attached\_to\_joint**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_attached_to_joint)   = = false<br> |
-|  bool | [**\_attaching\_to\_body**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_attaching_to_body)   = = false<br> |
-|  bool | [**\_attaching\_to\_joint**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_attaching_to_joint)   = = false<br> |
-|  dart::dynamics::BodyNode \* | [**\_body\_attached**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_body_attached)  <br> |
-|  size\_t | [**\_frequency**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_frequency)  <br> |
-|  dart::dynamics::Joint \* | [**\_joint\_attached**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_joint_attached)  <br> |
-|  [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**\_simu**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_simu)   = = nullptr<br> |
-|  Eigen::Isometry3d | [**\_world\_pose**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_world_pose)  <br> |
+|  bool | [**\_active**](#variable-_active)  <br> |
+|  Eigen::Isometry3d | [**\_attached\_tf**](#variable-_attached_tf)  <br> |
+|  bool | [**\_attached\_to\_body**](#variable-_attached_to_body)   = = false<br> |
+|  bool | [**\_attached\_to\_joint**](#variable-_attached_to_joint)   = = false<br> |
+|  bool | [**\_attaching\_to\_body**](#variable-_attaching_to_body)   = = false<br> |
+|  bool | [**\_attaching\_to\_joint**](#variable-_attaching_to_joint)   = = false<br> |
+|  dart::dynamics::BodyNode \* | [**\_body\_attached**](#variable-_body_attached)  <br> |
+|  size\_t | [**\_frequency**](#variable-_frequency)  <br> |
+|  dart::dynamics::Joint \* | [**\_joint\_attached**](#variable-_joint_attached)  <br> |
+|  [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**\_simu**](#variable-_simu)   = = nullptr<br> |
+|  Eigen::Isometry3d | [**\_world\_pose**](#variable-_world_pose)  <br> |
 
 
 
diff --git a/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1A1.md b/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1A1.md
index cfeeac09..5db6560f 100644
--- a/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1A1.md
+++ b/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1A1.md
@@ -83,180 +83,180 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-13) (const std::string & model\_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-23) (const std::string & model\_file, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-33) (dart::dynamics::SkeletonPtr skeleton, const std::string & robot\_name="robot", bool cast\_shadows=true) <br> |
-|  Eigen::VectorXd | [**acceleration\_lower\_limits**](classrobot__dart_1_1Robot.md#function-acceleration_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**acceleration\_upper\_limits**](classrobot__dart_1_1Robot.md#function-acceleration_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**accelerations**](classrobot__dart_1_1Robot.md#function-accelerations) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**active\_controllers**](classrobot__dart_1_1Robot.md#function-active_controllers) () const<br> |
-|  std::string | [**actuator\_type**](classrobot__dart_1_1Robot.md#function-actuator_type) (const std::string & joint\_name) const<br> |
-|  std::vector&lt; std::string &gt; | [**actuator\_types**](classrobot__dart_1_1Robot.md#function-actuator_types) (const std::vector&lt; std::string &gt; & joint\_names={}) const<br> |
-|  void | [**add\_body\_mass**](classrobot__dart_1_1Robot.md#function-add_body_mass-12) (const std::string & body\_name, double mass) <br> |
-|  void | [**add\_body\_mass**](classrobot__dart_1_1Robot.md#function-add_body_mass-22) (size\_t body\_index, double mass) <br> |
-|  void | [**add\_controller**](classrobot__dart_1_1Robot.md#function-add_controller) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller, double weight=1.0) <br> |
-|  void | [**add\_external\_force**](classrobot__dart_1_1Robot.md#function-add_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**add\_external\_force**](classrobot__dart_1_1Robot.md#function-add_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**add\_external\_torque**](classrobot__dart_1_1Robot.md#function-add_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**add\_external\_torque**](classrobot__dart_1_1Robot.md#function-add_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  bool | [**adjacent\_colliding**](classrobot__dart_1_1Robot.md#function-adjacent_colliding) () const<br> |
-|  Eigen::MatrixXd | [**aug\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::Isometry3d | [**base\_pose**](classrobot__dart_1_1Robot.md#function-base_pose) () const<br> |
-|  Eigen::Vector6d | [**base\_pose\_vec**](classrobot__dart_1_1Robot.md#function-base_pose_vec) () const<br> |
-|  Eigen::Vector6d | [**body\_acceleration**](classrobot__dart_1_1Robot.md#function-body_acceleration-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_acceleration**](classrobot__dart_1_1Robot.md#function-body_acceleration-22) (size\_t body\_index) const<br> |
-|  size\_t | [**body\_index**](classrobot__dart_1_1Robot.md#function-body_index) (const std::string & body\_name) const<br> |
-|  double | [**body\_mass**](classrobot__dart_1_1Robot.md#function-body_mass-12) (const std::string & body\_name) const<br> |
-|  double | [**body\_mass**](classrobot__dart_1_1Robot.md#function-body_mass-22) (size\_t body\_index) const<br> |
-|  std::string | [**body\_name**](classrobot__dart_1_1Robot.md#function-body_name) (size\_t body\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**body\_names**](classrobot__dart_1_1Robot.md#function-body_names) () const<br> |
-|  dart::dynamics::BodyNode \* | [**body\_node**](classrobot__dart_1_1Robot.md#function-body_node-12) (const std::string & body\_name) <br> |
-|  dart::dynamics::BodyNode \* | [**body\_node**](classrobot__dart_1_1Robot.md#function-body_node-22) (size\_t body\_index) <br> |
-|  Eigen::Isometry3d | [**body\_pose**](classrobot__dart_1_1Robot.md#function-body_pose-12) (const std::string & body\_name) const<br> |
-|  Eigen::Isometry3d | [**body\_pose**](classrobot__dart_1_1Robot.md#function-body_pose-22) (size\_t body\_index) const<br> |
-|  Eigen::Vector6d | [**body\_pose\_vec**](classrobot__dart_1_1Robot.md#function-body_pose_vec-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_pose\_vec**](classrobot__dart_1_1Robot.md#function-body_pose_vec-22) (size\_t body\_index) const<br> |
-|  Eigen::Vector6d | [**body\_velocity**](classrobot__dart_1_1Robot.md#function-body_velocity-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_velocity**](classrobot__dart_1_1Robot.md#function-body_velocity-22) (size\_t body\_index) const<br> |
-|  bool | [**cast\_shadows**](classrobot__dart_1_1Robot.md#function-cast_shadows) () const<br> |
-|  void | [**clear\_controllers**](classrobot__dart_1_1Robot.md#function-clear_controllers) () <br> |
-|  void | [**clear\_external\_forces**](classrobot__dart_1_1Robot.md#function-clear_external_forces) () <br> |
-|  void | [**clear\_internal\_forces**](classrobot__dart_1_1Robot.md#function-clear_internal_forces) () <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone**](classrobot__dart_1_1Robot.md#function-clone) () const<br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone\_ghost**](classrobot__dart_1_1Robot.md#function-clone_ghost) (const std::string & ghost\_name="ghost", const Eigen::Vector4d & ghost\_color={0.3, 0.3, 0.3, 0.7}) const<br> |
-|  Eigen::Vector3d | [**com**](classrobot__dart_1_1Robot.md#function-com) () const<br> |
-|  Eigen::Vector6d | [**com\_acceleration**](classrobot__dart_1_1Robot.md#function-com_acceleration) () const<br> |
-|  Eigen::MatrixXd | [**com\_jacobian**](classrobot__dart_1_1Robot.md#function-com_jacobian) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**com\_jacobian\_deriv**](classrobot__dart_1_1Robot.md#function-com_jacobian_deriv) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::Vector6d | [**com\_velocity**](classrobot__dart_1_1Robot.md#function-com_velocity) () const<br> |
-|  Eigen::VectorXd | [**commands**](classrobot__dart_1_1Robot.md#function-commands) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**constraint\_forces**](classrobot__dart_1_1Robot.md#function-constraint_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**controller**](classrobot__dart_1_1Robot.md#function-controller) (size\_t index) const<br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**controllers**](classrobot__dart_1_1Robot.md#function-controllers) () const<br> |
-|  Eigen::VectorXd | [**coriolis\_forces**](classrobot__dart_1_1Robot.md#function-coriolis_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**coriolis\_gravity\_forces**](classrobot__dart_1_1Robot.md#function-coriolis_gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; double &gt; | [**coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-coulomb_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; double &gt; | [**damping\_coeffs**](classrobot__dart_1_1Robot.md#function-damping_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  dart::dynamics::DegreeOfFreedom \* | [**dof**](classrobot__dart_1_1Robot.md#function-dof-12) (const std::string & dof\_name) <br> |
-|  dart::dynamics::DegreeOfFreedom \* | [**dof**](classrobot__dart_1_1Robot.md#function-dof-22) (size\_t dof\_index) <br> |
-|  size\_t | [**dof\_index**](classrobot__dart_1_1Robot.md#function-dof_index) (const std::string & dof\_name) const<br> |
-|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**dof\_map**](classrobot__dart_1_1Robot.md#function-dof_map) () const<br> |
-|  std::string | [**dof\_name**](classrobot__dart_1_1Robot.md#function-dof_name) (size\_t dof\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**dof\_names**](classrobot__dart_1_1Robot.md#function-dof_names) (bool filter\_mimics=false, bool filter\_locked=false, bool filter\_passive=false) const<br> |
-|  const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; & | [**drawing\_axes**](classrobot__dart_1_1Robot.md#function-drawing_axes) () const<br> |
-|  Eigen::Vector6d | [**external\_forces**](classrobot__dart_1_1Robot.md#function-external_forces-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**external\_forces**](classrobot__dart_1_1Robot.md#function-external_forces-22) (size\_t body\_index) const<br> |
-|  void | [**fix\_to\_world**](classrobot__dart_1_1Robot.md#function-fix_to_world) () <br> |
-|  bool | [**fixed**](classrobot__dart_1_1Robot.md#function-fixed) () const<br> |
-|  Eigen::VectorXd | [**force\_lower\_limits**](classrobot__dart_1_1Robot.md#function-force_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**force\_position\_bounds**](classrobot__dart_1_1Robot.md#function-force_position_bounds) () <br> |
-|  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; | [**force\_torque**](classrobot__dart_1_1Robot.md#function-force_torque) (size\_t joint\_index) const<br> |
-|  Eigen::VectorXd | [**force\_upper\_limits**](classrobot__dart_1_1Robot.md#function-force_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**forces**](classrobot__dart_1_1Robot.md#function-forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  bool | [**free**](classrobot__dart_1_1Robot.md#function-free) () const<br> |
-|  void | [**free\_from\_world**](classrobot__dart_1_1Robot.md#function-free_from_world) (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) <br> |
-|  double | [**friction\_coeff**](classrobot__dart_1_1Robot.md#function-friction_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**friction\_coeff**](classrobot__dart_1_1Robot.md#function-friction_coeff-22) (size\_t body\_index) <br> |
-|  Eigen::Vector3d | [**friction\_dir**](classrobot__dart_1_1Robot.md#function-friction_dir-12) (const std::string & body\_name) <br> |
-|  Eigen::Vector3d | [**friction\_dir**](classrobot__dart_1_1Robot.md#function-friction_dir-22) (size\_t body\_index) <br> |
-|  bool | [**ghost**](classrobot__dart_1_1Robot.md#function-ghost) () const<br> |
-|  Eigen::VectorXd | [**gravity\_forces**](classrobot__dart_1_1Robot.md#function-gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**inv\_aug\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-inv_aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**inv\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-inv_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**jacobian**](classrobot__dart_1_1Robot.md#function-jacobian) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**jacobian\_deriv**](classrobot__dart_1_1Robot.md#function-jacobian_deriv) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  dart::dynamics::Joint \* | [**joint**](classrobot__dart_1_1Robot.md#function-joint-12) (const std::string & joint\_name) <br> |
-|  dart::dynamics::Joint \* | [**joint**](classrobot__dart_1_1Robot.md#function-joint-22) (size\_t joint\_index) <br> |
-|  size\_t | [**joint\_index**](classrobot__dart_1_1Robot.md#function-joint_index) (const std::string & joint\_name) const<br> |
-|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**joint\_map**](classrobot__dart_1_1Robot.md#function-joint_map) () const<br> |
-|  std::string | [**joint\_name**](classrobot__dart_1_1Robot.md#function-joint_name) (size\_t joint\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**joint\_names**](classrobot__dart_1_1Robot.md#function-joint_names) () const<br> |
-|  std::vector&lt; std::string &gt; | [**locked\_dof\_names**](classrobot__dart_1_1Robot.md#function-locked_dof_names) () const<br> |
-|  Eigen::MatrixXd | [**mass\_matrix**](classrobot__dart_1_1Robot.md#function-mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; std::string &gt; | [**mimic\_dof\_names**](classrobot__dart_1_1Robot.md#function-mimic_dof_names) () const<br> |
-|  const std::string & | [**model\_filename**](classrobot__dart_1_1Robot.md#function-model_filename) () const<br> |
-|  const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & | [**model\_packages**](classrobot__dart_1_1Robot.md#function-model_packages) () const<br> |
-|  const std::string & | [**name**](classrobot__dart_1_1Robot.md#function-name) () const<br> |
-|  size\_t | [**num\_bodies**](classrobot__dart_1_1Robot.md#function-num_bodies) () const<br> |
-|  size\_t | [**num\_controllers**](classrobot__dart_1_1Robot.md#function-num_controllers) () const<br> |
-|  size\_t | [**num\_dofs**](classrobot__dart_1_1Robot.md#function-num_dofs) () const<br> |
-|  size\_t | [**num\_joints**](classrobot__dart_1_1Robot.md#function-num_joints) () const<br> |
-|  std::vector&lt; std::string &gt; | [**passive\_dof\_names**](classrobot__dart_1_1Robot.md#function-passive_dof_names) () const<br> |
-|  std::vector&lt; bool &gt; | [**position\_enforced**](classrobot__dart_1_1Robot.md#function-position_enforced) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**position\_lower\_limits**](classrobot__dart_1_1Robot.md#function-position_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**position\_upper\_limits**](classrobot__dart_1_1Robot.md#function-position_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**positions**](classrobot__dart_1_1Robot.md#function-positions) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**reinit\_controllers**](classrobot__dart_1_1Robot.md#function-reinit_controllers) () <br> |
-|  void | [**remove\_all\_drawing\_axis**](classrobot__dart_1_1Robot.md#function-remove_all_drawing_axis) () <br> |
-|  void | [**remove\_controller**](classrobot__dart_1_1Robot.md#function-remove_controller-12) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller) <br> |
-|  void | [**remove\_controller**](classrobot__dart_1_1Robot.md#function-remove_controller-22) (size\_t index) <br> |
-| virtual void | [**reset**](classrobot__dart_1_1Robot.md#function-reset) () <br> |
-|  void | [**reset\_commands**](classrobot__dart_1_1Robot.md#function-reset_commands) () <br> |
-|  double | [**restitution\_coeff**](classrobot__dart_1_1Robot.md#function-restitution_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**restitution\_coeff**](classrobot__dart_1_1Robot.md#function-restitution_coeff-22) (size\_t body\_index) <br> |
-|  double | [**secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-secondary_friction_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-secondary_friction_coeff-22) (size\_t body\_index) <br> |
-|  bool | [**self\_colliding**](classrobot__dart_1_1Robot.md#function-self_colliding) () const<br> |
-|  void | [**set\_acceleration\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_acceleration_lower_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_acceleration\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_acceleration_upper_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_accelerations**](classrobot__dart_1_1Robot.md#function-set_accelerations) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_actuator\_type**](classrobot__dart_1_1Robot.md#function-set_actuator_type) (const std::string & type, const std::string & joint\_name, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-set_actuator_types) (const std::string & type, const std::vector&lt; std::string &gt; & joint\_names={}, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**set\_base\_pose**](classrobot__dart_1_1Robot.md#function-set_base_pose-12) (const Eigen::Isometry3d & tf) <br> |
-|  void | [**set\_base\_pose**](classrobot__dart_1_1Robot.md#function-set_base_pose-22) (const Eigen::Vector6d & pose) <br>_set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)_  |
-|  void | [**set\_body\_mass**](classrobot__dart_1_1Robot.md#function-set_body_mass-12) (const std::string & body\_name, double mass) <br> |
-|  void | [**set\_body\_mass**](classrobot__dart_1_1Robot.md#function-set_body_mass-22) (size\_t body\_index, double mass) <br> |
-|  void | [**set\_body\_name**](classrobot__dart_1_1Robot.md#function-set_body_name) (size\_t body\_index, const std::string & body\_name) <br> |
-|  void | [**set\_cast\_shadows**](classrobot__dart_1_1Robot.md#function-set_cast_shadows) (bool cast\_shadows=true) <br> |
-|  void | [**set\_color\_mode**](classrobot__dart_1_1Robot.md#function-set_color_mode-12) (const std::string & color\_mode) <br> |
-|  void | [**set\_color\_mode**](classrobot__dart_1_1Robot.md#function-set_color_mode-22) (const std::string & color\_mode, const std::string & body\_name) <br> |
-|  void | [**set\_commands**](classrobot__dart_1_1Robot.md#function-set_commands) (const Eigen::VectorXd & commands, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-set_coulomb_coeffs-12) (const std::vector&lt; double &gt; & cfrictions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-set_coulomb_coeffs-22) (double cfriction, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_damping\_coeffs**](classrobot__dart_1_1Robot.md#function-set_damping_coeffs-12) (const std::vector&lt; double &gt; & damps, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_damping\_coeffs**](classrobot__dart_1_1Robot.md#function-set_damping_coeffs-22) (double damp, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_draw\_axis**](classrobot__dart_1_1Robot.md#function-set_draw_axis) (const std::string & body\_name, double size=0.25) <br> |
-|  void | [**set\_external\_force**](classrobot__dart_1_1Robot.md#function-set_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**set\_external\_force**](classrobot__dart_1_1Robot.md#function-set_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**set\_external\_torque**](classrobot__dart_1_1Robot.md#function-set_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**set\_external\_torque**](classrobot__dart_1_1Robot.md#function-set_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**set\_force\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_force_lower_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_force\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_force_upper_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_forces**](classrobot__dart_1_1Robot.md#function-set_forces) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_friction_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_friction_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_friction\_coeffs**](classrobot__dart_1_1Robot.md#function-set_friction_coeffs) (double value) <br> |
-|  void | [**set\_friction\_dir**](classrobot__dart_1_1Robot.md#function-set_friction_dir-12) (const std::string & body\_name, const Eigen::Vector3d & direction) <br> |
-|  void | [**set\_friction\_dir**](classrobot__dart_1_1Robot.md#function-set_friction_dir-22) (size\_t body\_index, const Eigen::Vector3d & direction) <br> |
-|  void | [**set\_ghost**](classrobot__dart_1_1Robot.md#function-set_ghost) (bool ghost=true) <br> |
-|  void | [**set\_joint\_name**](classrobot__dart_1_1Robot.md#function-set_joint_name) (size\_t joint\_index, const std::string & joint\_name) <br> |
-|  void | [**set\_mimic**](classrobot__dart_1_1Robot.md#function-set_mimic) (const std::string & joint\_name, const std::string & mimic\_joint\_name, double multiplier=1., double offset=0.) <br> |
-|  void | [**set\_position\_enforced**](classrobot__dart_1_1Robot.md#function-set_position_enforced-12) (const std::vector&lt; bool &gt; & enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_enforced**](classrobot__dart_1_1Robot.md#function-set_position_enforced-22) (bool enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_position_lower_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_position_upper_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_positions**](classrobot__dart_1_1Robot.md#function-set_positions) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_restitution\_coeff**](classrobot__dart_1_1Robot.md#function-set_restitution_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_restitution\_coeff**](classrobot__dart_1_1Robot.md#function-set_restitution_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_restitution\_coeffs**](classrobot__dart_1_1Robot.md#function-set_restitution_coeffs) (double value) <br> |
-|  void | [**set\_secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_secondary\_friction\_coeffs**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeffs) (double value) <br> |
-|  void | [**set\_self\_collision**](classrobot__dart_1_1Robot.md#function-set_self_collision) (bool enable\_self\_collisions=true, bool enable\_adjacent\_collisions=false) <br> |
-|  void | [**set\_spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-set_spring_stiffnesses-12) (const std::vector&lt; double &gt; & stiffnesses, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-set_spring_stiffnesses-22) (double stiffness, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocities**](classrobot__dart_1_1Robot.md#function-set_velocities) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocity\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_velocity_lower_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocity\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_velocity_upper_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  dart::dynamics::SkeletonPtr | [**skeleton**](classrobot__dart_1_1Robot.md#function-skeleton) () <br> |
-|  std::vector&lt; double &gt; | [**spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-spring_stiffnesses) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**update**](classrobot__dart_1_1Robot.md#function-update) (double t) <br> |
-|  void | [**update\_joint\_dof\_maps**](classrobot__dart_1_1Robot.md#function-update_joint_dof_maps) () <br> |
-|  Eigen::VectorXd | [**vec\_dof**](classrobot__dart_1_1Robot.md#function-vec_dof) (const Eigen::VectorXd & vec, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-|  Eigen::VectorXd | [**velocities**](classrobot__dart_1_1Robot.md#function-velocities) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**velocity\_lower\_limits**](classrobot__dart_1_1Robot.md#function-velocity_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**velocity\_upper\_limits**](classrobot__dart_1_1Robot.md#function-velocity_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-| virtual  | [**~Robot**](classrobot__dart_1_1Robot.md#function-robot) () <br> |
+|   | [**Robot**](#function-robot-13) (const std::string & model\_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
+|   | [**Robot**](#function-robot-23) (const std::string & model\_file, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
+|   | [**Robot**](#function-robot-33) (dart::dynamics::SkeletonPtr skeleton, const std::string & robot\_name="robot", bool cast\_shadows=true) <br> |
+|  Eigen::VectorXd | [**acceleration\_lower\_limits**](#function-acceleration_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**acceleration\_upper\_limits**](#function-acceleration_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**accelerations**](#function-accelerations) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**active\_controllers**](#function-active_controllers) () const<br> |
+|  std::string | [**actuator\_type**](#function-actuator_type) (const std::string & joint\_name) const<br> |
+|  std::vector&lt; std::string &gt; | [**actuator\_types**](#function-actuator_types) (const std::vector&lt; std::string &gt; & joint\_names={}) const<br> |
+|  void | [**add\_body\_mass**](#function-add_body_mass-12) (const std::string & body\_name, double mass) <br> |
+|  void | [**add\_body\_mass**](#function-add_body_mass-22) (size\_t body\_index, double mass) <br> |
+|  void | [**add\_controller**](#function-add_controller) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller, double weight=1.0) <br> |
+|  void | [**add\_external\_force**](#function-add_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**add\_external\_force**](#function-add_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**add\_external\_torque**](#function-add_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**add\_external\_torque**](#function-add_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  bool | [**adjacent\_colliding**](#function-adjacent_colliding) () const<br> |
+|  Eigen::MatrixXd | [**aug\_mass\_matrix**](#function-aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::Isometry3d | [**base\_pose**](#function-base_pose) () const<br> |
+|  Eigen::Vector6d | [**base\_pose\_vec**](#function-base_pose_vec) () const<br> |
+|  Eigen::Vector6d | [**body\_acceleration**](#function-body_acceleration-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_acceleration**](#function-body_acceleration-22) (size\_t body\_index) const<br> |
+|  size\_t | [**body\_index**](#function-body_index) (const std::string & body\_name) const<br> |
+|  double | [**body\_mass**](#function-body_mass-12) (const std::string & body\_name) const<br> |
+|  double | [**body\_mass**](#function-body_mass-22) (size\_t body\_index) const<br> |
+|  std::string | [**body\_name**](#function-body_name) (size\_t body\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**body\_names**](#function-body_names) () const<br> |
+|  dart::dynamics::BodyNode \* | [**body\_node**](#function-body_node-12) (const std::string & body\_name) <br> |
+|  dart::dynamics::BodyNode \* | [**body\_node**](#function-body_node-22) (size\_t body\_index) <br> |
+|  Eigen::Isometry3d | [**body\_pose**](#function-body_pose-12) (const std::string & body\_name) const<br> |
+|  Eigen::Isometry3d | [**body\_pose**](#function-body_pose-22) (size\_t body\_index) const<br> |
+|  Eigen::Vector6d | [**body\_pose\_vec**](#function-body_pose_vec-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_pose\_vec**](#function-body_pose_vec-22) (size\_t body\_index) const<br> |
+|  Eigen::Vector6d | [**body\_velocity**](#function-body_velocity-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_velocity**](#function-body_velocity-22) (size\_t body\_index) const<br> |
+|  bool | [**cast\_shadows**](#function-cast_shadows) () const<br> |
+|  void | [**clear\_controllers**](#function-clear_controllers) () <br> |
+|  void | [**clear\_external\_forces**](#function-clear_external_forces) () <br> |
+|  void | [**clear\_internal\_forces**](#function-clear_internal_forces) () <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone**](#function-clone) () const<br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone\_ghost**](#function-clone_ghost) (const std::string & ghost\_name="ghost", const Eigen::Vector4d & ghost\_color={0.3, 0.3, 0.3, 0.7}) const<br> |
+|  Eigen::Vector3d | [**com**](#function-com) () const<br> |
+|  Eigen::Vector6d | [**com\_acceleration**](#function-com_acceleration) () const<br> |
+|  Eigen::MatrixXd | [**com\_jacobian**](#function-com_jacobian) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**com\_jacobian\_deriv**](#function-com_jacobian_deriv) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::Vector6d | [**com\_velocity**](#function-com_velocity) () const<br> |
+|  Eigen::VectorXd | [**commands**](#function-commands) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**constraint\_forces**](#function-constraint_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**controller**](#function-controller) (size\_t index) const<br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**controllers**](#function-controllers) () const<br> |
+|  Eigen::VectorXd | [**coriolis\_forces**](#function-coriolis_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**coriolis\_gravity\_forces**](#function-coriolis_gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; double &gt; | [**coulomb\_coeffs**](#function-coulomb_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; double &gt; | [**damping\_coeffs**](#function-damping_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  dart::dynamics::DegreeOfFreedom \* | [**dof**](#function-dof-12) (const std::string & dof\_name) <br> |
+|  dart::dynamics::DegreeOfFreedom \* | [**dof**](#function-dof-22) (size\_t dof\_index) <br> |
+|  size\_t | [**dof\_index**](#function-dof_index) (const std::string & dof\_name) const<br> |
+|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**dof\_map**](#function-dof_map) () const<br> |
+|  std::string | [**dof\_name**](#function-dof_name) (size\_t dof\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**dof\_names**](#function-dof_names) (bool filter\_mimics=false, bool filter\_locked=false, bool filter\_passive=false) const<br> |
+|  const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; & | [**drawing\_axes**](#function-drawing_axes) () const<br> |
+|  Eigen::Vector6d | [**external\_forces**](#function-external_forces-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**external\_forces**](#function-external_forces-22) (size\_t body\_index) const<br> |
+|  void | [**fix\_to\_world**](#function-fix_to_world) () <br> |
+|  bool | [**fixed**](#function-fixed) () const<br> |
+|  Eigen::VectorXd | [**force\_lower\_limits**](#function-force_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**force\_position\_bounds**](#function-force_position_bounds) () <br> |
+|  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; | [**force\_torque**](#function-force_torque) (size\_t joint\_index) const<br> |
+|  Eigen::VectorXd | [**force\_upper\_limits**](#function-force_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**forces**](#function-forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  bool | [**free**](#function-free) () const<br> |
+|  void | [**free\_from\_world**](#function-free_from_world) (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) <br> |
+|  double | [**friction\_coeff**](#function-friction_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**friction\_coeff**](#function-friction_coeff-22) (size\_t body\_index) <br> |
+|  Eigen::Vector3d | [**friction\_dir**](#function-friction_dir-12) (const std::string & body\_name) <br> |
+|  Eigen::Vector3d | [**friction\_dir**](#function-friction_dir-22) (size\_t body\_index) <br> |
+|  bool | [**ghost**](#function-ghost) () const<br> |
+|  Eigen::VectorXd | [**gravity\_forces**](#function-gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**inv\_aug\_mass\_matrix**](#function-inv_aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**inv\_mass\_matrix**](#function-inv_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**jacobian**](#function-jacobian) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**jacobian\_deriv**](#function-jacobian_deriv) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  dart::dynamics::Joint \* | [**joint**](#function-joint-12) (const std::string & joint\_name) <br> |
+|  dart::dynamics::Joint \* | [**joint**](#function-joint-22) (size\_t joint\_index) <br> |
+|  size\_t | [**joint\_index**](#function-joint_index) (const std::string & joint\_name) const<br> |
+|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**joint\_map**](#function-joint_map) () const<br> |
+|  std::string | [**joint\_name**](#function-joint_name) (size\_t joint\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**joint\_names**](#function-joint_names) () const<br> |
+|  std::vector&lt; std::string &gt; | [**locked\_dof\_names**](#function-locked_dof_names) () const<br> |
+|  Eigen::MatrixXd | [**mass\_matrix**](#function-mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; std::string &gt; | [**mimic\_dof\_names**](#function-mimic_dof_names) () const<br> |
+|  const std::string & | [**model\_filename**](#function-model_filename) () const<br> |
+|  const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & | [**model\_packages**](#function-model_packages) () const<br> |
+|  const std::string & | [**name**](#function-name) () const<br> |
+|  size\_t | [**num\_bodies**](#function-num_bodies) () const<br> |
+|  size\_t | [**num\_controllers**](#function-num_controllers) () const<br> |
+|  size\_t | [**num\_dofs**](#function-num_dofs) () const<br> |
+|  size\_t | [**num\_joints**](#function-num_joints) () const<br> |
+|  std::vector&lt; std::string &gt; | [**passive\_dof\_names**](#function-passive_dof_names) () const<br> |
+|  std::vector&lt; bool &gt; | [**position\_enforced**](#function-position_enforced) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**position\_lower\_limits**](#function-position_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**position\_upper\_limits**](#function-position_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**positions**](#function-positions) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**reinit\_controllers**](#function-reinit_controllers) () <br> |
+|  void | [**remove\_all\_drawing\_axis**](#function-remove_all_drawing_axis) () <br> |
+|  void | [**remove\_controller**](#function-remove_controller-12) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller) <br> |
+|  void | [**remove\_controller**](#function-remove_controller-22) (size\_t index) <br> |
+| virtual void | [**reset**](#function-reset) () <br> |
+|  void | [**reset\_commands**](#function-reset_commands) () <br> |
+|  double | [**restitution\_coeff**](#function-restitution_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**restitution\_coeff**](#function-restitution_coeff-22) (size\_t body\_index) <br> |
+|  double | [**secondary\_friction\_coeff**](#function-secondary_friction_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**secondary\_friction\_coeff**](#function-secondary_friction_coeff-22) (size\_t body\_index) <br> |
+|  bool | [**self\_colliding**](#function-self_colliding) () const<br> |
+|  void | [**set\_acceleration\_lower\_limits**](#function-set_acceleration_lower_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_acceleration\_upper\_limits**](#function-set_acceleration_upper_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_accelerations**](#function-set_accelerations) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_actuator\_type**](#function-set_actuator_type) (const std::string & type, const std::string & joint\_name, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**set\_actuator\_types**](#function-set_actuator_types) (const std::string & type, const std::vector&lt; std::string &gt; & joint\_names={}, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**set\_base\_pose**](#function-set_base_pose-12) (const Eigen::Isometry3d & tf) <br> |
+|  void | [**set\_base\_pose**](#function-set_base_pose-22) (const Eigen::Vector6d & pose) <br>_set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)_  |
+|  void | [**set\_body\_mass**](#function-set_body_mass-12) (const std::string & body\_name, double mass) <br> |
+|  void | [**set\_body\_mass**](#function-set_body_mass-22) (size\_t body\_index, double mass) <br> |
+|  void | [**set\_body\_name**](#function-set_body_name) (size\_t body\_index, const std::string & body\_name) <br> |
+|  void | [**set\_cast\_shadows**](#function-set_cast_shadows) (bool cast\_shadows=true) <br> |
+|  void | [**set\_color\_mode**](#function-set_color_mode-12) (const std::string & color\_mode) <br> |
+|  void | [**set\_color\_mode**](#function-set_color_mode-22) (const std::string & color\_mode, const std::string & body\_name) <br> |
+|  void | [**set\_commands**](#function-set_commands) (const Eigen::VectorXd & commands, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_coulomb\_coeffs**](#function-set_coulomb_coeffs-12) (const std::vector&lt; double &gt; & cfrictions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_coulomb\_coeffs**](#function-set_coulomb_coeffs-22) (double cfriction, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_damping\_coeffs**](#function-set_damping_coeffs-12) (const std::vector&lt; double &gt; & damps, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_damping\_coeffs**](#function-set_damping_coeffs-22) (double damp, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_draw\_axis**](#function-set_draw_axis) (const std::string & body\_name, double size=0.25) <br> |
+|  void | [**set\_external\_force**](#function-set_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**set\_external\_force**](#function-set_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**set\_external\_torque**](#function-set_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**set\_external\_torque**](#function-set_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**set\_force\_lower\_limits**](#function-set_force_lower_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_force\_upper\_limits**](#function-set_force_upper_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_forces**](#function-set_forces) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_friction\_coeff**](#function-set_friction_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_friction\_coeff**](#function-set_friction_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_friction\_coeffs**](#function-set_friction_coeffs) (double value) <br> |
+|  void | [**set\_friction\_dir**](#function-set_friction_dir-12) (const std::string & body\_name, const Eigen::Vector3d & direction) <br> |
+|  void | [**set\_friction\_dir**](#function-set_friction_dir-22) (size\_t body\_index, const Eigen::Vector3d & direction) <br> |
+|  void | [**set\_ghost**](#function-set_ghost) (bool ghost=true) <br> |
+|  void | [**set\_joint\_name**](#function-set_joint_name) (size\_t joint\_index, const std::string & joint\_name) <br> |
+|  void | [**set\_mimic**](#function-set_mimic) (const std::string & joint\_name, const std::string & mimic\_joint\_name, double multiplier=1., double offset=0.) <br> |
+|  void | [**set\_position\_enforced**](#function-set_position_enforced-12) (const std::vector&lt; bool &gt; & enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_enforced**](#function-set_position_enforced-22) (bool enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_lower\_limits**](#function-set_position_lower_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_upper\_limits**](#function-set_position_upper_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_positions**](#function-set_positions) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_restitution\_coeff**](#function-set_restitution_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_restitution\_coeff**](#function-set_restitution_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_restitution\_coeffs**](#function-set_restitution_coeffs) (double value) <br> |
+|  void | [**set\_secondary\_friction\_coeff**](#function-set_secondary_friction_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_secondary\_friction\_coeff**](#function-set_secondary_friction_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_secondary\_friction\_coeffs**](#function-set_secondary_friction_coeffs) (double value) <br> |
+|  void | [**set\_self\_collision**](#function-set_self_collision) (bool enable\_self\_collisions=true, bool enable\_adjacent\_collisions=false) <br> |
+|  void | [**set\_spring\_stiffnesses**](#function-set_spring_stiffnesses-12) (const std::vector&lt; double &gt; & stiffnesses, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_spring\_stiffnesses**](#function-set_spring_stiffnesses-22) (double stiffness, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocities**](#function-set_velocities) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocity\_lower\_limits**](#function-set_velocity_lower_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocity\_upper\_limits**](#function-set_velocity_upper_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  dart::dynamics::SkeletonPtr | [**skeleton**](#function-skeleton) () <br> |
+|  std::vector&lt; double &gt; | [**spring\_stiffnesses**](#function-spring_stiffnesses) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**update**](#function-update) (double t) <br> |
+|  void | [**update\_joint\_dof\_maps**](#function-update_joint_dof_maps) () <br> |
+|  Eigen::VectorXd | [**vec\_dof**](#function-vec_dof) (const Eigen::VectorXd & vec, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+|  Eigen::VectorXd | [**velocities**](#function-velocities) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**velocity\_lower\_limits**](#function-velocity_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**velocity\_upper\_limits**](#function-velocity_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+| virtual  | [**~Robot**](#function-robot) () <br> |
 
 
 
@@ -267,10 +267,10 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](classrobot__dart_1_1Robot.md#function-create_box-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](classrobot__dart_1_1Robot.md#function-create_box-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](classrobot__dart_1_1Robot.md#function-create_ellipsoid-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](classrobot__dart_1_1Robot.md#function-create_ellipsoid-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](#function-create_box-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](#function-create_box-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](#function-create_ellipsoid-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](#function-create_ellipsoid-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
 
 
 
@@ -294,16 +294,16 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; | [**\_axis\_shapes**](classrobot__dart_1_1Robot.md#variable-_axis_shapes)  <br> |
-|  bool | [**\_cast\_shadows**](classrobot__dart_1_1Robot.md#variable-_cast_shadows)  <br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**\_controllers**](classrobot__dart_1_1Robot.md#variable-_controllers)  <br> |
-|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_dof\_map**](classrobot__dart_1_1Robot.md#variable-_dof_map)  <br> |
-|  bool | [**\_is\_ghost**](classrobot__dart_1_1Robot.md#variable-_is_ghost)  <br> |
-|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_joint\_map**](classrobot__dart_1_1Robot.md#variable-_joint_map)  <br> |
-|  std::string | [**\_model\_filename**](classrobot__dart_1_1Robot.md#variable-_model_filename)  <br> |
-|  std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; | [**\_packages**](classrobot__dart_1_1Robot.md#variable-_packages)  <br> |
-|  std::string | [**\_robot\_name**](classrobot__dart_1_1Robot.md#variable-_robot_name)  <br> |
-|  dart::dynamics::SkeletonPtr | [**\_skeleton**](classrobot__dart_1_1Robot.md#variable-_skeleton)  <br> |
+|  std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; | [**\_axis\_shapes**](#variable-_axis_shapes)  <br> |
+|  bool | [**\_cast\_shadows**](#variable-_cast_shadows)  <br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**\_controllers**](#variable-_controllers)  <br> |
+|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_dof\_map**](#variable-_dof_map)  <br> |
+|  bool | [**\_is\_ghost**](#variable-_is_ghost)  <br> |
+|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_joint\_map**](#variable-_joint_map)  <br> |
+|  std::string | [**\_model\_filename**](#variable-_model_filename)  <br> |
+|  std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; | [**\_packages**](#variable-_packages)  <br> |
+|  std::string | [**\_robot\_name**](#variable-_robot_name)  <br> |
+|  dart::dynamics::SkeletonPtr | [**\_skeleton**](#variable-_skeleton)  <br> |
 
 
 
@@ -342,19 +342,19 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  dart::dynamics::Joint::ActuatorType | [**\_actuator\_type**](classrobot__dart_1_1Robot.md#function-_actuator_type) (size\_t joint\_index) const<br> |
-|  std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; | [**\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_actuator_types) () const<br> |
-|  std::string | [**\_get\_path**](classrobot__dart_1_1Robot.md#function-_get_path) (const std::string & filename) const<br> |
-|  Eigen::MatrixXd | [**\_jacobian**](classrobot__dart_1_1Robot.md#function-_jacobian) (const Eigen::MatrixXd & full\_jacobian, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-|  dart::dynamics::SkeletonPtr | [**\_load\_model**](classrobot__dart_1_1Robot.md#function-_load_model) (const std::string & filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is\_urdf\_string=false) <br> |
-|  Eigen::MatrixXd | [**\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-_mass_matrix) (const Eigen::MatrixXd & full\_mass\_matrix, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-| virtual void | [**\_post\_addition**](classrobot__dart_1_1Robot.md#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
-| virtual void | [**\_post\_removal**](classrobot__dart_1_1Robot.md#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
-|  void | [**\_set\_actuator\_type**](classrobot__dart_1_1Robot.md#function-_set_actuator_type) (size\_t joint\_index, dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_set_actuator_types-12) (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; & types, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_set_actuator_types-22) (dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_color\_mode**](classrobot__dart_1_1Robot.md#function-_set_color_mode-12) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::SkeletonPtr skel) <br> |
-|  void | [**\_set\_color\_mode**](classrobot__dart_1_1Robot.md#function-_set_color_mode-22) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::ShapeNode \* sn) <br> |
+|  dart::dynamics::Joint::ActuatorType | [**\_actuator\_type**](#function-_actuator_type) (size\_t joint\_index) const<br> |
+|  std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; | [**\_actuator\_types**](#function-_actuator_types) () const<br> |
+|  std::string | [**\_get\_path**](#function-_get_path) (const std::string & filename) const<br> |
+|  Eigen::MatrixXd | [**\_jacobian**](#function-_jacobian) (const Eigen::MatrixXd & full\_jacobian, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+|  dart::dynamics::SkeletonPtr | [**\_load\_model**](#function-_load_model) (const std::string & filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is\_urdf\_string=false) <br> |
+|  Eigen::MatrixXd | [**\_mass\_matrix**](#function-_mass_matrix) (const Eigen::MatrixXd & full\_mass\_matrix, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+| virtual void | [**\_post\_addition**](#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
+| virtual void | [**\_post\_removal**](#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
+|  void | [**\_set\_actuator\_type**](#function-_set_actuator_type) (size\_t joint\_index, dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_actuator\_types**](#function-_set_actuator_types-12) (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; & types, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_actuator\_types**](#function-_set_actuator_types-22) (dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_color\_mode**](#function-_set_color_mode-12) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::SkeletonPtr skel) <br> |
+|  void | [**\_set\_color\_mode**](#function-_set_color_mode-22) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::ShapeNode \* sn) <br> |
 
 
 
diff --git a/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Arm.md b/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Arm.md
index eab57d3f..b6eb8d96 100644
--- a/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Arm.md
+++ b/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Arm.md
@@ -81,180 +81,180 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-13) (const std::string & model\_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-23) (const std::string & model\_file, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-33) (dart::dynamics::SkeletonPtr skeleton, const std::string & robot\_name="robot", bool cast\_shadows=true) <br> |
-|  Eigen::VectorXd | [**acceleration\_lower\_limits**](classrobot__dart_1_1Robot.md#function-acceleration_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**acceleration\_upper\_limits**](classrobot__dart_1_1Robot.md#function-acceleration_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**accelerations**](classrobot__dart_1_1Robot.md#function-accelerations) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**active\_controllers**](classrobot__dart_1_1Robot.md#function-active_controllers) () const<br> |
-|  std::string | [**actuator\_type**](classrobot__dart_1_1Robot.md#function-actuator_type) (const std::string & joint\_name) const<br> |
-|  std::vector&lt; std::string &gt; | [**actuator\_types**](classrobot__dart_1_1Robot.md#function-actuator_types) (const std::vector&lt; std::string &gt; & joint\_names={}) const<br> |
-|  void | [**add\_body\_mass**](classrobot__dart_1_1Robot.md#function-add_body_mass-12) (const std::string & body\_name, double mass) <br> |
-|  void | [**add\_body\_mass**](classrobot__dart_1_1Robot.md#function-add_body_mass-22) (size\_t body\_index, double mass) <br> |
-|  void | [**add\_controller**](classrobot__dart_1_1Robot.md#function-add_controller) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller, double weight=1.0) <br> |
-|  void | [**add\_external\_force**](classrobot__dart_1_1Robot.md#function-add_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**add\_external\_force**](classrobot__dart_1_1Robot.md#function-add_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**add\_external\_torque**](classrobot__dart_1_1Robot.md#function-add_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**add\_external\_torque**](classrobot__dart_1_1Robot.md#function-add_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  bool | [**adjacent\_colliding**](classrobot__dart_1_1Robot.md#function-adjacent_colliding) () const<br> |
-|  Eigen::MatrixXd | [**aug\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::Isometry3d | [**base\_pose**](classrobot__dart_1_1Robot.md#function-base_pose) () const<br> |
-|  Eigen::Vector6d | [**base\_pose\_vec**](classrobot__dart_1_1Robot.md#function-base_pose_vec) () const<br> |
-|  Eigen::Vector6d | [**body\_acceleration**](classrobot__dart_1_1Robot.md#function-body_acceleration-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_acceleration**](classrobot__dart_1_1Robot.md#function-body_acceleration-22) (size\_t body\_index) const<br> |
-|  size\_t | [**body\_index**](classrobot__dart_1_1Robot.md#function-body_index) (const std::string & body\_name) const<br> |
-|  double | [**body\_mass**](classrobot__dart_1_1Robot.md#function-body_mass-12) (const std::string & body\_name) const<br> |
-|  double | [**body\_mass**](classrobot__dart_1_1Robot.md#function-body_mass-22) (size\_t body\_index) const<br> |
-|  std::string | [**body\_name**](classrobot__dart_1_1Robot.md#function-body_name) (size\_t body\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**body\_names**](classrobot__dart_1_1Robot.md#function-body_names) () const<br> |
-|  dart::dynamics::BodyNode \* | [**body\_node**](classrobot__dart_1_1Robot.md#function-body_node-12) (const std::string & body\_name) <br> |
-|  dart::dynamics::BodyNode \* | [**body\_node**](classrobot__dart_1_1Robot.md#function-body_node-22) (size\_t body\_index) <br> |
-|  Eigen::Isometry3d | [**body\_pose**](classrobot__dart_1_1Robot.md#function-body_pose-12) (const std::string & body\_name) const<br> |
-|  Eigen::Isometry3d | [**body\_pose**](classrobot__dart_1_1Robot.md#function-body_pose-22) (size\_t body\_index) const<br> |
-|  Eigen::Vector6d | [**body\_pose\_vec**](classrobot__dart_1_1Robot.md#function-body_pose_vec-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_pose\_vec**](classrobot__dart_1_1Robot.md#function-body_pose_vec-22) (size\_t body\_index) const<br> |
-|  Eigen::Vector6d | [**body\_velocity**](classrobot__dart_1_1Robot.md#function-body_velocity-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_velocity**](classrobot__dart_1_1Robot.md#function-body_velocity-22) (size\_t body\_index) const<br> |
-|  bool | [**cast\_shadows**](classrobot__dart_1_1Robot.md#function-cast_shadows) () const<br> |
-|  void | [**clear\_controllers**](classrobot__dart_1_1Robot.md#function-clear_controllers) () <br> |
-|  void | [**clear\_external\_forces**](classrobot__dart_1_1Robot.md#function-clear_external_forces) () <br> |
-|  void | [**clear\_internal\_forces**](classrobot__dart_1_1Robot.md#function-clear_internal_forces) () <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone**](classrobot__dart_1_1Robot.md#function-clone) () const<br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone\_ghost**](classrobot__dart_1_1Robot.md#function-clone_ghost) (const std::string & ghost\_name="ghost", const Eigen::Vector4d & ghost\_color={0.3, 0.3, 0.3, 0.7}) const<br> |
-|  Eigen::Vector3d | [**com**](classrobot__dart_1_1Robot.md#function-com) () const<br> |
-|  Eigen::Vector6d | [**com\_acceleration**](classrobot__dart_1_1Robot.md#function-com_acceleration) () const<br> |
-|  Eigen::MatrixXd | [**com\_jacobian**](classrobot__dart_1_1Robot.md#function-com_jacobian) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**com\_jacobian\_deriv**](classrobot__dart_1_1Robot.md#function-com_jacobian_deriv) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::Vector6d | [**com\_velocity**](classrobot__dart_1_1Robot.md#function-com_velocity) () const<br> |
-|  Eigen::VectorXd | [**commands**](classrobot__dart_1_1Robot.md#function-commands) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**constraint\_forces**](classrobot__dart_1_1Robot.md#function-constraint_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**controller**](classrobot__dart_1_1Robot.md#function-controller) (size\_t index) const<br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**controllers**](classrobot__dart_1_1Robot.md#function-controllers) () const<br> |
-|  Eigen::VectorXd | [**coriolis\_forces**](classrobot__dart_1_1Robot.md#function-coriolis_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**coriolis\_gravity\_forces**](classrobot__dart_1_1Robot.md#function-coriolis_gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; double &gt; | [**coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-coulomb_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; double &gt; | [**damping\_coeffs**](classrobot__dart_1_1Robot.md#function-damping_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  dart::dynamics::DegreeOfFreedom \* | [**dof**](classrobot__dart_1_1Robot.md#function-dof-12) (const std::string & dof\_name) <br> |
-|  dart::dynamics::DegreeOfFreedom \* | [**dof**](classrobot__dart_1_1Robot.md#function-dof-22) (size\_t dof\_index) <br> |
-|  size\_t | [**dof\_index**](classrobot__dart_1_1Robot.md#function-dof_index) (const std::string & dof\_name) const<br> |
-|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**dof\_map**](classrobot__dart_1_1Robot.md#function-dof_map) () const<br> |
-|  std::string | [**dof\_name**](classrobot__dart_1_1Robot.md#function-dof_name) (size\_t dof\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**dof\_names**](classrobot__dart_1_1Robot.md#function-dof_names) (bool filter\_mimics=false, bool filter\_locked=false, bool filter\_passive=false) const<br> |
-|  const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; & | [**drawing\_axes**](classrobot__dart_1_1Robot.md#function-drawing_axes) () const<br> |
-|  Eigen::Vector6d | [**external\_forces**](classrobot__dart_1_1Robot.md#function-external_forces-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**external\_forces**](classrobot__dart_1_1Robot.md#function-external_forces-22) (size\_t body\_index) const<br> |
-|  void | [**fix\_to\_world**](classrobot__dart_1_1Robot.md#function-fix_to_world) () <br> |
-|  bool | [**fixed**](classrobot__dart_1_1Robot.md#function-fixed) () const<br> |
-|  Eigen::VectorXd | [**force\_lower\_limits**](classrobot__dart_1_1Robot.md#function-force_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**force\_position\_bounds**](classrobot__dart_1_1Robot.md#function-force_position_bounds) () <br> |
-|  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; | [**force\_torque**](classrobot__dart_1_1Robot.md#function-force_torque) (size\_t joint\_index) const<br> |
-|  Eigen::VectorXd | [**force\_upper\_limits**](classrobot__dart_1_1Robot.md#function-force_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**forces**](classrobot__dart_1_1Robot.md#function-forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  bool | [**free**](classrobot__dart_1_1Robot.md#function-free) () const<br> |
-|  void | [**free\_from\_world**](classrobot__dart_1_1Robot.md#function-free_from_world) (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) <br> |
-|  double | [**friction\_coeff**](classrobot__dart_1_1Robot.md#function-friction_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**friction\_coeff**](classrobot__dart_1_1Robot.md#function-friction_coeff-22) (size\_t body\_index) <br> |
-|  Eigen::Vector3d | [**friction\_dir**](classrobot__dart_1_1Robot.md#function-friction_dir-12) (const std::string & body\_name) <br> |
-|  Eigen::Vector3d | [**friction\_dir**](classrobot__dart_1_1Robot.md#function-friction_dir-22) (size\_t body\_index) <br> |
-|  bool | [**ghost**](classrobot__dart_1_1Robot.md#function-ghost) () const<br> |
-|  Eigen::VectorXd | [**gravity\_forces**](classrobot__dart_1_1Robot.md#function-gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**inv\_aug\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-inv_aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**inv\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-inv_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**jacobian**](classrobot__dart_1_1Robot.md#function-jacobian) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**jacobian\_deriv**](classrobot__dart_1_1Robot.md#function-jacobian_deriv) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  dart::dynamics::Joint \* | [**joint**](classrobot__dart_1_1Robot.md#function-joint-12) (const std::string & joint\_name) <br> |
-|  dart::dynamics::Joint \* | [**joint**](classrobot__dart_1_1Robot.md#function-joint-22) (size\_t joint\_index) <br> |
-|  size\_t | [**joint\_index**](classrobot__dart_1_1Robot.md#function-joint_index) (const std::string & joint\_name) const<br> |
-|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**joint\_map**](classrobot__dart_1_1Robot.md#function-joint_map) () const<br> |
-|  std::string | [**joint\_name**](classrobot__dart_1_1Robot.md#function-joint_name) (size\_t joint\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**joint\_names**](classrobot__dart_1_1Robot.md#function-joint_names) () const<br> |
-|  std::vector&lt; std::string &gt; | [**locked\_dof\_names**](classrobot__dart_1_1Robot.md#function-locked_dof_names) () const<br> |
-|  Eigen::MatrixXd | [**mass\_matrix**](classrobot__dart_1_1Robot.md#function-mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; std::string &gt; | [**mimic\_dof\_names**](classrobot__dart_1_1Robot.md#function-mimic_dof_names) () const<br> |
-|  const std::string & | [**model\_filename**](classrobot__dart_1_1Robot.md#function-model_filename) () const<br> |
-|  const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & | [**model\_packages**](classrobot__dart_1_1Robot.md#function-model_packages) () const<br> |
-|  const std::string & | [**name**](classrobot__dart_1_1Robot.md#function-name) () const<br> |
-|  size\_t | [**num\_bodies**](classrobot__dart_1_1Robot.md#function-num_bodies) () const<br> |
-|  size\_t | [**num\_controllers**](classrobot__dart_1_1Robot.md#function-num_controllers) () const<br> |
-|  size\_t | [**num\_dofs**](classrobot__dart_1_1Robot.md#function-num_dofs) () const<br> |
-|  size\_t | [**num\_joints**](classrobot__dart_1_1Robot.md#function-num_joints) () const<br> |
-|  std::vector&lt; std::string &gt; | [**passive\_dof\_names**](classrobot__dart_1_1Robot.md#function-passive_dof_names) () const<br> |
-|  std::vector&lt; bool &gt; | [**position\_enforced**](classrobot__dart_1_1Robot.md#function-position_enforced) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**position\_lower\_limits**](classrobot__dart_1_1Robot.md#function-position_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**position\_upper\_limits**](classrobot__dart_1_1Robot.md#function-position_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**positions**](classrobot__dart_1_1Robot.md#function-positions) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**reinit\_controllers**](classrobot__dart_1_1Robot.md#function-reinit_controllers) () <br> |
-|  void | [**remove\_all\_drawing\_axis**](classrobot__dart_1_1Robot.md#function-remove_all_drawing_axis) () <br> |
-|  void | [**remove\_controller**](classrobot__dart_1_1Robot.md#function-remove_controller-12) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller) <br> |
-|  void | [**remove\_controller**](classrobot__dart_1_1Robot.md#function-remove_controller-22) (size\_t index) <br> |
-| virtual void | [**reset**](classrobot__dart_1_1Robot.md#function-reset) () <br> |
-|  void | [**reset\_commands**](classrobot__dart_1_1Robot.md#function-reset_commands) () <br> |
-|  double | [**restitution\_coeff**](classrobot__dart_1_1Robot.md#function-restitution_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**restitution\_coeff**](classrobot__dart_1_1Robot.md#function-restitution_coeff-22) (size\_t body\_index) <br> |
-|  double | [**secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-secondary_friction_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-secondary_friction_coeff-22) (size\_t body\_index) <br> |
-|  bool | [**self\_colliding**](classrobot__dart_1_1Robot.md#function-self_colliding) () const<br> |
-|  void | [**set\_acceleration\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_acceleration_lower_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_acceleration\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_acceleration_upper_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_accelerations**](classrobot__dart_1_1Robot.md#function-set_accelerations) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_actuator\_type**](classrobot__dart_1_1Robot.md#function-set_actuator_type) (const std::string & type, const std::string & joint\_name, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-set_actuator_types) (const std::string & type, const std::vector&lt; std::string &gt; & joint\_names={}, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**set\_base\_pose**](classrobot__dart_1_1Robot.md#function-set_base_pose-12) (const Eigen::Isometry3d & tf) <br> |
-|  void | [**set\_base\_pose**](classrobot__dart_1_1Robot.md#function-set_base_pose-22) (const Eigen::Vector6d & pose) <br>_set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)_  |
-|  void | [**set\_body\_mass**](classrobot__dart_1_1Robot.md#function-set_body_mass-12) (const std::string & body\_name, double mass) <br> |
-|  void | [**set\_body\_mass**](classrobot__dart_1_1Robot.md#function-set_body_mass-22) (size\_t body\_index, double mass) <br> |
-|  void | [**set\_body\_name**](classrobot__dart_1_1Robot.md#function-set_body_name) (size\_t body\_index, const std::string & body\_name) <br> |
-|  void | [**set\_cast\_shadows**](classrobot__dart_1_1Robot.md#function-set_cast_shadows) (bool cast\_shadows=true) <br> |
-|  void | [**set\_color\_mode**](classrobot__dart_1_1Robot.md#function-set_color_mode-12) (const std::string & color\_mode) <br> |
-|  void | [**set\_color\_mode**](classrobot__dart_1_1Robot.md#function-set_color_mode-22) (const std::string & color\_mode, const std::string & body\_name) <br> |
-|  void | [**set\_commands**](classrobot__dart_1_1Robot.md#function-set_commands) (const Eigen::VectorXd & commands, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-set_coulomb_coeffs-12) (const std::vector&lt; double &gt; & cfrictions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-set_coulomb_coeffs-22) (double cfriction, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_damping\_coeffs**](classrobot__dart_1_1Robot.md#function-set_damping_coeffs-12) (const std::vector&lt; double &gt; & damps, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_damping\_coeffs**](classrobot__dart_1_1Robot.md#function-set_damping_coeffs-22) (double damp, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_draw\_axis**](classrobot__dart_1_1Robot.md#function-set_draw_axis) (const std::string & body\_name, double size=0.25) <br> |
-|  void | [**set\_external\_force**](classrobot__dart_1_1Robot.md#function-set_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**set\_external\_force**](classrobot__dart_1_1Robot.md#function-set_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**set\_external\_torque**](classrobot__dart_1_1Robot.md#function-set_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**set\_external\_torque**](classrobot__dart_1_1Robot.md#function-set_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**set\_force\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_force_lower_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_force\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_force_upper_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_forces**](classrobot__dart_1_1Robot.md#function-set_forces) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_friction_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_friction_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_friction\_coeffs**](classrobot__dart_1_1Robot.md#function-set_friction_coeffs) (double value) <br> |
-|  void | [**set\_friction\_dir**](classrobot__dart_1_1Robot.md#function-set_friction_dir-12) (const std::string & body\_name, const Eigen::Vector3d & direction) <br> |
-|  void | [**set\_friction\_dir**](classrobot__dart_1_1Robot.md#function-set_friction_dir-22) (size\_t body\_index, const Eigen::Vector3d & direction) <br> |
-|  void | [**set\_ghost**](classrobot__dart_1_1Robot.md#function-set_ghost) (bool ghost=true) <br> |
-|  void | [**set\_joint\_name**](classrobot__dart_1_1Robot.md#function-set_joint_name) (size\_t joint\_index, const std::string & joint\_name) <br> |
-|  void | [**set\_mimic**](classrobot__dart_1_1Robot.md#function-set_mimic) (const std::string & joint\_name, const std::string & mimic\_joint\_name, double multiplier=1., double offset=0.) <br> |
-|  void | [**set\_position\_enforced**](classrobot__dart_1_1Robot.md#function-set_position_enforced-12) (const std::vector&lt; bool &gt; & enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_enforced**](classrobot__dart_1_1Robot.md#function-set_position_enforced-22) (bool enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_position_lower_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_position_upper_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_positions**](classrobot__dart_1_1Robot.md#function-set_positions) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_restitution\_coeff**](classrobot__dart_1_1Robot.md#function-set_restitution_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_restitution\_coeff**](classrobot__dart_1_1Robot.md#function-set_restitution_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_restitution\_coeffs**](classrobot__dart_1_1Robot.md#function-set_restitution_coeffs) (double value) <br> |
-|  void | [**set\_secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_secondary\_friction\_coeffs**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeffs) (double value) <br> |
-|  void | [**set\_self\_collision**](classrobot__dart_1_1Robot.md#function-set_self_collision) (bool enable\_self\_collisions=true, bool enable\_adjacent\_collisions=false) <br> |
-|  void | [**set\_spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-set_spring_stiffnesses-12) (const std::vector&lt; double &gt; & stiffnesses, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-set_spring_stiffnesses-22) (double stiffness, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocities**](classrobot__dart_1_1Robot.md#function-set_velocities) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocity\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_velocity_lower_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocity\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_velocity_upper_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  dart::dynamics::SkeletonPtr | [**skeleton**](classrobot__dart_1_1Robot.md#function-skeleton) () <br> |
-|  std::vector&lt; double &gt; | [**spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-spring_stiffnesses) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**update**](classrobot__dart_1_1Robot.md#function-update) (double t) <br> |
-|  void | [**update\_joint\_dof\_maps**](classrobot__dart_1_1Robot.md#function-update_joint_dof_maps) () <br> |
-|  Eigen::VectorXd | [**vec\_dof**](classrobot__dart_1_1Robot.md#function-vec_dof) (const Eigen::VectorXd & vec, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-|  Eigen::VectorXd | [**velocities**](classrobot__dart_1_1Robot.md#function-velocities) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**velocity\_lower\_limits**](classrobot__dart_1_1Robot.md#function-velocity_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**velocity\_upper\_limits**](classrobot__dart_1_1Robot.md#function-velocity_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-| virtual  | [**~Robot**](classrobot__dart_1_1Robot.md#function-robot) () <br> |
+|   | [**Robot**](#function-robot-13) (const std::string & model\_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
+|   | [**Robot**](#function-robot-23) (const std::string & model\_file, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
+|   | [**Robot**](#function-robot-33) (dart::dynamics::SkeletonPtr skeleton, const std::string & robot\_name="robot", bool cast\_shadows=true) <br> |
+|  Eigen::VectorXd | [**acceleration\_lower\_limits**](#function-acceleration_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**acceleration\_upper\_limits**](#function-acceleration_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**accelerations**](#function-accelerations) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**active\_controllers**](#function-active_controllers) () const<br> |
+|  std::string | [**actuator\_type**](#function-actuator_type) (const std::string & joint\_name) const<br> |
+|  std::vector&lt; std::string &gt; | [**actuator\_types**](#function-actuator_types) (const std::vector&lt; std::string &gt; & joint\_names={}) const<br> |
+|  void | [**add\_body\_mass**](#function-add_body_mass-12) (const std::string & body\_name, double mass) <br> |
+|  void | [**add\_body\_mass**](#function-add_body_mass-22) (size\_t body\_index, double mass) <br> |
+|  void | [**add\_controller**](#function-add_controller) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller, double weight=1.0) <br> |
+|  void | [**add\_external\_force**](#function-add_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**add\_external\_force**](#function-add_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**add\_external\_torque**](#function-add_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**add\_external\_torque**](#function-add_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  bool | [**adjacent\_colliding**](#function-adjacent_colliding) () const<br> |
+|  Eigen::MatrixXd | [**aug\_mass\_matrix**](#function-aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::Isometry3d | [**base\_pose**](#function-base_pose) () const<br> |
+|  Eigen::Vector6d | [**base\_pose\_vec**](#function-base_pose_vec) () const<br> |
+|  Eigen::Vector6d | [**body\_acceleration**](#function-body_acceleration-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_acceleration**](#function-body_acceleration-22) (size\_t body\_index) const<br> |
+|  size\_t | [**body\_index**](#function-body_index) (const std::string & body\_name) const<br> |
+|  double | [**body\_mass**](#function-body_mass-12) (const std::string & body\_name) const<br> |
+|  double | [**body\_mass**](#function-body_mass-22) (size\_t body\_index) const<br> |
+|  std::string | [**body\_name**](#function-body_name) (size\_t body\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**body\_names**](#function-body_names) () const<br> |
+|  dart::dynamics::BodyNode \* | [**body\_node**](#function-body_node-12) (const std::string & body\_name) <br> |
+|  dart::dynamics::BodyNode \* | [**body\_node**](#function-body_node-22) (size\_t body\_index) <br> |
+|  Eigen::Isometry3d | [**body\_pose**](#function-body_pose-12) (const std::string & body\_name) const<br> |
+|  Eigen::Isometry3d | [**body\_pose**](#function-body_pose-22) (size\_t body\_index) const<br> |
+|  Eigen::Vector6d | [**body\_pose\_vec**](#function-body_pose_vec-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_pose\_vec**](#function-body_pose_vec-22) (size\_t body\_index) const<br> |
+|  Eigen::Vector6d | [**body\_velocity**](#function-body_velocity-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_velocity**](#function-body_velocity-22) (size\_t body\_index) const<br> |
+|  bool | [**cast\_shadows**](#function-cast_shadows) () const<br> |
+|  void | [**clear\_controllers**](#function-clear_controllers) () <br> |
+|  void | [**clear\_external\_forces**](#function-clear_external_forces) () <br> |
+|  void | [**clear\_internal\_forces**](#function-clear_internal_forces) () <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone**](#function-clone) () const<br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone\_ghost**](#function-clone_ghost) (const std::string & ghost\_name="ghost", const Eigen::Vector4d & ghost\_color={0.3, 0.3, 0.3, 0.7}) const<br> |
+|  Eigen::Vector3d | [**com**](#function-com) () const<br> |
+|  Eigen::Vector6d | [**com\_acceleration**](#function-com_acceleration) () const<br> |
+|  Eigen::MatrixXd | [**com\_jacobian**](#function-com_jacobian) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**com\_jacobian\_deriv**](#function-com_jacobian_deriv) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::Vector6d | [**com\_velocity**](#function-com_velocity) () const<br> |
+|  Eigen::VectorXd | [**commands**](#function-commands) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**constraint\_forces**](#function-constraint_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**controller**](#function-controller) (size\_t index) const<br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**controllers**](#function-controllers) () const<br> |
+|  Eigen::VectorXd | [**coriolis\_forces**](#function-coriolis_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**coriolis\_gravity\_forces**](#function-coriolis_gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; double &gt; | [**coulomb\_coeffs**](#function-coulomb_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; double &gt; | [**damping\_coeffs**](#function-damping_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  dart::dynamics::DegreeOfFreedom \* | [**dof**](#function-dof-12) (const std::string & dof\_name) <br> |
+|  dart::dynamics::DegreeOfFreedom \* | [**dof**](#function-dof-22) (size\_t dof\_index) <br> |
+|  size\_t | [**dof\_index**](#function-dof_index) (const std::string & dof\_name) const<br> |
+|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**dof\_map**](#function-dof_map) () const<br> |
+|  std::string | [**dof\_name**](#function-dof_name) (size\_t dof\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**dof\_names**](#function-dof_names) (bool filter\_mimics=false, bool filter\_locked=false, bool filter\_passive=false) const<br> |
+|  const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; & | [**drawing\_axes**](#function-drawing_axes) () const<br> |
+|  Eigen::Vector6d | [**external\_forces**](#function-external_forces-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**external\_forces**](#function-external_forces-22) (size\_t body\_index) const<br> |
+|  void | [**fix\_to\_world**](#function-fix_to_world) () <br> |
+|  bool | [**fixed**](#function-fixed) () const<br> |
+|  Eigen::VectorXd | [**force\_lower\_limits**](#function-force_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**force\_position\_bounds**](#function-force_position_bounds) () <br> |
+|  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; | [**force\_torque**](#function-force_torque) (size\_t joint\_index) const<br> |
+|  Eigen::VectorXd | [**force\_upper\_limits**](#function-force_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**forces**](#function-forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  bool | [**free**](#function-free) () const<br> |
+|  void | [**free\_from\_world**](#function-free_from_world) (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) <br> |
+|  double | [**friction\_coeff**](#function-friction_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**friction\_coeff**](#function-friction_coeff-22) (size\_t body\_index) <br> |
+|  Eigen::Vector3d | [**friction\_dir**](#function-friction_dir-12) (const std::string & body\_name) <br> |
+|  Eigen::Vector3d | [**friction\_dir**](#function-friction_dir-22) (size\_t body\_index) <br> |
+|  bool | [**ghost**](#function-ghost) () const<br> |
+|  Eigen::VectorXd | [**gravity\_forces**](#function-gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**inv\_aug\_mass\_matrix**](#function-inv_aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**inv\_mass\_matrix**](#function-inv_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**jacobian**](#function-jacobian) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**jacobian\_deriv**](#function-jacobian_deriv) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  dart::dynamics::Joint \* | [**joint**](#function-joint-12) (const std::string & joint\_name) <br> |
+|  dart::dynamics::Joint \* | [**joint**](#function-joint-22) (size\_t joint\_index) <br> |
+|  size\_t | [**joint\_index**](#function-joint_index) (const std::string & joint\_name) const<br> |
+|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**joint\_map**](#function-joint_map) () const<br> |
+|  std::string | [**joint\_name**](#function-joint_name) (size\_t joint\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**joint\_names**](#function-joint_names) () const<br> |
+|  std::vector&lt; std::string &gt; | [**locked\_dof\_names**](#function-locked_dof_names) () const<br> |
+|  Eigen::MatrixXd | [**mass\_matrix**](#function-mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; std::string &gt; | [**mimic\_dof\_names**](#function-mimic_dof_names) () const<br> |
+|  const std::string & | [**model\_filename**](#function-model_filename) () const<br> |
+|  const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & | [**model\_packages**](#function-model_packages) () const<br> |
+|  const std::string & | [**name**](#function-name) () const<br> |
+|  size\_t | [**num\_bodies**](#function-num_bodies) () const<br> |
+|  size\_t | [**num\_controllers**](#function-num_controllers) () const<br> |
+|  size\_t | [**num\_dofs**](#function-num_dofs) () const<br> |
+|  size\_t | [**num\_joints**](#function-num_joints) () const<br> |
+|  std::vector&lt; std::string &gt; | [**passive\_dof\_names**](#function-passive_dof_names) () const<br> |
+|  std::vector&lt; bool &gt; | [**position\_enforced**](#function-position_enforced) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**position\_lower\_limits**](#function-position_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**position\_upper\_limits**](#function-position_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**positions**](#function-positions) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**reinit\_controllers**](#function-reinit_controllers) () <br> |
+|  void | [**remove\_all\_drawing\_axis**](#function-remove_all_drawing_axis) () <br> |
+|  void | [**remove\_controller**](#function-remove_controller-12) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller) <br> |
+|  void | [**remove\_controller**](#function-remove_controller-22) (size\_t index) <br> |
+| virtual void | [**reset**](#function-reset) () <br> |
+|  void | [**reset\_commands**](#function-reset_commands) () <br> |
+|  double | [**restitution\_coeff**](#function-restitution_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**restitution\_coeff**](#function-restitution_coeff-22) (size\_t body\_index) <br> |
+|  double | [**secondary\_friction\_coeff**](#function-secondary_friction_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**secondary\_friction\_coeff**](#function-secondary_friction_coeff-22) (size\_t body\_index) <br> |
+|  bool | [**self\_colliding**](#function-self_colliding) () const<br> |
+|  void | [**set\_acceleration\_lower\_limits**](#function-set_acceleration_lower_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_acceleration\_upper\_limits**](#function-set_acceleration_upper_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_accelerations**](#function-set_accelerations) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_actuator\_type**](#function-set_actuator_type) (const std::string & type, const std::string & joint\_name, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**set\_actuator\_types**](#function-set_actuator_types) (const std::string & type, const std::vector&lt; std::string &gt; & joint\_names={}, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**set\_base\_pose**](#function-set_base_pose-12) (const Eigen::Isometry3d & tf) <br> |
+|  void | [**set\_base\_pose**](#function-set_base_pose-22) (const Eigen::Vector6d & pose) <br>_set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)_  |
+|  void | [**set\_body\_mass**](#function-set_body_mass-12) (const std::string & body\_name, double mass) <br> |
+|  void | [**set\_body\_mass**](#function-set_body_mass-22) (size\_t body\_index, double mass) <br> |
+|  void | [**set\_body\_name**](#function-set_body_name) (size\_t body\_index, const std::string & body\_name) <br> |
+|  void | [**set\_cast\_shadows**](#function-set_cast_shadows) (bool cast\_shadows=true) <br> |
+|  void | [**set\_color\_mode**](#function-set_color_mode-12) (const std::string & color\_mode) <br> |
+|  void | [**set\_color\_mode**](#function-set_color_mode-22) (const std::string & color\_mode, const std::string & body\_name) <br> |
+|  void | [**set\_commands**](#function-set_commands) (const Eigen::VectorXd & commands, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_coulomb\_coeffs**](#function-set_coulomb_coeffs-12) (const std::vector&lt; double &gt; & cfrictions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_coulomb\_coeffs**](#function-set_coulomb_coeffs-22) (double cfriction, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_damping\_coeffs**](#function-set_damping_coeffs-12) (const std::vector&lt; double &gt; & damps, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_damping\_coeffs**](#function-set_damping_coeffs-22) (double damp, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_draw\_axis**](#function-set_draw_axis) (const std::string & body\_name, double size=0.25) <br> |
+|  void | [**set\_external\_force**](#function-set_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**set\_external\_force**](#function-set_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**set\_external\_torque**](#function-set_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**set\_external\_torque**](#function-set_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**set\_force\_lower\_limits**](#function-set_force_lower_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_force\_upper\_limits**](#function-set_force_upper_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_forces**](#function-set_forces) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_friction\_coeff**](#function-set_friction_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_friction\_coeff**](#function-set_friction_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_friction\_coeffs**](#function-set_friction_coeffs) (double value) <br> |
+|  void | [**set\_friction\_dir**](#function-set_friction_dir-12) (const std::string & body\_name, const Eigen::Vector3d & direction) <br> |
+|  void | [**set\_friction\_dir**](#function-set_friction_dir-22) (size\_t body\_index, const Eigen::Vector3d & direction) <br> |
+|  void | [**set\_ghost**](#function-set_ghost) (bool ghost=true) <br> |
+|  void | [**set\_joint\_name**](#function-set_joint_name) (size\_t joint\_index, const std::string & joint\_name) <br> |
+|  void | [**set\_mimic**](#function-set_mimic) (const std::string & joint\_name, const std::string & mimic\_joint\_name, double multiplier=1., double offset=0.) <br> |
+|  void | [**set\_position\_enforced**](#function-set_position_enforced-12) (const std::vector&lt; bool &gt; & enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_enforced**](#function-set_position_enforced-22) (bool enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_lower\_limits**](#function-set_position_lower_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_upper\_limits**](#function-set_position_upper_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_positions**](#function-set_positions) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_restitution\_coeff**](#function-set_restitution_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_restitution\_coeff**](#function-set_restitution_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_restitution\_coeffs**](#function-set_restitution_coeffs) (double value) <br> |
+|  void | [**set\_secondary\_friction\_coeff**](#function-set_secondary_friction_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_secondary\_friction\_coeff**](#function-set_secondary_friction_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_secondary\_friction\_coeffs**](#function-set_secondary_friction_coeffs) (double value) <br> |
+|  void | [**set\_self\_collision**](#function-set_self_collision) (bool enable\_self\_collisions=true, bool enable\_adjacent\_collisions=false) <br> |
+|  void | [**set\_spring\_stiffnesses**](#function-set_spring_stiffnesses-12) (const std::vector&lt; double &gt; & stiffnesses, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_spring\_stiffnesses**](#function-set_spring_stiffnesses-22) (double stiffness, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocities**](#function-set_velocities) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocity\_lower\_limits**](#function-set_velocity_lower_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocity\_upper\_limits**](#function-set_velocity_upper_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  dart::dynamics::SkeletonPtr | [**skeleton**](#function-skeleton) () <br> |
+|  std::vector&lt; double &gt; | [**spring\_stiffnesses**](#function-spring_stiffnesses) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**update**](#function-update) (double t) <br> |
+|  void | [**update\_joint\_dof\_maps**](#function-update_joint_dof_maps) () <br> |
+|  Eigen::VectorXd | [**vec\_dof**](#function-vec_dof) (const Eigen::VectorXd & vec, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+|  Eigen::VectorXd | [**velocities**](#function-velocities) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**velocity\_lower\_limits**](#function-velocity_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**velocity\_upper\_limits**](#function-velocity_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+| virtual  | [**~Robot**](#function-robot) () <br> |
 
 
 
@@ -265,10 +265,10 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](classrobot__dart_1_1Robot.md#function-create_box-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](classrobot__dart_1_1Robot.md#function-create_box-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](classrobot__dart_1_1Robot.md#function-create_ellipsoid-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](classrobot__dart_1_1Robot.md#function-create_ellipsoid-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](#function-create_box-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](#function-create_box-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](#function-create_ellipsoid-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](#function-create_ellipsoid-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
 
 
 
@@ -287,16 +287,16 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; | [**\_axis\_shapes**](classrobot__dart_1_1Robot.md#variable-_axis_shapes)  <br> |
-|  bool | [**\_cast\_shadows**](classrobot__dart_1_1Robot.md#variable-_cast_shadows)  <br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**\_controllers**](classrobot__dart_1_1Robot.md#variable-_controllers)  <br> |
-|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_dof\_map**](classrobot__dart_1_1Robot.md#variable-_dof_map)  <br> |
-|  bool | [**\_is\_ghost**](classrobot__dart_1_1Robot.md#variable-_is_ghost)  <br> |
-|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_joint\_map**](classrobot__dart_1_1Robot.md#variable-_joint_map)  <br> |
-|  std::string | [**\_model\_filename**](classrobot__dart_1_1Robot.md#variable-_model_filename)  <br> |
-|  std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; | [**\_packages**](classrobot__dart_1_1Robot.md#variable-_packages)  <br> |
-|  std::string | [**\_robot\_name**](classrobot__dart_1_1Robot.md#variable-_robot_name)  <br> |
-|  dart::dynamics::SkeletonPtr | [**\_skeleton**](classrobot__dart_1_1Robot.md#variable-_skeleton)  <br> |
+|  std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; | [**\_axis\_shapes**](#variable-_axis_shapes)  <br> |
+|  bool | [**\_cast\_shadows**](#variable-_cast_shadows)  <br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**\_controllers**](#variable-_controllers)  <br> |
+|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_dof\_map**](#variable-_dof_map)  <br> |
+|  bool | [**\_is\_ghost**](#variable-_is_ghost)  <br> |
+|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_joint\_map**](#variable-_joint_map)  <br> |
+|  std::string | [**\_model\_filename**](#variable-_model_filename)  <br> |
+|  std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; | [**\_packages**](#variable-_packages)  <br> |
+|  std::string | [**\_robot\_name**](#variable-_robot_name)  <br> |
+|  dart::dynamics::SkeletonPtr | [**\_skeleton**](#variable-_skeleton)  <br> |
 
 
 
@@ -335,19 +335,19 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  dart::dynamics::Joint::ActuatorType | [**\_actuator\_type**](classrobot__dart_1_1Robot.md#function-_actuator_type) (size\_t joint\_index) const<br> |
-|  std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; | [**\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_actuator_types) () const<br> |
-|  std::string | [**\_get\_path**](classrobot__dart_1_1Robot.md#function-_get_path) (const std::string & filename) const<br> |
-|  Eigen::MatrixXd | [**\_jacobian**](classrobot__dart_1_1Robot.md#function-_jacobian) (const Eigen::MatrixXd & full\_jacobian, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-|  dart::dynamics::SkeletonPtr | [**\_load\_model**](classrobot__dart_1_1Robot.md#function-_load_model) (const std::string & filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is\_urdf\_string=false) <br> |
-|  Eigen::MatrixXd | [**\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-_mass_matrix) (const Eigen::MatrixXd & full\_mass\_matrix, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-| virtual void | [**\_post\_addition**](classrobot__dart_1_1Robot.md#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
-| virtual void | [**\_post\_removal**](classrobot__dart_1_1Robot.md#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
-|  void | [**\_set\_actuator\_type**](classrobot__dart_1_1Robot.md#function-_set_actuator_type) (size\_t joint\_index, dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_set_actuator_types-12) (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; & types, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_set_actuator_types-22) (dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_color\_mode**](classrobot__dart_1_1Robot.md#function-_set_color_mode-12) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::SkeletonPtr skel) <br> |
-|  void | [**\_set\_color\_mode**](classrobot__dart_1_1Robot.md#function-_set_color_mode-22) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::ShapeNode \* sn) <br> |
+|  dart::dynamics::Joint::ActuatorType | [**\_actuator\_type**](#function-_actuator_type) (size\_t joint\_index) const<br> |
+|  std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; | [**\_actuator\_types**](#function-_actuator_types) () const<br> |
+|  std::string | [**\_get\_path**](#function-_get_path) (const std::string & filename) const<br> |
+|  Eigen::MatrixXd | [**\_jacobian**](#function-_jacobian) (const Eigen::MatrixXd & full\_jacobian, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+|  dart::dynamics::SkeletonPtr | [**\_load\_model**](#function-_load_model) (const std::string & filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is\_urdf\_string=false) <br> |
+|  Eigen::MatrixXd | [**\_mass\_matrix**](#function-_mass_matrix) (const Eigen::MatrixXd & full\_mass\_matrix, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+| virtual void | [**\_post\_addition**](#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
+| virtual void | [**\_post\_removal**](#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
+|  void | [**\_set\_actuator\_type**](#function-_set_actuator_type) (size\_t joint\_index, dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_actuator\_types**](#function-_set_actuator_types-12) (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; & types, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_actuator\_types**](#function-_set_actuator_types-22) (dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_color\_mode**](#function-_set_color_mode-12) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::SkeletonPtr skel) <br> |
+|  void | [**\_set\_color\_mode**](#function-_set_color_mode-22) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::ShapeNode \* sn) <br> |
 
 
 
diff --git a/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Franka.md b/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Franka.md
index 5ed4811d..fbe4d135 100644
--- a/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Franka.md
+++ b/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Franka.md
@@ -82,180 +82,180 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-13) (const std::string & model\_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-23) (const std::string & model\_file, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-33) (dart::dynamics::SkeletonPtr skeleton, const std::string & robot\_name="robot", bool cast\_shadows=true) <br> |
-|  Eigen::VectorXd | [**acceleration\_lower\_limits**](classrobot__dart_1_1Robot.md#function-acceleration_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**acceleration\_upper\_limits**](classrobot__dart_1_1Robot.md#function-acceleration_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**accelerations**](classrobot__dart_1_1Robot.md#function-accelerations) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**active\_controllers**](classrobot__dart_1_1Robot.md#function-active_controllers) () const<br> |
-|  std::string | [**actuator\_type**](classrobot__dart_1_1Robot.md#function-actuator_type) (const std::string & joint\_name) const<br> |
-|  std::vector&lt; std::string &gt; | [**actuator\_types**](classrobot__dart_1_1Robot.md#function-actuator_types) (const std::vector&lt; std::string &gt; & joint\_names={}) const<br> |
-|  void | [**add\_body\_mass**](classrobot__dart_1_1Robot.md#function-add_body_mass-12) (const std::string & body\_name, double mass) <br> |
-|  void | [**add\_body\_mass**](classrobot__dart_1_1Robot.md#function-add_body_mass-22) (size\_t body\_index, double mass) <br> |
-|  void | [**add\_controller**](classrobot__dart_1_1Robot.md#function-add_controller) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller, double weight=1.0) <br> |
-|  void | [**add\_external\_force**](classrobot__dart_1_1Robot.md#function-add_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**add\_external\_force**](classrobot__dart_1_1Robot.md#function-add_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**add\_external\_torque**](classrobot__dart_1_1Robot.md#function-add_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**add\_external\_torque**](classrobot__dart_1_1Robot.md#function-add_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  bool | [**adjacent\_colliding**](classrobot__dart_1_1Robot.md#function-adjacent_colliding) () const<br> |
-|  Eigen::MatrixXd | [**aug\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::Isometry3d | [**base\_pose**](classrobot__dart_1_1Robot.md#function-base_pose) () const<br> |
-|  Eigen::Vector6d | [**base\_pose\_vec**](classrobot__dart_1_1Robot.md#function-base_pose_vec) () const<br> |
-|  Eigen::Vector6d | [**body\_acceleration**](classrobot__dart_1_1Robot.md#function-body_acceleration-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_acceleration**](classrobot__dart_1_1Robot.md#function-body_acceleration-22) (size\_t body\_index) const<br> |
-|  size\_t | [**body\_index**](classrobot__dart_1_1Robot.md#function-body_index) (const std::string & body\_name) const<br> |
-|  double | [**body\_mass**](classrobot__dart_1_1Robot.md#function-body_mass-12) (const std::string & body\_name) const<br> |
-|  double | [**body\_mass**](classrobot__dart_1_1Robot.md#function-body_mass-22) (size\_t body\_index) const<br> |
-|  std::string | [**body\_name**](classrobot__dart_1_1Robot.md#function-body_name) (size\_t body\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**body\_names**](classrobot__dart_1_1Robot.md#function-body_names) () const<br> |
-|  dart::dynamics::BodyNode \* | [**body\_node**](classrobot__dart_1_1Robot.md#function-body_node-12) (const std::string & body\_name) <br> |
-|  dart::dynamics::BodyNode \* | [**body\_node**](classrobot__dart_1_1Robot.md#function-body_node-22) (size\_t body\_index) <br> |
-|  Eigen::Isometry3d | [**body\_pose**](classrobot__dart_1_1Robot.md#function-body_pose-12) (const std::string & body\_name) const<br> |
-|  Eigen::Isometry3d | [**body\_pose**](classrobot__dart_1_1Robot.md#function-body_pose-22) (size\_t body\_index) const<br> |
-|  Eigen::Vector6d | [**body\_pose\_vec**](classrobot__dart_1_1Robot.md#function-body_pose_vec-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_pose\_vec**](classrobot__dart_1_1Robot.md#function-body_pose_vec-22) (size\_t body\_index) const<br> |
-|  Eigen::Vector6d | [**body\_velocity**](classrobot__dart_1_1Robot.md#function-body_velocity-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_velocity**](classrobot__dart_1_1Robot.md#function-body_velocity-22) (size\_t body\_index) const<br> |
-|  bool | [**cast\_shadows**](classrobot__dart_1_1Robot.md#function-cast_shadows) () const<br> |
-|  void | [**clear\_controllers**](classrobot__dart_1_1Robot.md#function-clear_controllers) () <br> |
-|  void | [**clear\_external\_forces**](classrobot__dart_1_1Robot.md#function-clear_external_forces) () <br> |
-|  void | [**clear\_internal\_forces**](classrobot__dart_1_1Robot.md#function-clear_internal_forces) () <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone**](classrobot__dart_1_1Robot.md#function-clone) () const<br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone\_ghost**](classrobot__dart_1_1Robot.md#function-clone_ghost) (const std::string & ghost\_name="ghost", const Eigen::Vector4d & ghost\_color={0.3, 0.3, 0.3, 0.7}) const<br> |
-|  Eigen::Vector3d | [**com**](classrobot__dart_1_1Robot.md#function-com) () const<br> |
-|  Eigen::Vector6d | [**com\_acceleration**](classrobot__dart_1_1Robot.md#function-com_acceleration) () const<br> |
-|  Eigen::MatrixXd | [**com\_jacobian**](classrobot__dart_1_1Robot.md#function-com_jacobian) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**com\_jacobian\_deriv**](classrobot__dart_1_1Robot.md#function-com_jacobian_deriv) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::Vector6d | [**com\_velocity**](classrobot__dart_1_1Robot.md#function-com_velocity) () const<br> |
-|  Eigen::VectorXd | [**commands**](classrobot__dart_1_1Robot.md#function-commands) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**constraint\_forces**](classrobot__dart_1_1Robot.md#function-constraint_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**controller**](classrobot__dart_1_1Robot.md#function-controller) (size\_t index) const<br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**controllers**](classrobot__dart_1_1Robot.md#function-controllers) () const<br> |
-|  Eigen::VectorXd | [**coriolis\_forces**](classrobot__dart_1_1Robot.md#function-coriolis_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**coriolis\_gravity\_forces**](classrobot__dart_1_1Robot.md#function-coriolis_gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; double &gt; | [**coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-coulomb_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; double &gt; | [**damping\_coeffs**](classrobot__dart_1_1Robot.md#function-damping_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  dart::dynamics::DegreeOfFreedom \* | [**dof**](classrobot__dart_1_1Robot.md#function-dof-12) (const std::string & dof\_name) <br> |
-|  dart::dynamics::DegreeOfFreedom \* | [**dof**](classrobot__dart_1_1Robot.md#function-dof-22) (size\_t dof\_index) <br> |
-|  size\_t | [**dof\_index**](classrobot__dart_1_1Robot.md#function-dof_index) (const std::string & dof\_name) const<br> |
-|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**dof\_map**](classrobot__dart_1_1Robot.md#function-dof_map) () const<br> |
-|  std::string | [**dof\_name**](classrobot__dart_1_1Robot.md#function-dof_name) (size\_t dof\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**dof\_names**](classrobot__dart_1_1Robot.md#function-dof_names) (bool filter\_mimics=false, bool filter\_locked=false, bool filter\_passive=false) const<br> |
-|  const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; & | [**drawing\_axes**](classrobot__dart_1_1Robot.md#function-drawing_axes) () const<br> |
-|  Eigen::Vector6d | [**external\_forces**](classrobot__dart_1_1Robot.md#function-external_forces-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**external\_forces**](classrobot__dart_1_1Robot.md#function-external_forces-22) (size\_t body\_index) const<br> |
-|  void | [**fix\_to\_world**](classrobot__dart_1_1Robot.md#function-fix_to_world) () <br> |
-|  bool | [**fixed**](classrobot__dart_1_1Robot.md#function-fixed) () const<br> |
-|  Eigen::VectorXd | [**force\_lower\_limits**](classrobot__dart_1_1Robot.md#function-force_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**force\_position\_bounds**](classrobot__dart_1_1Robot.md#function-force_position_bounds) () <br> |
-|  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; | [**force\_torque**](classrobot__dart_1_1Robot.md#function-force_torque) (size\_t joint\_index) const<br> |
-|  Eigen::VectorXd | [**force\_upper\_limits**](classrobot__dart_1_1Robot.md#function-force_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**forces**](classrobot__dart_1_1Robot.md#function-forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  bool | [**free**](classrobot__dart_1_1Robot.md#function-free) () const<br> |
-|  void | [**free\_from\_world**](classrobot__dart_1_1Robot.md#function-free_from_world) (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) <br> |
-|  double | [**friction\_coeff**](classrobot__dart_1_1Robot.md#function-friction_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**friction\_coeff**](classrobot__dart_1_1Robot.md#function-friction_coeff-22) (size\_t body\_index) <br> |
-|  Eigen::Vector3d | [**friction\_dir**](classrobot__dart_1_1Robot.md#function-friction_dir-12) (const std::string & body\_name) <br> |
-|  Eigen::Vector3d | [**friction\_dir**](classrobot__dart_1_1Robot.md#function-friction_dir-22) (size\_t body\_index) <br> |
-|  bool | [**ghost**](classrobot__dart_1_1Robot.md#function-ghost) () const<br> |
-|  Eigen::VectorXd | [**gravity\_forces**](classrobot__dart_1_1Robot.md#function-gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**inv\_aug\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-inv_aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**inv\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-inv_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**jacobian**](classrobot__dart_1_1Robot.md#function-jacobian) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**jacobian\_deriv**](classrobot__dart_1_1Robot.md#function-jacobian_deriv) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  dart::dynamics::Joint \* | [**joint**](classrobot__dart_1_1Robot.md#function-joint-12) (const std::string & joint\_name) <br> |
-|  dart::dynamics::Joint \* | [**joint**](classrobot__dart_1_1Robot.md#function-joint-22) (size\_t joint\_index) <br> |
-|  size\_t | [**joint\_index**](classrobot__dart_1_1Robot.md#function-joint_index) (const std::string & joint\_name) const<br> |
-|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**joint\_map**](classrobot__dart_1_1Robot.md#function-joint_map) () const<br> |
-|  std::string | [**joint\_name**](classrobot__dart_1_1Robot.md#function-joint_name) (size\_t joint\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**joint\_names**](classrobot__dart_1_1Robot.md#function-joint_names) () const<br> |
-|  std::vector&lt; std::string &gt; | [**locked\_dof\_names**](classrobot__dart_1_1Robot.md#function-locked_dof_names) () const<br> |
-|  Eigen::MatrixXd | [**mass\_matrix**](classrobot__dart_1_1Robot.md#function-mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; std::string &gt; | [**mimic\_dof\_names**](classrobot__dart_1_1Robot.md#function-mimic_dof_names) () const<br> |
-|  const std::string & | [**model\_filename**](classrobot__dart_1_1Robot.md#function-model_filename) () const<br> |
-|  const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & | [**model\_packages**](classrobot__dart_1_1Robot.md#function-model_packages) () const<br> |
-|  const std::string & | [**name**](classrobot__dart_1_1Robot.md#function-name) () const<br> |
-|  size\_t | [**num\_bodies**](classrobot__dart_1_1Robot.md#function-num_bodies) () const<br> |
-|  size\_t | [**num\_controllers**](classrobot__dart_1_1Robot.md#function-num_controllers) () const<br> |
-|  size\_t | [**num\_dofs**](classrobot__dart_1_1Robot.md#function-num_dofs) () const<br> |
-|  size\_t | [**num\_joints**](classrobot__dart_1_1Robot.md#function-num_joints) () const<br> |
-|  std::vector&lt; std::string &gt; | [**passive\_dof\_names**](classrobot__dart_1_1Robot.md#function-passive_dof_names) () const<br> |
-|  std::vector&lt; bool &gt; | [**position\_enforced**](classrobot__dart_1_1Robot.md#function-position_enforced) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**position\_lower\_limits**](classrobot__dart_1_1Robot.md#function-position_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**position\_upper\_limits**](classrobot__dart_1_1Robot.md#function-position_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**positions**](classrobot__dart_1_1Robot.md#function-positions) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**reinit\_controllers**](classrobot__dart_1_1Robot.md#function-reinit_controllers) () <br> |
-|  void | [**remove\_all\_drawing\_axis**](classrobot__dart_1_1Robot.md#function-remove_all_drawing_axis) () <br> |
-|  void | [**remove\_controller**](classrobot__dart_1_1Robot.md#function-remove_controller-12) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller) <br> |
-|  void | [**remove\_controller**](classrobot__dart_1_1Robot.md#function-remove_controller-22) (size\_t index) <br> |
-| virtual void | [**reset**](classrobot__dart_1_1Robot.md#function-reset) () <br> |
-|  void | [**reset\_commands**](classrobot__dart_1_1Robot.md#function-reset_commands) () <br> |
-|  double | [**restitution\_coeff**](classrobot__dart_1_1Robot.md#function-restitution_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**restitution\_coeff**](classrobot__dart_1_1Robot.md#function-restitution_coeff-22) (size\_t body\_index) <br> |
-|  double | [**secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-secondary_friction_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-secondary_friction_coeff-22) (size\_t body\_index) <br> |
-|  bool | [**self\_colliding**](classrobot__dart_1_1Robot.md#function-self_colliding) () const<br> |
-|  void | [**set\_acceleration\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_acceleration_lower_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_acceleration\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_acceleration_upper_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_accelerations**](classrobot__dart_1_1Robot.md#function-set_accelerations) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_actuator\_type**](classrobot__dart_1_1Robot.md#function-set_actuator_type) (const std::string & type, const std::string & joint\_name, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-set_actuator_types) (const std::string & type, const std::vector&lt; std::string &gt; & joint\_names={}, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**set\_base\_pose**](classrobot__dart_1_1Robot.md#function-set_base_pose-12) (const Eigen::Isometry3d & tf) <br> |
-|  void | [**set\_base\_pose**](classrobot__dart_1_1Robot.md#function-set_base_pose-22) (const Eigen::Vector6d & pose) <br>_set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)_  |
-|  void | [**set\_body\_mass**](classrobot__dart_1_1Robot.md#function-set_body_mass-12) (const std::string & body\_name, double mass) <br> |
-|  void | [**set\_body\_mass**](classrobot__dart_1_1Robot.md#function-set_body_mass-22) (size\_t body\_index, double mass) <br> |
-|  void | [**set\_body\_name**](classrobot__dart_1_1Robot.md#function-set_body_name) (size\_t body\_index, const std::string & body\_name) <br> |
-|  void | [**set\_cast\_shadows**](classrobot__dart_1_1Robot.md#function-set_cast_shadows) (bool cast\_shadows=true) <br> |
-|  void | [**set\_color\_mode**](classrobot__dart_1_1Robot.md#function-set_color_mode-12) (const std::string & color\_mode) <br> |
-|  void | [**set\_color\_mode**](classrobot__dart_1_1Robot.md#function-set_color_mode-22) (const std::string & color\_mode, const std::string & body\_name) <br> |
-|  void | [**set\_commands**](classrobot__dart_1_1Robot.md#function-set_commands) (const Eigen::VectorXd & commands, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-set_coulomb_coeffs-12) (const std::vector&lt; double &gt; & cfrictions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-set_coulomb_coeffs-22) (double cfriction, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_damping\_coeffs**](classrobot__dart_1_1Robot.md#function-set_damping_coeffs-12) (const std::vector&lt; double &gt; & damps, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_damping\_coeffs**](classrobot__dart_1_1Robot.md#function-set_damping_coeffs-22) (double damp, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_draw\_axis**](classrobot__dart_1_1Robot.md#function-set_draw_axis) (const std::string & body\_name, double size=0.25) <br> |
-|  void | [**set\_external\_force**](classrobot__dart_1_1Robot.md#function-set_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**set\_external\_force**](classrobot__dart_1_1Robot.md#function-set_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**set\_external\_torque**](classrobot__dart_1_1Robot.md#function-set_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**set\_external\_torque**](classrobot__dart_1_1Robot.md#function-set_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**set\_force\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_force_lower_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_force\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_force_upper_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_forces**](classrobot__dart_1_1Robot.md#function-set_forces) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_friction_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_friction_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_friction\_coeffs**](classrobot__dart_1_1Robot.md#function-set_friction_coeffs) (double value) <br> |
-|  void | [**set\_friction\_dir**](classrobot__dart_1_1Robot.md#function-set_friction_dir-12) (const std::string & body\_name, const Eigen::Vector3d & direction) <br> |
-|  void | [**set\_friction\_dir**](classrobot__dart_1_1Robot.md#function-set_friction_dir-22) (size\_t body\_index, const Eigen::Vector3d & direction) <br> |
-|  void | [**set\_ghost**](classrobot__dart_1_1Robot.md#function-set_ghost) (bool ghost=true) <br> |
-|  void | [**set\_joint\_name**](classrobot__dart_1_1Robot.md#function-set_joint_name) (size\_t joint\_index, const std::string & joint\_name) <br> |
-|  void | [**set\_mimic**](classrobot__dart_1_1Robot.md#function-set_mimic) (const std::string & joint\_name, const std::string & mimic\_joint\_name, double multiplier=1., double offset=0.) <br> |
-|  void | [**set\_position\_enforced**](classrobot__dart_1_1Robot.md#function-set_position_enforced-12) (const std::vector&lt; bool &gt; & enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_enforced**](classrobot__dart_1_1Robot.md#function-set_position_enforced-22) (bool enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_position_lower_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_position_upper_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_positions**](classrobot__dart_1_1Robot.md#function-set_positions) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_restitution\_coeff**](classrobot__dart_1_1Robot.md#function-set_restitution_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_restitution\_coeff**](classrobot__dart_1_1Robot.md#function-set_restitution_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_restitution\_coeffs**](classrobot__dart_1_1Robot.md#function-set_restitution_coeffs) (double value) <br> |
-|  void | [**set\_secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_secondary\_friction\_coeffs**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeffs) (double value) <br> |
-|  void | [**set\_self\_collision**](classrobot__dart_1_1Robot.md#function-set_self_collision) (bool enable\_self\_collisions=true, bool enable\_adjacent\_collisions=false) <br> |
-|  void | [**set\_spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-set_spring_stiffnesses-12) (const std::vector&lt; double &gt; & stiffnesses, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-set_spring_stiffnesses-22) (double stiffness, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocities**](classrobot__dart_1_1Robot.md#function-set_velocities) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocity\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_velocity_lower_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocity\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_velocity_upper_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  dart::dynamics::SkeletonPtr | [**skeleton**](classrobot__dart_1_1Robot.md#function-skeleton) () <br> |
-|  std::vector&lt; double &gt; | [**spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-spring_stiffnesses) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**update**](classrobot__dart_1_1Robot.md#function-update) (double t) <br> |
-|  void | [**update\_joint\_dof\_maps**](classrobot__dart_1_1Robot.md#function-update_joint_dof_maps) () <br> |
-|  Eigen::VectorXd | [**vec\_dof**](classrobot__dart_1_1Robot.md#function-vec_dof) (const Eigen::VectorXd & vec, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-|  Eigen::VectorXd | [**velocities**](classrobot__dart_1_1Robot.md#function-velocities) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**velocity\_lower\_limits**](classrobot__dart_1_1Robot.md#function-velocity_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**velocity\_upper\_limits**](classrobot__dart_1_1Robot.md#function-velocity_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-| virtual  | [**~Robot**](classrobot__dart_1_1Robot.md#function-robot) () <br> |
+|   | [**Robot**](#function-robot-13) (const std::string & model\_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
+|   | [**Robot**](#function-robot-23) (const std::string & model\_file, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
+|   | [**Robot**](#function-robot-33) (dart::dynamics::SkeletonPtr skeleton, const std::string & robot\_name="robot", bool cast\_shadows=true) <br> |
+|  Eigen::VectorXd | [**acceleration\_lower\_limits**](#function-acceleration_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**acceleration\_upper\_limits**](#function-acceleration_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**accelerations**](#function-accelerations) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**active\_controllers**](#function-active_controllers) () const<br> |
+|  std::string | [**actuator\_type**](#function-actuator_type) (const std::string & joint\_name) const<br> |
+|  std::vector&lt; std::string &gt; | [**actuator\_types**](#function-actuator_types) (const std::vector&lt; std::string &gt; & joint\_names={}) const<br> |
+|  void | [**add\_body\_mass**](#function-add_body_mass-12) (const std::string & body\_name, double mass) <br> |
+|  void | [**add\_body\_mass**](#function-add_body_mass-22) (size\_t body\_index, double mass) <br> |
+|  void | [**add\_controller**](#function-add_controller) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller, double weight=1.0) <br> |
+|  void | [**add\_external\_force**](#function-add_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**add\_external\_force**](#function-add_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**add\_external\_torque**](#function-add_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**add\_external\_torque**](#function-add_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  bool | [**adjacent\_colliding**](#function-adjacent_colliding) () const<br> |
+|  Eigen::MatrixXd | [**aug\_mass\_matrix**](#function-aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::Isometry3d | [**base\_pose**](#function-base_pose) () const<br> |
+|  Eigen::Vector6d | [**base\_pose\_vec**](#function-base_pose_vec) () const<br> |
+|  Eigen::Vector6d | [**body\_acceleration**](#function-body_acceleration-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_acceleration**](#function-body_acceleration-22) (size\_t body\_index) const<br> |
+|  size\_t | [**body\_index**](#function-body_index) (const std::string & body\_name) const<br> |
+|  double | [**body\_mass**](#function-body_mass-12) (const std::string & body\_name) const<br> |
+|  double | [**body\_mass**](#function-body_mass-22) (size\_t body\_index) const<br> |
+|  std::string | [**body\_name**](#function-body_name) (size\_t body\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**body\_names**](#function-body_names) () const<br> |
+|  dart::dynamics::BodyNode \* | [**body\_node**](#function-body_node-12) (const std::string & body\_name) <br> |
+|  dart::dynamics::BodyNode \* | [**body\_node**](#function-body_node-22) (size\_t body\_index) <br> |
+|  Eigen::Isometry3d | [**body\_pose**](#function-body_pose-12) (const std::string & body\_name) const<br> |
+|  Eigen::Isometry3d | [**body\_pose**](#function-body_pose-22) (size\_t body\_index) const<br> |
+|  Eigen::Vector6d | [**body\_pose\_vec**](#function-body_pose_vec-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_pose\_vec**](#function-body_pose_vec-22) (size\_t body\_index) const<br> |
+|  Eigen::Vector6d | [**body\_velocity**](#function-body_velocity-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_velocity**](#function-body_velocity-22) (size\_t body\_index) const<br> |
+|  bool | [**cast\_shadows**](#function-cast_shadows) () const<br> |
+|  void | [**clear\_controllers**](#function-clear_controllers) () <br> |
+|  void | [**clear\_external\_forces**](#function-clear_external_forces) () <br> |
+|  void | [**clear\_internal\_forces**](#function-clear_internal_forces) () <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone**](#function-clone) () const<br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone\_ghost**](#function-clone_ghost) (const std::string & ghost\_name="ghost", const Eigen::Vector4d & ghost\_color={0.3, 0.3, 0.3, 0.7}) const<br> |
+|  Eigen::Vector3d | [**com**](#function-com) () const<br> |
+|  Eigen::Vector6d | [**com\_acceleration**](#function-com_acceleration) () const<br> |
+|  Eigen::MatrixXd | [**com\_jacobian**](#function-com_jacobian) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**com\_jacobian\_deriv**](#function-com_jacobian_deriv) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::Vector6d | [**com\_velocity**](#function-com_velocity) () const<br> |
+|  Eigen::VectorXd | [**commands**](#function-commands) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**constraint\_forces**](#function-constraint_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**controller**](#function-controller) (size\_t index) const<br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**controllers**](#function-controllers) () const<br> |
+|  Eigen::VectorXd | [**coriolis\_forces**](#function-coriolis_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**coriolis\_gravity\_forces**](#function-coriolis_gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; double &gt; | [**coulomb\_coeffs**](#function-coulomb_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; double &gt; | [**damping\_coeffs**](#function-damping_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  dart::dynamics::DegreeOfFreedom \* | [**dof**](#function-dof-12) (const std::string & dof\_name) <br> |
+|  dart::dynamics::DegreeOfFreedom \* | [**dof**](#function-dof-22) (size\_t dof\_index) <br> |
+|  size\_t | [**dof\_index**](#function-dof_index) (const std::string & dof\_name) const<br> |
+|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**dof\_map**](#function-dof_map) () const<br> |
+|  std::string | [**dof\_name**](#function-dof_name) (size\_t dof\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**dof\_names**](#function-dof_names) (bool filter\_mimics=false, bool filter\_locked=false, bool filter\_passive=false) const<br> |
+|  const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; & | [**drawing\_axes**](#function-drawing_axes) () const<br> |
+|  Eigen::Vector6d | [**external\_forces**](#function-external_forces-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**external\_forces**](#function-external_forces-22) (size\_t body\_index) const<br> |
+|  void | [**fix\_to\_world**](#function-fix_to_world) () <br> |
+|  bool | [**fixed**](#function-fixed) () const<br> |
+|  Eigen::VectorXd | [**force\_lower\_limits**](#function-force_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**force\_position\_bounds**](#function-force_position_bounds) () <br> |
+|  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; | [**force\_torque**](#function-force_torque) (size\_t joint\_index) const<br> |
+|  Eigen::VectorXd | [**force\_upper\_limits**](#function-force_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**forces**](#function-forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  bool | [**free**](#function-free) () const<br> |
+|  void | [**free\_from\_world**](#function-free_from_world) (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) <br> |
+|  double | [**friction\_coeff**](#function-friction_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**friction\_coeff**](#function-friction_coeff-22) (size\_t body\_index) <br> |
+|  Eigen::Vector3d | [**friction\_dir**](#function-friction_dir-12) (const std::string & body\_name) <br> |
+|  Eigen::Vector3d | [**friction\_dir**](#function-friction_dir-22) (size\_t body\_index) <br> |
+|  bool | [**ghost**](#function-ghost) () const<br> |
+|  Eigen::VectorXd | [**gravity\_forces**](#function-gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**inv\_aug\_mass\_matrix**](#function-inv_aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**inv\_mass\_matrix**](#function-inv_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**jacobian**](#function-jacobian) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**jacobian\_deriv**](#function-jacobian_deriv) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  dart::dynamics::Joint \* | [**joint**](#function-joint-12) (const std::string & joint\_name) <br> |
+|  dart::dynamics::Joint \* | [**joint**](#function-joint-22) (size\_t joint\_index) <br> |
+|  size\_t | [**joint\_index**](#function-joint_index) (const std::string & joint\_name) const<br> |
+|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**joint\_map**](#function-joint_map) () const<br> |
+|  std::string | [**joint\_name**](#function-joint_name) (size\_t joint\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**joint\_names**](#function-joint_names) () const<br> |
+|  std::vector&lt; std::string &gt; | [**locked\_dof\_names**](#function-locked_dof_names) () const<br> |
+|  Eigen::MatrixXd | [**mass\_matrix**](#function-mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; std::string &gt; | [**mimic\_dof\_names**](#function-mimic_dof_names) () const<br> |
+|  const std::string & | [**model\_filename**](#function-model_filename) () const<br> |
+|  const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & | [**model\_packages**](#function-model_packages) () const<br> |
+|  const std::string & | [**name**](#function-name) () const<br> |
+|  size\_t | [**num\_bodies**](#function-num_bodies) () const<br> |
+|  size\_t | [**num\_controllers**](#function-num_controllers) () const<br> |
+|  size\_t | [**num\_dofs**](#function-num_dofs) () const<br> |
+|  size\_t | [**num\_joints**](#function-num_joints) () const<br> |
+|  std::vector&lt; std::string &gt; | [**passive\_dof\_names**](#function-passive_dof_names) () const<br> |
+|  std::vector&lt; bool &gt; | [**position\_enforced**](#function-position_enforced) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**position\_lower\_limits**](#function-position_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**position\_upper\_limits**](#function-position_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**positions**](#function-positions) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**reinit\_controllers**](#function-reinit_controllers) () <br> |
+|  void | [**remove\_all\_drawing\_axis**](#function-remove_all_drawing_axis) () <br> |
+|  void | [**remove\_controller**](#function-remove_controller-12) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller) <br> |
+|  void | [**remove\_controller**](#function-remove_controller-22) (size\_t index) <br> |
+| virtual void | [**reset**](#function-reset) () <br> |
+|  void | [**reset\_commands**](#function-reset_commands) () <br> |
+|  double | [**restitution\_coeff**](#function-restitution_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**restitution\_coeff**](#function-restitution_coeff-22) (size\_t body\_index) <br> |
+|  double | [**secondary\_friction\_coeff**](#function-secondary_friction_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**secondary\_friction\_coeff**](#function-secondary_friction_coeff-22) (size\_t body\_index) <br> |
+|  bool | [**self\_colliding**](#function-self_colliding) () const<br> |
+|  void | [**set\_acceleration\_lower\_limits**](#function-set_acceleration_lower_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_acceleration\_upper\_limits**](#function-set_acceleration_upper_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_accelerations**](#function-set_accelerations) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_actuator\_type**](#function-set_actuator_type) (const std::string & type, const std::string & joint\_name, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**set\_actuator\_types**](#function-set_actuator_types) (const std::string & type, const std::vector&lt; std::string &gt; & joint\_names={}, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**set\_base\_pose**](#function-set_base_pose-12) (const Eigen::Isometry3d & tf) <br> |
+|  void | [**set\_base\_pose**](#function-set_base_pose-22) (const Eigen::Vector6d & pose) <br>_set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)_  |
+|  void | [**set\_body\_mass**](#function-set_body_mass-12) (const std::string & body\_name, double mass) <br> |
+|  void | [**set\_body\_mass**](#function-set_body_mass-22) (size\_t body\_index, double mass) <br> |
+|  void | [**set\_body\_name**](#function-set_body_name) (size\_t body\_index, const std::string & body\_name) <br> |
+|  void | [**set\_cast\_shadows**](#function-set_cast_shadows) (bool cast\_shadows=true) <br> |
+|  void | [**set\_color\_mode**](#function-set_color_mode-12) (const std::string & color\_mode) <br> |
+|  void | [**set\_color\_mode**](#function-set_color_mode-22) (const std::string & color\_mode, const std::string & body\_name) <br> |
+|  void | [**set\_commands**](#function-set_commands) (const Eigen::VectorXd & commands, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_coulomb\_coeffs**](#function-set_coulomb_coeffs-12) (const std::vector&lt; double &gt; & cfrictions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_coulomb\_coeffs**](#function-set_coulomb_coeffs-22) (double cfriction, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_damping\_coeffs**](#function-set_damping_coeffs-12) (const std::vector&lt; double &gt; & damps, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_damping\_coeffs**](#function-set_damping_coeffs-22) (double damp, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_draw\_axis**](#function-set_draw_axis) (const std::string & body\_name, double size=0.25) <br> |
+|  void | [**set\_external\_force**](#function-set_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**set\_external\_force**](#function-set_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**set\_external\_torque**](#function-set_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**set\_external\_torque**](#function-set_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**set\_force\_lower\_limits**](#function-set_force_lower_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_force\_upper\_limits**](#function-set_force_upper_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_forces**](#function-set_forces) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_friction\_coeff**](#function-set_friction_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_friction\_coeff**](#function-set_friction_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_friction\_coeffs**](#function-set_friction_coeffs) (double value) <br> |
+|  void | [**set\_friction\_dir**](#function-set_friction_dir-12) (const std::string & body\_name, const Eigen::Vector3d & direction) <br> |
+|  void | [**set\_friction\_dir**](#function-set_friction_dir-22) (size\_t body\_index, const Eigen::Vector3d & direction) <br> |
+|  void | [**set\_ghost**](#function-set_ghost) (bool ghost=true) <br> |
+|  void | [**set\_joint\_name**](#function-set_joint_name) (size\_t joint\_index, const std::string & joint\_name) <br> |
+|  void | [**set\_mimic**](#function-set_mimic) (const std::string & joint\_name, const std::string & mimic\_joint\_name, double multiplier=1., double offset=0.) <br> |
+|  void | [**set\_position\_enforced**](#function-set_position_enforced-12) (const std::vector&lt; bool &gt; & enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_enforced**](#function-set_position_enforced-22) (bool enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_lower\_limits**](#function-set_position_lower_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_upper\_limits**](#function-set_position_upper_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_positions**](#function-set_positions) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_restitution\_coeff**](#function-set_restitution_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_restitution\_coeff**](#function-set_restitution_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_restitution\_coeffs**](#function-set_restitution_coeffs) (double value) <br> |
+|  void | [**set\_secondary\_friction\_coeff**](#function-set_secondary_friction_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_secondary\_friction\_coeff**](#function-set_secondary_friction_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_secondary\_friction\_coeffs**](#function-set_secondary_friction_coeffs) (double value) <br> |
+|  void | [**set\_self\_collision**](#function-set_self_collision) (bool enable\_self\_collisions=true, bool enable\_adjacent\_collisions=false) <br> |
+|  void | [**set\_spring\_stiffnesses**](#function-set_spring_stiffnesses-12) (const std::vector&lt; double &gt; & stiffnesses, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_spring\_stiffnesses**](#function-set_spring_stiffnesses-22) (double stiffness, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocities**](#function-set_velocities) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocity\_lower\_limits**](#function-set_velocity_lower_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocity\_upper\_limits**](#function-set_velocity_upper_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  dart::dynamics::SkeletonPtr | [**skeleton**](#function-skeleton) () <br> |
+|  std::vector&lt; double &gt; | [**spring\_stiffnesses**](#function-spring_stiffnesses) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**update**](#function-update) (double t) <br> |
+|  void | [**update\_joint\_dof\_maps**](#function-update_joint_dof_maps) () <br> |
+|  Eigen::VectorXd | [**vec\_dof**](#function-vec_dof) (const Eigen::VectorXd & vec, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+|  Eigen::VectorXd | [**velocities**](#function-velocities) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**velocity\_lower\_limits**](#function-velocity_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**velocity\_upper\_limits**](#function-velocity_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+| virtual  | [**~Robot**](#function-robot) () <br> |
 
 
 
@@ -266,10 +266,10 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](classrobot__dart_1_1Robot.md#function-create_box-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](classrobot__dart_1_1Robot.md#function-create_box-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](classrobot__dart_1_1Robot.md#function-create_ellipsoid-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](classrobot__dart_1_1Robot.md#function-create_ellipsoid-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](#function-create_box-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](#function-create_box-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](#function-create_ellipsoid-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](#function-create_ellipsoid-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
 
 
 
@@ -293,16 +293,16 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; | [**\_axis\_shapes**](classrobot__dart_1_1Robot.md#variable-_axis_shapes)  <br> |
-|  bool | [**\_cast\_shadows**](classrobot__dart_1_1Robot.md#variable-_cast_shadows)  <br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**\_controllers**](classrobot__dart_1_1Robot.md#variable-_controllers)  <br> |
-|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_dof\_map**](classrobot__dart_1_1Robot.md#variable-_dof_map)  <br> |
-|  bool | [**\_is\_ghost**](classrobot__dart_1_1Robot.md#variable-_is_ghost)  <br> |
-|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_joint\_map**](classrobot__dart_1_1Robot.md#variable-_joint_map)  <br> |
-|  std::string | [**\_model\_filename**](classrobot__dart_1_1Robot.md#variable-_model_filename)  <br> |
-|  std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; | [**\_packages**](classrobot__dart_1_1Robot.md#variable-_packages)  <br> |
-|  std::string | [**\_robot\_name**](classrobot__dart_1_1Robot.md#variable-_robot_name)  <br> |
-|  dart::dynamics::SkeletonPtr | [**\_skeleton**](classrobot__dart_1_1Robot.md#variable-_skeleton)  <br> |
+|  std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; | [**\_axis\_shapes**](#variable-_axis_shapes)  <br> |
+|  bool | [**\_cast\_shadows**](#variable-_cast_shadows)  <br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**\_controllers**](#variable-_controllers)  <br> |
+|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_dof\_map**](#variable-_dof_map)  <br> |
+|  bool | [**\_is\_ghost**](#variable-_is_ghost)  <br> |
+|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_joint\_map**](#variable-_joint_map)  <br> |
+|  std::string | [**\_model\_filename**](#variable-_model_filename)  <br> |
+|  std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; | [**\_packages**](#variable-_packages)  <br> |
+|  std::string | [**\_robot\_name**](#variable-_robot_name)  <br> |
+|  dart::dynamics::SkeletonPtr | [**\_skeleton**](#variable-_skeleton)  <br> |
 
 
 
@@ -347,19 +347,19 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  dart::dynamics::Joint::ActuatorType | [**\_actuator\_type**](classrobot__dart_1_1Robot.md#function-_actuator_type) (size\_t joint\_index) const<br> |
-|  std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; | [**\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_actuator_types) () const<br> |
-|  std::string | [**\_get\_path**](classrobot__dart_1_1Robot.md#function-_get_path) (const std::string & filename) const<br> |
-|  Eigen::MatrixXd | [**\_jacobian**](classrobot__dart_1_1Robot.md#function-_jacobian) (const Eigen::MatrixXd & full\_jacobian, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-|  dart::dynamics::SkeletonPtr | [**\_load\_model**](classrobot__dart_1_1Robot.md#function-_load_model) (const std::string & filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is\_urdf\_string=false) <br> |
-|  Eigen::MatrixXd | [**\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-_mass_matrix) (const Eigen::MatrixXd & full\_mass\_matrix, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-| virtual void | [**\_post\_addition**](classrobot__dart_1_1Robot.md#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
-| virtual void | [**\_post\_removal**](classrobot__dart_1_1Robot.md#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
-|  void | [**\_set\_actuator\_type**](classrobot__dart_1_1Robot.md#function-_set_actuator_type) (size\_t joint\_index, dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_set_actuator_types-12) (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; & types, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_set_actuator_types-22) (dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_color\_mode**](classrobot__dart_1_1Robot.md#function-_set_color_mode-12) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::SkeletonPtr skel) <br> |
-|  void | [**\_set\_color\_mode**](classrobot__dart_1_1Robot.md#function-_set_color_mode-22) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::ShapeNode \* sn) <br> |
+|  dart::dynamics::Joint::ActuatorType | [**\_actuator\_type**](#function-_actuator_type) (size\_t joint\_index) const<br> |
+|  std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; | [**\_actuator\_types**](#function-_actuator_types) () const<br> |
+|  std::string | [**\_get\_path**](#function-_get_path) (const std::string & filename) const<br> |
+|  Eigen::MatrixXd | [**\_jacobian**](#function-_jacobian) (const Eigen::MatrixXd & full\_jacobian, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+|  dart::dynamics::SkeletonPtr | [**\_load\_model**](#function-_load_model) (const std::string & filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is\_urdf\_string=false) <br> |
+|  Eigen::MatrixXd | [**\_mass\_matrix**](#function-_mass_matrix) (const Eigen::MatrixXd & full\_mass\_matrix, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+| virtual void | [**\_post\_addition**](#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
+| virtual void | [**\_post\_removal**](#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
+|  void | [**\_set\_actuator\_type**](#function-_set_actuator_type) (size\_t joint\_index, dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_actuator\_types**](#function-_set_actuator_types-12) (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; & types, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_actuator\_types**](#function-_set_actuator_types-22) (dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_color\_mode**](#function-_set_color_mode-12) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::SkeletonPtr skel) <br> |
+|  void | [**\_set\_color\_mode**](#function-_set_color_mode-22) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::ShapeNode \* sn) <br> |
 
 
 
diff --git a/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Hexapod.md b/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Hexapod.md
index 68cdf99d..8109cf22 100644
--- a/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Hexapod.md
+++ b/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Hexapod.md
@@ -82,180 +82,180 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-13) (const std::string & model\_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-23) (const std::string & model\_file, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-33) (dart::dynamics::SkeletonPtr skeleton, const std::string & robot\_name="robot", bool cast\_shadows=true) <br> |
-|  Eigen::VectorXd | [**acceleration\_lower\_limits**](classrobot__dart_1_1Robot.md#function-acceleration_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**acceleration\_upper\_limits**](classrobot__dart_1_1Robot.md#function-acceleration_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**accelerations**](classrobot__dart_1_1Robot.md#function-accelerations) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**active\_controllers**](classrobot__dart_1_1Robot.md#function-active_controllers) () const<br> |
-|  std::string | [**actuator\_type**](classrobot__dart_1_1Robot.md#function-actuator_type) (const std::string & joint\_name) const<br> |
-|  std::vector&lt; std::string &gt; | [**actuator\_types**](classrobot__dart_1_1Robot.md#function-actuator_types) (const std::vector&lt; std::string &gt; & joint\_names={}) const<br> |
-|  void | [**add\_body\_mass**](classrobot__dart_1_1Robot.md#function-add_body_mass-12) (const std::string & body\_name, double mass) <br> |
-|  void | [**add\_body\_mass**](classrobot__dart_1_1Robot.md#function-add_body_mass-22) (size\_t body\_index, double mass) <br> |
-|  void | [**add\_controller**](classrobot__dart_1_1Robot.md#function-add_controller) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller, double weight=1.0) <br> |
-|  void | [**add\_external\_force**](classrobot__dart_1_1Robot.md#function-add_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**add\_external\_force**](classrobot__dart_1_1Robot.md#function-add_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**add\_external\_torque**](classrobot__dart_1_1Robot.md#function-add_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**add\_external\_torque**](classrobot__dart_1_1Robot.md#function-add_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  bool | [**adjacent\_colliding**](classrobot__dart_1_1Robot.md#function-adjacent_colliding) () const<br> |
-|  Eigen::MatrixXd | [**aug\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::Isometry3d | [**base\_pose**](classrobot__dart_1_1Robot.md#function-base_pose) () const<br> |
-|  Eigen::Vector6d | [**base\_pose\_vec**](classrobot__dart_1_1Robot.md#function-base_pose_vec) () const<br> |
-|  Eigen::Vector6d | [**body\_acceleration**](classrobot__dart_1_1Robot.md#function-body_acceleration-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_acceleration**](classrobot__dart_1_1Robot.md#function-body_acceleration-22) (size\_t body\_index) const<br> |
-|  size\_t | [**body\_index**](classrobot__dart_1_1Robot.md#function-body_index) (const std::string & body\_name) const<br> |
-|  double | [**body\_mass**](classrobot__dart_1_1Robot.md#function-body_mass-12) (const std::string & body\_name) const<br> |
-|  double | [**body\_mass**](classrobot__dart_1_1Robot.md#function-body_mass-22) (size\_t body\_index) const<br> |
-|  std::string | [**body\_name**](classrobot__dart_1_1Robot.md#function-body_name) (size\_t body\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**body\_names**](classrobot__dart_1_1Robot.md#function-body_names) () const<br> |
-|  dart::dynamics::BodyNode \* | [**body\_node**](classrobot__dart_1_1Robot.md#function-body_node-12) (const std::string & body\_name) <br> |
-|  dart::dynamics::BodyNode \* | [**body\_node**](classrobot__dart_1_1Robot.md#function-body_node-22) (size\_t body\_index) <br> |
-|  Eigen::Isometry3d | [**body\_pose**](classrobot__dart_1_1Robot.md#function-body_pose-12) (const std::string & body\_name) const<br> |
-|  Eigen::Isometry3d | [**body\_pose**](classrobot__dart_1_1Robot.md#function-body_pose-22) (size\_t body\_index) const<br> |
-|  Eigen::Vector6d | [**body\_pose\_vec**](classrobot__dart_1_1Robot.md#function-body_pose_vec-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_pose\_vec**](classrobot__dart_1_1Robot.md#function-body_pose_vec-22) (size\_t body\_index) const<br> |
-|  Eigen::Vector6d | [**body\_velocity**](classrobot__dart_1_1Robot.md#function-body_velocity-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_velocity**](classrobot__dart_1_1Robot.md#function-body_velocity-22) (size\_t body\_index) const<br> |
-|  bool | [**cast\_shadows**](classrobot__dart_1_1Robot.md#function-cast_shadows) () const<br> |
-|  void | [**clear\_controllers**](classrobot__dart_1_1Robot.md#function-clear_controllers) () <br> |
-|  void | [**clear\_external\_forces**](classrobot__dart_1_1Robot.md#function-clear_external_forces) () <br> |
-|  void | [**clear\_internal\_forces**](classrobot__dart_1_1Robot.md#function-clear_internal_forces) () <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone**](classrobot__dart_1_1Robot.md#function-clone) () const<br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone\_ghost**](classrobot__dart_1_1Robot.md#function-clone_ghost) (const std::string & ghost\_name="ghost", const Eigen::Vector4d & ghost\_color={0.3, 0.3, 0.3, 0.7}) const<br> |
-|  Eigen::Vector3d | [**com**](classrobot__dart_1_1Robot.md#function-com) () const<br> |
-|  Eigen::Vector6d | [**com\_acceleration**](classrobot__dart_1_1Robot.md#function-com_acceleration) () const<br> |
-|  Eigen::MatrixXd | [**com\_jacobian**](classrobot__dart_1_1Robot.md#function-com_jacobian) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**com\_jacobian\_deriv**](classrobot__dart_1_1Robot.md#function-com_jacobian_deriv) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::Vector6d | [**com\_velocity**](classrobot__dart_1_1Robot.md#function-com_velocity) () const<br> |
-|  Eigen::VectorXd | [**commands**](classrobot__dart_1_1Robot.md#function-commands) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**constraint\_forces**](classrobot__dart_1_1Robot.md#function-constraint_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**controller**](classrobot__dart_1_1Robot.md#function-controller) (size\_t index) const<br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**controllers**](classrobot__dart_1_1Robot.md#function-controllers) () const<br> |
-|  Eigen::VectorXd | [**coriolis\_forces**](classrobot__dart_1_1Robot.md#function-coriolis_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**coriolis\_gravity\_forces**](classrobot__dart_1_1Robot.md#function-coriolis_gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; double &gt; | [**coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-coulomb_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; double &gt; | [**damping\_coeffs**](classrobot__dart_1_1Robot.md#function-damping_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  dart::dynamics::DegreeOfFreedom \* | [**dof**](classrobot__dart_1_1Robot.md#function-dof-12) (const std::string & dof\_name) <br> |
-|  dart::dynamics::DegreeOfFreedom \* | [**dof**](classrobot__dart_1_1Robot.md#function-dof-22) (size\_t dof\_index) <br> |
-|  size\_t | [**dof\_index**](classrobot__dart_1_1Robot.md#function-dof_index) (const std::string & dof\_name) const<br> |
-|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**dof\_map**](classrobot__dart_1_1Robot.md#function-dof_map) () const<br> |
-|  std::string | [**dof\_name**](classrobot__dart_1_1Robot.md#function-dof_name) (size\_t dof\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**dof\_names**](classrobot__dart_1_1Robot.md#function-dof_names) (bool filter\_mimics=false, bool filter\_locked=false, bool filter\_passive=false) const<br> |
-|  const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; & | [**drawing\_axes**](classrobot__dart_1_1Robot.md#function-drawing_axes) () const<br> |
-|  Eigen::Vector6d | [**external\_forces**](classrobot__dart_1_1Robot.md#function-external_forces-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**external\_forces**](classrobot__dart_1_1Robot.md#function-external_forces-22) (size\_t body\_index) const<br> |
-|  void | [**fix\_to\_world**](classrobot__dart_1_1Robot.md#function-fix_to_world) () <br> |
-|  bool | [**fixed**](classrobot__dart_1_1Robot.md#function-fixed) () const<br> |
-|  Eigen::VectorXd | [**force\_lower\_limits**](classrobot__dart_1_1Robot.md#function-force_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**force\_position\_bounds**](classrobot__dart_1_1Robot.md#function-force_position_bounds) () <br> |
-|  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; | [**force\_torque**](classrobot__dart_1_1Robot.md#function-force_torque) (size\_t joint\_index) const<br> |
-|  Eigen::VectorXd | [**force\_upper\_limits**](classrobot__dart_1_1Robot.md#function-force_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**forces**](classrobot__dart_1_1Robot.md#function-forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  bool | [**free**](classrobot__dart_1_1Robot.md#function-free) () const<br> |
-|  void | [**free\_from\_world**](classrobot__dart_1_1Robot.md#function-free_from_world) (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) <br> |
-|  double | [**friction\_coeff**](classrobot__dart_1_1Robot.md#function-friction_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**friction\_coeff**](classrobot__dart_1_1Robot.md#function-friction_coeff-22) (size\_t body\_index) <br> |
-|  Eigen::Vector3d | [**friction\_dir**](classrobot__dart_1_1Robot.md#function-friction_dir-12) (const std::string & body\_name) <br> |
-|  Eigen::Vector3d | [**friction\_dir**](classrobot__dart_1_1Robot.md#function-friction_dir-22) (size\_t body\_index) <br> |
-|  bool | [**ghost**](classrobot__dart_1_1Robot.md#function-ghost) () const<br> |
-|  Eigen::VectorXd | [**gravity\_forces**](classrobot__dart_1_1Robot.md#function-gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**inv\_aug\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-inv_aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**inv\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-inv_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**jacobian**](classrobot__dart_1_1Robot.md#function-jacobian) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**jacobian\_deriv**](classrobot__dart_1_1Robot.md#function-jacobian_deriv) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  dart::dynamics::Joint \* | [**joint**](classrobot__dart_1_1Robot.md#function-joint-12) (const std::string & joint\_name) <br> |
-|  dart::dynamics::Joint \* | [**joint**](classrobot__dart_1_1Robot.md#function-joint-22) (size\_t joint\_index) <br> |
-|  size\_t | [**joint\_index**](classrobot__dart_1_1Robot.md#function-joint_index) (const std::string & joint\_name) const<br> |
-|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**joint\_map**](classrobot__dart_1_1Robot.md#function-joint_map) () const<br> |
-|  std::string | [**joint\_name**](classrobot__dart_1_1Robot.md#function-joint_name) (size\_t joint\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**joint\_names**](classrobot__dart_1_1Robot.md#function-joint_names) () const<br> |
-|  std::vector&lt; std::string &gt; | [**locked\_dof\_names**](classrobot__dart_1_1Robot.md#function-locked_dof_names) () const<br> |
-|  Eigen::MatrixXd | [**mass\_matrix**](classrobot__dart_1_1Robot.md#function-mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; std::string &gt; | [**mimic\_dof\_names**](classrobot__dart_1_1Robot.md#function-mimic_dof_names) () const<br> |
-|  const std::string & | [**model\_filename**](classrobot__dart_1_1Robot.md#function-model_filename) () const<br> |
-|  const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & | [**model\_packages**](classrobot__dart_1_1Robot.md#function-model_packages) () const<br> |
-|  const std::string & | [**name**](classrobot__dart_1_1Robot.md#function-name) () const<br> |
-|  size\_t | [**num\_bodies**](classrobot__dart_1_1Robot.md#function-num_bodies) () const<br> |
-|  size\_t | [**num\_controllers**](classrobot__dart_1_1Robot.md#function-num_controllers) () const<br> |
-|  size\_t | [**num\_dofs**](classrobot__dart_1_1Robot.md#function-num_dofs) () const<br> |
-|  size\_t | [**num\_joints**](classrobot__dart_1_1Robot.md#function-num_joints) () const<br> |
-|  std::vector&lt; std::string &gt; | [**passive\_dof\_names**](classrobot__dart_1_1Robot.md#function-passive_dof_names) () const<br> |
-|  std::vector&lt; bool &gt; | [**position\_enforced**](classrobot__dart_1_1Robot.md#function-position_enforced) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**position\_lower\_limits**](classrobot__dart_1_1Robot.md#function-position_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**position\_upper\_limits**](classrobot__dart_1_1Robot.md#function-position_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**positions**](classrobot__dart_1_1Robot.md#function-positions) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**reinit\_controllers**](classrobot__dart_1_1Robot.md#function-reinit_controllers) () <br> |
-|  void | [**remove\_all\_drawing\_axis**](classrobot__dart_1_1Robot.md#function-remove_all_drawing_axis) () <br> |
-|  void | [**remove\_controller**](classrobot__dart_1_1Robot.md#function-remove_controller-12) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller) <br> |
-|  void | [**remove\_controller**](classrobot__dart_1_1Robot.md#function-remove_controller-22) (size\_t index) <br> |
-| virtual void | [**reset**](classrobot__dart_1_1Robot.md#function-reset) () <br> |
-|  void | [**reset\_commands**](classrobot__dart_1_1Robot.md#function-reset_commands) () <br> |
-|  double | [**restitution\_coeff**](classrobot__dart_1_1Robot.md#function-restitution_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**restitution\_coeff**](classrobot__dart_1_1Robot.md#function-restitution_coeff-22) (size\_t body\_index) <br> |
-|  double | [**secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-secondary_friction_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-secondary_friction_coeff-22) (size\_t body\_index) <br> |
-|  bool | [**self\_colliding**](classrobot__dart_1_1Robot.md#function-self_colliding) () const<br> |
-|  void | [**set\_acceleration\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_acceleration_lower_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_acceleration\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_acceleration_upper_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_accelerations**](classrobot__dart_1_1Robot.md#function-set_accelerations) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_actuator\_type**](classrobot__dart_1_1Robot.md#function-set_actuator_type) (const std::string & type, const std::string & joint\_name, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-set_actuator_types) (const std::string & type, const std::vector&lt; std::string &gt; & joint\_names={}, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**set\_base\_pose**](classrobot__dart_1_1Robot.md#function-set_base_pose-12) (const Eigen::Isometry3d & tf) <br> |
-|  void | [**set\_base\_pose**](classrobot__dart_1_1Robot.md#function-set_base_pose-22) (const Eigen::Vector6d & pose) <br>_set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)_  |
-|  void | [**set\_body\_mass**](classrobot__dart_1_1Robot.md#function-set_body_mass-12) (const std::string & body\_name, double mass) <br> |
-|  void | [**set\_body\_mass**](classrobot__dart_1_1Robot.md#function-set_body_mass-22) (size\_t body\_index, double mass) <br> |
-|  void | [**set\_body\_name**](classrobot__dart_1_1Robot.md#function-set_body_name) (size\_t body\_index, const std::string & body\_name) <br> |
-|  void | [**set\_cast\_shadows**](classrobot__dart_1_1Robot.md#function-set_cast_shadows) (bool cast\_shadows=true) <br> |
-|  void | [**set\_color\_mode**](classrobot__dart_1_1Robot.md#function-set_color_mode-12) (const std::string & color\_mode) <br> |
-|  void | [**set\_color\_mode**](classrobot__dart_1_1Robot.md#function-set_color_mode-22) (const std::string & color\_mode, const std::string & body\_name) <br> |
-|  void | [**set\_commands**](classrobot__dart_1_1Robot.md#function-set_commands) (const Eigen::VectorXd & commands, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-set_coulomb_coeffs-12) (const std::vector&lt; double &gt; & cfrictions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-set_coulomb_coeffs-22) (double cfriction, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_damping\_coeffs**](classrobot__dart_1_1Robot.md#function-set_damping_coeffs-12) (const std::vector&lt; double &gt; & damps, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_damping\_coeffs**](classrobot__dart_1_1Robot.md#function-set_damping_coeffs-22) (double damp, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_draw\_axis**](classrobot__dart_1_1Robot.md#function-set_draw_axis) (const std::string & body\_name, double size=0.25) <br> |
-|  void | [**set\_external\_force**](classrobot__dart_1_1Robot.md#function-set_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**set\_external\_force**](classrobot__dart_1_1Robot.md#function-set_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**set\_external\_torque**](classrobot__dart_1_1Robot.md#function-set_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**set\_external\_torque**](classrobot__dart_1_1Robot.md#function-set_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**set\_force\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_force_lower_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_force\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_force_upper_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_forces**](classrobot__dart_1_1Robot.md#function-set_forces) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_friction_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_friction_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_friction\_coeffs**](classrobot__dart_1_1Robot.md#function-set_friction_coeffs) (double value) <br> |
-|  void | [**set\_friction\_dir**](classrobot__dart_1_1Robot.md#function-set_friction_dir-12) (const std::string & body\_name, const Eigen::Vector3d & direction) <br> |
-|  void | [**set\_friction\_dir**](classrobot__dart_1_1Robot.md#function-set_friction_dir-22) (size\_t body\_index, const Eigen::Vector3d & direction) <br> |
-|  void | [**set\_ghost**](classrobot__dart_1_1Robot.md#function-set_ghost) (bool ghost=true) <br> |
-|  void | [**set\_joint\_name**](classrobot__dart_1_1Robot.md#function-set_joint_name) (size\_t joint\_index, const std::string & joint\_name) <br> |
-|  void | [**set\_mimic**](classrobot__dart_1_1Robot.md#function-set_mimic) (const std::string & joint\_name, const std::string & mimic\_joint\_name, double multiplier=1., double offset=0.) <br> |
-|  void | [**set\_position\_enforced**](classrobot__dart_1_1Robot.md#function-set_position_enforced-12) (const std::vector&lt; bool &gt; & enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_enforced**](classrobot__dart_1_1Robot.md#function-set_position_enforced-22) (bool enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_position_lower_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_position_upper_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_positions**](classrobot__dart_1_1Robot.md#function-set_positions) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_restitution\_coeff**](classrobot__dart_1_1Robot.md#function-set_restitution_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_restitution\_coeff**](classrobot__dart_1_1Robot.md#function-set_restitution_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_restitution\_coeffs**](classrobot__dart_1_1Robot.md#function-set_restitution_coeffs) (double value) <br> |
-|  void | [**set\_secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_secondary\_friction\_coeffs**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeffs) (double value) <br> |
-|  void | [**set\_self\_collision**](classrobot__dart_1_1Robot.md#function-set_self_collision) (bool enable\_self\_collisions=true, bool enable\_adjacent\_collisions=false) <br> |
-|  void | [**set\_spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-set_spring_stiffnesses-12) (const std::vector&lt; double &gt; & stiffnesses, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-set_spring_stiffnesses-22) (double stiffness, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocities**](classrobot__dart_1_1Robot.md#function-set_velocities) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocity\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_velocity_lower_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocity\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_velocity_upper_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  dart::dynamics::SkeletonPtr | [**skeleton**](classrobot__dart_1_1Robot.md#function-skeleton) () <br> |
-|  std::vector&lt; double &gt; | [**spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-spring_stiffnesses) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**update**](classrobot__dart_1_1Robot.md#function-update) (double t) <br> |
-|  void | [**update\_joint\_dof\_maps**](classrobot__dart_1_1Robot.md#function-update_joint_dof_maps) () <br> |
-|  Eigen::VectorXd | [**vec\_dof**](classrobot__dart_1_1Robot.md#function-vec_dof) (const Eigen::VectorXd & vec, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-|  Eigen::VectorXd | [**velocities**](classrobot__dart_1_1Robot.md#function-velocities) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**velocity\_lower\_limits**](classrobot__dart_1_1Robot.md#function-velocity_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**velocity\_upper\_limits**](classrobot__dart_1_1Robot.md#function-velocity_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-| virtual  | [**~Robot**](classrobot__dart_1_1Robot.md#function-robot) () <br> |
+|   | [**Robot**](#function-robot-13) (const std::string & model\_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
+|   | [**Robot**](#function-robot-23) (const std::string & model\_file, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
+|   | [**Robot**](#function-robot-33) (dart::dynamics::SkeletonPtr skeleton, const std::string & robot\_name="robot", bool cast\_shadows=true) <br> |
+|  Eigen::VectorXd | [**acceleration\_lower\_limits**](#function-acceleration_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**acceleration\_upper\_limits**](#function-acceleration_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**accelerations**](#function-accelerations) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**active\_controllers**](#function-active_controllers) () const<br> |
+|  std::string | [**actuator\_type**](#function-actuator_type) (const std::string & joint\_name) const<br> |
+|  std::vector&lt; std::string &gt; | [**actuator\_types**](#function-actuator_types) (const std::vector&lt; std::string &gt; & joint\_names={}) const<br> |
+|  void | [**add\_body\_mass**](#function-add_body_mass-12) (const std::string & body\_name, double mass) <br> |
+|  void | [**add\_body\_mass**](#function-add_body_mass-22) (size\_t body\_index, double mass) <br> |
+|  void | [**add\_controller**](#function-add_controller) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller, double weight=1.0) <br> |
+|  void | [**add\_external\_force**](#function-add_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**add\_external\_force**](#function-add_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**add\_external\_torque**](#function-add_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**add\_external\_torque**](#function-add_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  bool | [**adjacent\_colliding**](#function-adjacent_colliding) () const<br> |
+|  Eigen::MatrixXd | [**aug\_mass\_matrix**](#function-aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::Isometry3d | [**base\_pose**](#function-base_pose) () const<br> |
+|  Eigen::Vector6d | [**base\_pose\_vec**](#function-base_pose_vec) () const<br> |
+|  Eigen::Vector6d | [**body\_acceleration**](#function-body_acceleration-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_acceleration**](#function-body_acceleration-22) (size\_t body\_index) const<br> |
+|  size\_t | [**body\_index**](#function-body_index) (const std::string & body\_name) const<br> |
+|  double | [**body\_mass**](#function-body_mass-12) (const std::string & body\_name) const<br> |
+|  double | [**body\_mass**](#function-body_mass-22) (size\_t body\_index) const<br> |
+|  std::string | [**body\_name**](#function-body_name) (size\_t body\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**body\_names**](#function-body_names) () const<br> |
+|  dart::dynamics::BodyNode \* | [**body\_node**](#function-body_node-12) (const std::string & body\_name) <br> |
+|  dart::dynamics::BodyNode \* | [**body\_node**](#function-body_node-22) (size\_t body\_index) <br> |
+|  Eigen::Isometry3d | [**body\_pose**](#function-body_pose-12) (const std::string & body\_name) const<br> |
+|  Eigen::Isometry3d | [**body\_pose**](#function-body_pose-22) (size\_t body\_index) const<br> |
+|  Eigen::Vector6d | [**body\_pose\_vec**](#function-body_pose_vec-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_pose\_vec**](#function-body_pose_vec-22) (size\_t body\_index) const<br> |
+|  Eigen::Vector6d | [**body\_velocity**](#function-body_velocity-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_velocity**](#function-body_velocity-22) (size\_t body\_index) const<br> |
+|  bool | [**cast\_shadows**](#function-cast_shadows) () const<br> |
+|  void | [**clear\_controllers**](#function-clear_controllers) () <br> |
+|  void | [**clear\_external\_forces**](#function-clear_external_forces) () <br> |
+|  void | [**clear\_internal\_forces**](#function-clear_internal_forces) () <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone**](#function-clone) () const<br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone\_ghost**](#function-clone_ghost) (const std::string & ghost\_name="ghost", const Eigen::Vector4d & ghost\_color={0.3, 0.3, 0.3, 0.7}) const<br> |
+|  Eigen::Vector3d | [**com**](#function-com) () const<br> |
+|  Eigen::Vector6d | [**com\_acceleration**](#function-com_acceleration) () const<br> |
+|  Eigen::MatrixXd | [**com\_jacobian**](#function-com_jacobian) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**com\_jacobian\_deriv**](#function-com_jacobian_deriv) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::Vector6d | [**com\_velocity**](#function-com_velocity) () const<br> |
+|  Eigen::VectorXd | [**commands**](#function-commands) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**constraint\_forces**](#function-constraint_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**controller**](#function-controller) (size\_t index) const<br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**controllers**](#function-controllers) () const<br> |
+|  Eigen::VectorXd | [**coriolis\_forces**](#function-coriolis_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**coriolis\_gravity\_forces**](#function-coriolis_gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; double &gt; | [**coulomb\_coeffs**](#function-coulomb_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; double &gt; | [**damping\_coeffs**](#function-damping_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  dart::dynamics::DegreeOfFreedom \* | [**dof**](#function-dof-12) (const std::string & dof\_name) <br> |
+|  dart::dynamics::DegreeOfFreedom \* | [**dof**](#function-dof-22) (size\_t dof\_index) <br> |
+|  size\_t | [**dof\_index**](#function-dof_index) (const std::string & dof\_name) const<br> |
+|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**dof\_map**](#function-dof_map) () const<br> |
+|  std::string | [**dof\_name**](#function-dof_name) (size\_t dof\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**dof\_names**](#function-dof_names) (bool filter\_mimics=false, bool filter\_locked=false, bool filter\_passive=false) const<br> |
+|  const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; & | [**drawing\_axes**](#function-drawing_axes) () const<br> |
+|  Eigen::Vector6d | [**external\_forces**](#function-external_forces-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**external\_forces**](#function-external_forces-22) (size\_t body\_index) const<br> |
+|  void | [**fix\_to\_world**](#function-fix_to_world) () <br> |
+|  bool | [**fixed**](#function-fixed) () const<br> |
+|  Eigen::VectorXd | [**force\_lower\_limits**](#function-force_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**force\_position\_bounds**](#function-force_position_bounds) () <br> |
+|  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; | [**force\_torque**](#function-force_torque) (size\_t joint\_index) const<br> |
+|  Eigen::VectorXd | [**force\_upper\_limits**](#function-force_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**forces**](#function-forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  bool | [**free**](#function-free) () const<br> |
+|  void | [**free\_from\_world**](#function-free_from_world) (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) <br> |
+|  double | [**friction\_coeff**](#function-friction_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**friction\_coeff**](#function-friction_coeff-22) (size\_t body\_index) <br> |
+|  Eigen::Vector3d | [**friction\_dir**](#function-friction_dir-12) (const std::string & body\_name) <br> |
+|  Eigen::Vector3d | [**friction\_dir**](#function-friction_dir-22) (size\_t body\_index) <br> |
+|  bool | [**ghost**](#function-ghost) () const<br> |
+|  Eigen::VectorXd | [**gravity\_forces**](#function-gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**inv\_aug\_mass\_matrix**](#function-inv_aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**inv\_mass\_matrix**](#function-inv_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**jacobian**](#function-jacobian) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**jacobian\_deriv**](#function-jacobian_deriv) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  dart::dynamics::Joint \* | [**joint**](#function-joint-12) (const std::string & joint\_name) <br> |
+|  dart::dynamics::Joint \* | [**joint**](#function-joint-22) (size\_t joint\_index) <br> |
+|  size\_t | [**joint\_index**](#function-joint_index) (const std::string & joint\_name) const<br> |
+|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**joint\_map**](#function-joint_map) () const<br> |
+|  std::string | [**joint\_name**](#function-joint_name) (size\_t joint\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**joint\_names**](#function-joint_names) () const<br> |
+|  std::vector&lt; std::string &gt; | [**locked\_dof\_names**](#function-locked_dof_names) () const<br> |
+|  Eigen::MatrixXd | [**mass\_matrix**](#function-mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; std::string &gt; | [**mimic\_dof\_names**](#function-mimic_dof_names) () const<br> |
+|  const std::string & | [**model\_filename**](#function-model_filename) () const<br> |
+|  const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & | [**model\_packages**](#function-model_packages) () const<br> |
+|  const std::string & | [**name**](#function-name) () const<br> |
+|  size\_t | [**num\_bodies**](#function-num_bodies) () const<br> |
+|  size\_t | [**num\_controllers**](#function-num_controllers) () const<br> |
+|  size\_t | [**num\_dofs**](#function-num_dofs) () const<br> |
+|  size\_t | [**num\_joints**](#function-num_joints) () const<br> |
+|  std::vector&lt; std::string &gt; | [**passive\_dof\_names**](#function-passive_dof_names) () const<br> |
+|  std::vector&lt; bool &gt; | [**position\_enforced**](#function-position_enforced) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**position\_lower\_limits**](#function-position_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**position\_upper\_limits**](#function-position_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**positions**](#function-positions) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**reinit\_controllers**](#function-reinit_controllers) () <br> |
+|  void | [**remove\_all\_drawing\_axis**](#function-remove_all_drawing_axis) () <br> |
+|  void | [**remove\_controller**](#function-remove_controller-12) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller) <br> |
+|  void | [**remove\_controller**](#function-remove_controller-22) (size\_t index) <br> |
+| virtual void | [**reset**](#function-reset) () <br> |
+|  void | [**reset\_commands**](#function-reset_commands) () <br> |
+|  double | [**restitution\_coeff**](#function-restitution_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**restitution\_coeff**](#function-restitution_coeff-22) (size\_t body\_index) <br> |
+|  double | [**secondary\_friction\_coeff**](#function-secondary_friction_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**secondary\_friction\_coeff**](#function-secondary_friction_coeff-22) (size\_t body\_index) <br> |
+|  bool | [**self\_colliding**](#function-self_colliding) () const<br> |
+|  void | [**set\_acceleration\_lower\_limits**](#function-set_acceleration_lower_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_acceleration\_upper\_limits**](#function-set_acceleration_upper_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_accelerations**](#function-set_accelerations) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_actuator\_type**](#function-set_actuator_type) (const std::string & type, const std::string & joint\_name, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**set\_actuator\_types**](#function-set_actuator_types) (const std::string & type, const std::vector&lt; std::string &gt; & joint\_names={}, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**set\_base\_pose**](#function-set_base_pose-12) (const Eigen::Isometry3d & tf) <br> |
+|  void | [**set\_base\_pose**](#function-set_base_pose-22) (const Eigen::Vector6d & pose) <br>_set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)_  |
+|  void | [**set\_body\_mass**](#function-set_body_mass-12) (const std::string & body\_name, double mass) <br> |
+|  void | [**set\_body\_mass**](#function-set_body_mass-22) (size\_t body\_index, double mass) <br> |
+|  void | [**set\_body\_name**](#function-set_body_name) (size\_t body\_index, const std::string & body\_name) <br> |
+|  void | [**set\_cast\_shadows**](#function-set_cast_shadows) (bool cast\_shadows=true) <br> |
+|  void | [**set\_color\_mode**](#function-set_color_mode-12) (const std::string & color\_mode) <br> |
+|  void | [**set\_color\_mode**](#function-set_color_mode-22) (const std::string & color\_mode, const std::string & body\_name) <br> |
+|  void | [**set\_commands**](#function-set_commands) (const Eigen::VectorXd & commands, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_coulomb\_coeffs**](#function-set_coulomb_coeffs-12) (const std::vector&lt; double &gt; & cfrictions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_coulomb\_coeffs**](#function-set_coulomb_coeffs-22) (double cfriction, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_damping\_coeffs**](#function-set_damping_coeffs-12) (const std::vector&lt; double &gt; & damps, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_damping\_coeffs**](#function-set_damping_coeffs-22) (double damp, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_draw\_axis**](#function-set_draw_axis) (const std::string & body\_name, double size=0.25) <br> |
+|  void | [**set\_external\_force**](#function-set_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**set\_external\_force**](#function-set_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**set\_external\_torque**](#function-set_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**set\_external\_torque**](#function-set_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**set\_force\_lower\_limits**](#function-set_force_lower_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_force\_upper\_limits**](#function-set_force_upper_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_forces**](#function-set_forces) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_friction\_coeff**](#function-set_friction_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_friction\_coeff**](#function-set_friction_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_friction\_coeffs**](#function-set_friction_coeffs) (double value) <br> |
+|  void | [**set\_friction\_dir**](#function-set_friction_dir-12) (const std::string & body\_name, const Eigen::Vector3d & direction) <br> |
+|  void | [**set\_friction\_dir**](#function-set_friction_dir-22) (size\_t body\_index, const Eigen::Vector3d & direction) <br> |
+|  void | [**set\_ghost**](#function-set_ghost) (bool ghost=true) <br> |
+|  void | [**set\_joint\_name**](#function-set_joint_name) (size\_t joint\_index, const std::string & joint\_name) <br> |
+|  void | [**set\_mimic**](#function-set_mimic) (const std::string & joint\_name, const std::string & mimic\_joint\_name, double multiplier=1., double offset=0.) <br> |
+|  void | [**set\_position\_enforced**](#function-set_position_enforced-12) (const std::vector&lt; bool &gt; & enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_enforced**](#function-set_position_enforced-22) (bool enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_lower\_limits**](#function-set_position_lower_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_upper\_limits**](#function-set_position_upper_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_positions**](#function-set_positions) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_restitution\_coeff**](#function-set_restitution_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_restitution\_coeff**](#function-set_restitution_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_restitution\_coeffs**](#function-set_restitution_coeffs) (double value) <br> |
+|  void | [**set\_secondary\_friction\_coeff**](#function-set_secondary_friction_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_secondary\_friction\_coeff**](#function-set_secondary_friction_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_secondary\_friction\_coeffs**](#function-set_secondary_friction_coeffs) (double value) <br> |
+|  void | [**set\_self\_collision**](#function-set_self_collision) (bool enable\_self\_collisions=true, bool enable\_adjacent\_collisions=false) <br> |
+|  void | [**set\_spring\_stiffnesses**](#function-set_spring_stiffnesses-12) (const std::vector&lt; double &gt; & stiffnesses, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_spring\_stiffnesses**](#function-set_spring_stiffnesses-22) (double stiffness, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocities**](#function-set_velocities) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocity\_lower\_limits**](#function-set_velocity_lower_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocity\_upper\_limits**](#function-set_velocity_upper_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  dart::dynamics::SkeletonPtr | [**skeleton**](#function-skeleton) () <br> |
+|  std::vector&lt; double &gt; | [**spring\_stiffnesses**](#function-spring_stiffnesses) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**update**](#function-update) (double t) <br> |
+|  void | [**update\_joint\_dof\_maps**](#function-update_joint_dof_maps) () <br> |
+|  Eigen::VectorXd | [**vec\_dof**](#function-vec_dof) (const Eigen::VectorXd & vec, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+|  Eigen::VectorXd | [**velocities**](#function-velocities) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**velocity\_lower\_limits**](#function-velocity_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**velocity\_upper\_limits**](#function-velocity_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+| virtual  | [**~Robot**](#function-robot) () <br> |
 
 
 
@@ -266,10 +266,10 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](classrobot__dart_1_1Robot.md#function-create_box-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](classrobot__dart_1_1Robot.md#function-create_box-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](classrobot__dart_1_1Robot.md#function-create_ellipsoid-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](classrobot__dart_1_1Robot.md#function-create_ellipsoid-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](#function-create_box-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](#function-create_box-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](#function-create_ellipsoid-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](#function-create_ellipsoid-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
 
 
 
@@ -288,16 +288,16 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; | [**\_axis\_shapes**](classrobot__dart_1_1Robot.md#variable-_axis_shapes)  <br> |
-|  bool | [**\_cast\_shadows**](classrobot__dart_1_1Robot.md#variable-_cast_shadows)  <br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**\_controllers**](classrobot__dart_1_1Robot.md#variable-_controllers)  <br> |
-|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_dof\_map**](classrobot__dart_1_1Robot.md#variable-_dof_map)  <br> |
-|  bool | [**\_is\_ghost**](classrobot__dart_1_1Robot.md#variable-_is_ghost)  <br> |
-|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_joint\_map**](classrobot__dart_1_1Robot.md#variable-_joint_map)  <br> |
-|  std::string | [**\_model\_filename**](classrobot__dart_1_1Robot.md#variable-_model_filename)  <br> |
-|  std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; | [**\_packages**](classrobot__dart_1_1Robot.md#variable-_packages)  <br> |
-|  std::string | [**\_robot\_name**](classrobot__dart_1_1Robot.md#variable-_robot_name)  <br> |
-|  dart::dynamics::SkeletonPtr | [**\_skeleton**](classrobot__dart_1_1Robot.md#variable-_skeleton)  <br> |
+|  std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; | [**\_axis\_shapes**](#variable-_axis_shapes)  <br> |
+|  bool | [**\_cast\_shadows**](#variable-_cast_shadows)  <br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**\_controllers**](#variable-_controllers)  <br> |
+|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_dof\_map**](#variable-_dof_map)  <br> |
+|  bool | [**\_is\_ghost**](#variable-_is_ghost)  <br> |
+|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_joint\_map**](#variable-_joint_map)  <br> |
+|  std::string | [**\_model\_filename**](#variable-_model_filename)  <br> |
+|  std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; | [**\_packages**](#variable-_packages)  <br> |
+|  std::string | [**\_robot\_name**](#variable-_robot_name)  <br> |
+|  dart::dynamics::SkeletonPtr | [**\_skeleton**](#variable-_skeleton)  <br> |
 
 
 
@@ -336,19 +336,19 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  dart::dynamics::Joint::ActuatorType | [**\_actuator\_type**](classrobot__dart_1_1Robot.md#function-_actuator_type) (size\_t joint\_index) const<br> |
-|  std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; | [**\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_actuator_types) () const<br> |
-|  std::string | [**\_get\_path**](classrobot__dart_1_1Robot.md#function-_get_path) (const std::string & filename) const<br> |
-|  Eigen::MatrixXd | [**\_jacobian**](classrobot__dart_1_1Robot.md#function-_jacobian) (const Eigen::MatrixXd & full\_jacobian, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-|  dart::dynamics::SkeletonPtr | [**\_load\_model**](classrobot__dart_1_1Robot.md#function-_load_model) (const std::string & filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is\_urdf\_string=false) <br> |
-|  Eigen::MatrixXd | [**\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-_mass_matrix) (const Eigen::MatrixXd & full\_mass\_matrix, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-| virtual void | [**\_post\_addition**](classrobot__dart_1_1Robot.md#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
-| virtual void | [**\_post\_removal**](classrobot__dart_1_1Robot.md#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
-|  void | [**\_set\_actuator\_type**](classrobot__dart_1_1Robot.md#function-_set_actuator_type) (size\_t joint\_index, dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_set_actuator_types-12) (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; & types, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_set_actuator_types-22) (dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_color\_mode**](classrobot__dart_1_1Robot.md#function-_set_color_mode-12) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::SkeletonPtr skel) <br> |
-|  void | [**\_set\_color\_mode**](classrobot__dart_1_1Robot.md#function-_set_color_mode-22) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::ShapeNode \* sn) <br> |
+|  dart::dynamics::Joint::ActuatorType | [**\_actuator\_type**](#function-_actuator_type) (size\_t joint\_index) const<br> |
+|  std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; | [**\_actuator\_types**](#function-_actuator_types) () const<br> |
+|  std::string | [**\_get\_path**](#function-_get_path) (const std::string & filename) const<br> |
+|  Eigen::MatrixXd | [**\_jacobian**](#function-_jacobian) (const Eigen::MatrixXd & full\_jacobian, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+|  dart::dynamics::SkeletonPtr | [**\_load\_model**](#function-_load_model) (const std::string & filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is\_urdf\_string=false) <br> |
+|  Eigen::MatrixXd | [**\_mass\_matrix**](#function-_mass_matrix) (const Eigen::MatrixXd & full\_mass\_matrix, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+| virtual void | [**\_post\_addition**](#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
+| virtual void | [**\_post\_removal**](#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
+|  void | [**\_set\_actuator\_type**](#function-_set_actuator_type) (size\_t joint\_index, dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_actuator\_types**](#function-_set_actuator_types-12) (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; & types, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_actuator\_types**](#function-_set_actuator_types-22) (dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_color\_mode**](#function-_set_color_mode-12) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::SkeletonPtr skel) <br> |
+|  void | [**\_set\_color\_mode**](#function-_set_color_mode-22) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::ShapeNode \* sn) <br> |
 
 
 
diff --git a/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1ICub.md b/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1ICub.md
index dd77e37d..496248d1 100644
--- a/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1ICub.md
+++ b/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1ICub.md
@@ -85,180 +85,180 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-13) (const std::string & model\_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-23) (const std::string & model\_file, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-33) (dart::dynamics::SkeletonPtr skeleton, const std::string & robot\_name="robot", bool cast\_shadows=true) <br> |
-|  Eigen::VectorXd | [**acceleration\_lower\_limits**](classrobot__dart_1_1Robot.md#function-acceleration_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**acceleration\_upper\_limits**](classrobot__dart_1_1Robot.md#function-acceleration_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**accelerations**](classrobot__dart_1_1Robot.md#function-accelerations) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**active\_controllers**](classrobot__dart_1_1Robot.md#function-active_controllers) () const<br> |
-|  std::string | [**actuator\_type**](classrobot__dart_1_1Robot.md#function-actuator_type) (const std::string & joint\_name) const<br> |
-|  std::vector&lt; std::string &gt; | [**actuator\_types**](classrobot__dart_1_1Robot.md#function-actuator_types) (const std::vector&lt; std::string &gt; & joint\_names={}) const<br> |
-|  void | [**add\_body\_mass**](classrobot__dart_1_1Robot.md#function-add_body_mass-12) (const std::string & body\_name, double mass) <br> |
-|  void | [**add\_body\_mass**](classrobot__dart_1_1Robot.md#function-add_body_mass-22) (size\_t body\_index, double mass) <br> |
-|  void | [**add\_controller**](classrobot__dart_1_1Robot.md#function-add_controller) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller, double weight=1.0) <br> |
-|  void | [**add\_external\_force**](classrobot__dart_1_1Robot.md#function-add_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**add\_external\_force**](classrobot__dart_1_1Robot.md#function-add_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**add\_external\_torque**](classrobot__dart_1_1Robot.md#function-add_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**add\_external\_torque**](classrobot__dart_1_1Robot.md#function-add_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  bool | [**adjacent\_colliding**](classrobot__dart_1_1Robot.md#function-adjacent_colliding) () const<br> |
-|  Eigen::MatrixXd | [**aug\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::Isometry3d | [**base\_pose**](classrobot__dart_1_1Robot.md#function-base_pose) () const<br> |
-|  Eigen::Vector6d | [**base\_pose\_vec**](classrobot__dart_1_1Robot.md#function-base_pose_vec) () const<br> |
-|  Eigen::Vector6d | [**body\_acceleration**](classrobot__dart_1_1Robot.md#function-body_acceleration-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_acceleration**](classrobot__dart_1_1Robot.md#function-body_acceleration-22) (size\_t body\_index) const<br> |
-|  size\_t | [**body\_index**](classrobot__dart_1_1Robot.md#function-body_index) (const std::string & body\_name) const<br> |
-|  double | [**body\_mass**](classrobot__dart_1_1Robot.md#function-body_mass-12) (const std::string & body\_name) const<br> |
-|  double | [**body\_mass**](classrobot__dart_1_1Robot.md#function-body_mass-22) (size\_t body\_index) const<br> |
-|  std::string | [**body\_name**](classrobot__dart_1_1Robot.md#function-body_name) (size\_t body\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**body\_names**](classrobot__dart_1_1Robot.md#function-body_names) () const<br> |
-|  dart::dynamics::BodyNode \* | [**body\_node**](classrobot__dart_1_1Robot.md#function-body_node-12) (const std::string & body\_name) <br> |
-|  dart::dynamics::BodyNode \* | [**body\_node**](classrobot__dart_1_1Robot.md#function-body_node-22) (size\_t body\_index) <br> |
-|  Eigen::Isometry3d | [**body\_pose**](classrobot__dart_1_1Robot.md#function-body_pose-12) (const std::string & body\_name) const<br> |
-|  Eigen::Isometry3d | [**body\_pose**](classrobot__dart_1_1Robot.md#function-body_pose-22) (size\_t body\_index) const<br> |
-|  Eigen::Vector6d | [**body\_pose\_vec**](classrobot__dart_1_1Robot.md#function-body_pose_vec-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_pose\_vec**](classrobot__dart_1_1Robot.md#function-body_pose_vec-22) (size\_t body\_index) const<br> |
-|  Eigen::Vector6d | [**body\_velocity**](classrobot__dart_1_1Robot.md#function-body_velocity-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_velocity**](classrobot__dart_1_1Robot.md#function-body_velocity-22) (size\_t body\_index) const<br> |
-|  bool | [**cast\_shadows**](classrobot__dart_1_1Robot.md#function-cast_shadows) () const<br> |
-|  void | [**clear\_controllers**](classrobot__dart_1_1Robot.md#function-clear_controllers) () <br> |
-|  void | [**clear\_external\_forces**](classrobot__dart_1_1Robot.md#function-clear_external_forces) () <br> |
-|  void | [**clear\_internal\_forces**](classrobot__dart_1_1Robot.md#function-clear_internal_forces) () <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone**](classrobot__dart_1_1Robot.md#function-clone) () const<br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone\_ghost**](classrobot__dart_1_1Robot.md#function-clone_ghost) (const std::string & ghost\_name="ghost", const Eigen::Vector4d & ghost\_color={0.3, 0.3, 0.3, 0.7}) const<br> |
-|  Eigen::Vector3d | [**com**](classrobot__dart_1_1Robot.md#function-com) () const<br> |
-|  Eigen::Vector6d | [**com\_acceleration**](classrobot__dart_1_1Robot.md#function-com_acceleration) () const<br> |
-|  Eigen::MatrixXd | [**com\_jacobian**](classrobot__dart_1_1Robot.md#function-com_jacobian) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**com\_jacobian\_deriv**](classrobot__dart_1_1Robot.md#function-com_jacobian_deriv) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::Vector6d | [**com\_velocity**](classrobot__dart_1_1Robot.md#function-com_velocity) () const<br> |
-|  Eigen::VectorXd | [**commands**](classrobot__dart_1_1Robot.md#function-commands) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**constraint\_forces**](classrobot__dart_1_1Robot.md#function-constraint_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**controller**](classrobot__dart_1_1Robot.md#function-controller) (size\_t index) const<br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**controllers**](classrobot__dart_1_1Robot.md#function-controllers) () const<br> |
-|  Eigen::VectorXd | [**coriolis\_forces**](classrobot__dart_1_1Robot.md#function-coriolis_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**coriolis\_gravity\_forces**](classrobot__dart_1_1Robot.md#function-coriolis_gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; double &gt; | [**coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-coulomb_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; double &gt; | [**damping\_coeffs**](classrobot__dart_1_1Robot.md#function-damping_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  dart::dynamics::DegreeOfFreedom \* | [**dof**](classrobot__dart_1_1Robot.md#function-dof-12) (const std::string & dof\_name) <br> |
-|  dart::dynamics::DegreeOfFreedom \* | [**dof**](classrobot__dart_1_1Robot.md#function-dof-22) (size\_t dof\_index) <br> |
-|  size\_t | [**dof\_index**](classrobot__dart_1_1Robot.md#function-dof_index) (const std::string & dof\_name) const<br> |
-|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**dof\_map**](classrobot__dart_1_1Robot.md#function-dof_map) () const<br> |
-|  std::string | [**dof\_name**](classrobot__dart_1_1Robot.md#function-dof_name) (size\_t dof\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**dof\_names**](classrobot__dart_1_1Robot.md#function-dof_names) (bool filter\_mimics=false, bool filter\_locked=false, bool filter\_passive=false) const<br> |
-|  const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; & | [**drawing\_axes**](classrobot__dart_1_1Robot.md#function-drawing_axes) () const<br> |
-|  Eigen::Vector6d | [**external\_forces**](classrobot__dart_1_1Robot.md#function-external_forces-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**external\_forces**](classrobot__dart_1_1Robot.md#function-external_forces-22) (size\_t body\_index) const<br> |
-|  void | [**fix\_to\_world**](classrobot__dart_1_1Robot.md#function-fix_to_world) () <br> |
-|  bool | [**fixed**](classrobot__dart_1_1Robot.md#function-fixed) () const<br> |
-|  Eigen::VectorXd | [**force\_lower\_limits**](classrobot__dart_1_1Robot.md#function-force_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**force\_position\_bounds**](classrobot__dart_1_1Robot.md#function-force_position_bounds) () <br> |
-|  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; | [**force\_torque**](classrobot__dart_1_1Robot.md#function-force_torque) (size\_t joint\_index) const<br> |
-|  Eigen::VectorXd | [**force\_upper\_limits**](classrobot__dart_1_1Robot.md#function-force_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**forces**](classrobot__dart_1_1Robot.md#function-forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  bool | [**free**](classrobot__dart_1_1Robot.md#function-free) () const<br> |
-|  void | [**free\_from\_world**](classrobot__dart_1_1Robot.md#function-free_from_world) (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) <br> |
-|  double | [**friction\_coeff**](classrobot__dart_1_1Robot.md#function-friction_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**friction\_coeff**](classrobot__dart_1_1Robot.md#function-friction_coeff-22) (size\_t body\_index) <br> |
-|  Eigen::Vector3d | [**friction\_dir**](classrobot__dart_1_1Robot.md#function-friction_dir-12) (const std::string & body\_name) <br> |
-|  Eigen::Vector3d | [**friction\_dir**](classrobot__dart_1_1Robot.md#function-friction_dir-22) (size\_t body\_index) <br> |
-|  bool | [**ghost**](classrobot__dart_1_1Robot.md#function-ghost) () const<br> |
-|  Eigen::VectorXd | [**gravity\_forces**](classrobot__dart_1_1Robot.md#function-gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**inv\_aug\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-inv_aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**inv\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-inv_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**jacobian**](classrobot__dart_1_1Robot.md#function-jacobian) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**jacobian\_deriv**](classrobot__dart_1_1Robot.md#function-jacobian_deriv) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  dart::dynamics::Joint \* | [**joint**](classrobot__dart_1_1Robot.md#function-joint-12) (const std::string & joint\_name) <br> |
-|  dart::dynamics::Joint \* | [**joint**](classrobot__dart_1_1Robot.md#function-joint-22) (size\_t joint\_index) <br> |
-|  size\_t | [**joint\_index**](classrobot__dart_1_1Robot.md#function-joint_index) (const std::string & joint\_name) const<br> |
-|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**joint\_map**](classrobot__dart_1_1Robot.md#function-joint_map) () const<br> |
-|  std::string | [**joint\_name**](classrobot__dart_1_1Robot.md#function-joint_name) (size\_t joint\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**joint\_names**](classrobot__dart_1_1Robot.md#function-joint_names) () const<br> |
-|  std::vector&lt; std::string &gt; | [**locked\_dof\_names**](classrobot__dart_1_1Robot.md#function-locked_dof_names) () const<br> |
-|  Eigen::MatrixXd | [**mass\_matrix**](classrobot__dart_1_1Robot.md#function-mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; std::string &gt; | [**mimic\_dof\_names**](classrobot__dart_1_1Robot.md#function-mimic_dof_names) () const<br> |
-|  const std::string & | [**model\_filename**](classrobot__dart_1_1Robot.md#function-model_filename) () const<br> |
-|  const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & | [**model\_packages**](classrobot__dart_1_1Robot.md#function-model_packages) () const<br> |
-|  const std::string & | [**name**](classrobot__dart_1_1Robot.md#function-name) () const<br> |
-|  size\_t | [**num\_bodies**](classrobot__dart_1_1Robot.md#function-num_bodies) () const<br> |
-|  size\_t | [**num\_controllers**](classrobot__dart_1_1Robot.md#function-num_controllers) () const<br> |
-|  size\_t | [**num\_dofs**](classrobot__dart_1_1Robot.md#function-num_dofs) () const<br> |
-|  size\_t | [**num\_joints**](classrobot__dart_1_1Robot.md#function-num_joints) () const<br> |
-|  std::vector&lt; std::string &gt; | [**passive\_dof\_names**](classrobot__dart_1_1Robot.md#function-passive_dof_names) () const<br> |
-|  std::vector&lt; bool &gt; | [**position\_enforced**](classrobot__dart_1_1Robot.md#function-position_enforced) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**position\_lower\_limits**](classrobot__dart_1_1Robot.md#function-position_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**position\_upper\_limits**](classrobot__dart_1_1Robot.md#function-position_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**positions**](classrobot__dart_1_1Robot.md#function-positions) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**reinit\_controllers**](classrobot__dart_1_1Robot.md#function-reinit_controllers) () <br> |
-|  void | [**remove\_all\_drawing\_axis**](classrobot__dart_1_1Robot.md#function-remove_all_drawing_axis) () <br> |
-|  void | [**remove\_controller**](classrobot__dart_1_1Robot.md#function-remove_controller-12) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller) <br> |
-|  void | [**remove\_controller**](classrobot__dart_1_1Robot.md#function-remove_controller-22) (size\_t index) <br> |
-| virtual void | [**reset**](classrobot__dart_1_1Robot.md#function-reset) () <br> |
-|  void | [**reset\_commands**](classrobot__dart_1_1Robot.md#function-reset_commands) () <br> |
-|  double | [**restitution\_coeff**](classrobot__dart_1_1Robot.md#function-restitution_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**restitution\_coeff**](classrobot__dart_1_1Robot.md#function-restitution_coeff-22) (size\_t body\_index) <br> |
-|  double | [**secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-secondary_friction_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-secondary_friction_coeff-22) (size\_t body\_index) <br> |
-|  bool | [**self\_colliding**](classrobot__dart_1_1Robot.md#function-self_colliding) () const<br> |
-|  void | [**set\_acceleration\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_acceleration_lower_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_acceleration\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_acceleration_upper_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_accelerations**](classrobot__dart_1_1Robot.md#function-set_accelerations) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_actuator\_type**](classrobot__dart_1_1Robot.md#function-set_actuator_type) (const std::string & type, const std::string & joint\_name, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-set_actuator_types) (const std::string & type, const std::vector&lt; std::string &gt; & joint\_names={}, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**set\_base\_pose**](classrobot__dart_1_1Robot.md#function-set_base_pose-12) (const Eigen::Isometry3d & tf) <br> |
-|  void | [**set\_base\_pose**](classrobot__dart_1_1Robot.md#function-set_base_pose-22) (const Eigen::Vector6d & pose) <br>_set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)_  |
-|  void | [**set\_body\_mass**](classrobot__dart_1_1Robot.md#function-set_body_mass-12) (const std::string & body\_name, double mass) <br> |
-|  void | [**set\_body\_mass**](classrobot__dart_1_1Robot.md#function-set_body_mass-22) (size\_t body\_index, double mass) <br> |
-|  void | [**set\_body\_name**](classrobot__dart_1_1Robot.md#function-set_body_name) (size\_t body\_index, const std::string & body\_name) <br> |
-|  void | [**set\_cast\_shadows**](classrobot__dart_1_1Robot.md#function-set_cast_shadows) (bool cast\_shadows=true) <br> |
-|  void | [**set\_color\_mode**](classrobot__dart_1_1Robot.md#function-set_color_mode-12) (const std::string & color\_mode) <br> |
-|  void | [**set\_color\_mode**](classrobot__dart_1_1Robot.md#function-set_color_mode-22) (const std::string & color\_mode, const std::string & body\_name) <br> |
-|  void | [**set\_commands**](classrobot__dart_1_1Robot.md#function-set_commands) (const Eigen::VectorXd & commands, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-set_coulomb_coeffs-12) (const std::vector&lt; double &gt; & cfrictions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-set_coulomb_coeffs-22) (double cfriction, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_damping\_coeffs**](classrobot__dart_1_1Robot.md#function-set_damping_coeffs-12) (const std::vector&lt; double &gt; & damps, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_damping\_coeffs**](classrobot__dart_1_1Robot.md#function-set_damping_coeffs-22) (double damp, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_draw\_axis**](classrobot__dart_1_1Robot.md#function-set_draw_axis) (const std::string & body\_name, double size=0.25) <br> |
-|  void | [**set\_external\_force**](classrobot__dart_1_1Robot.md#function-set_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**set\_external\_force**](classrobot__dart_1_1Robot.md#function-set_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**set\_external\_torque**](classrobot__dart_1_1Robot.md#function-set_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**set\_external\_torque**](classrobot__dart_1_1Robot.md#function-set_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**set\_force\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_force_lower_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_force\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_force_upper_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_forces**](classrobot__dart_1_1Robot.md#function-set_forces) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_friction_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_friction_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_friction\_coeffs**](classrobot__dart_1_1Robot.md#function-set_friction_coeffs) (double value) <br> |
-|  void | [**set\_friction\_dir**](classrobot__dart_1_1Robot.md#function-set_friction_dir-12) (const std::string & body\_name, const Eigen::Vector3d & direction) <br> |
-|  void | [**set\_friction\_dir**](classrobot__dart_1_1Robot.md#function-set_friction_dir-22) (size\_t body\_index, const Eigen::Vector3d & direction) <br> |
-|  void | [**set\_ghost**](classrobot__dart_1_1Robot.md#function-set_ghost) (bool ghost=true) <br> |
-|  void | [**set\_joint\_name**](classrobot__dart_1_1Robot.md#function-set_joint_name) (size\_t joint\_index, const std::string & joint\_name) <br> |
-|  void | [**set\_mimic**](classrobot__dart_1_1Robot.md#function-set_mimic) (const std::string & joint\_name, const std::string & mimic\_joint\_name, double multiplier=1., double offset=0.) <br> |
-|  void | [**set\_position\_enforced**](classrobot__dart_1_1Robot.md#function-set_position_enforced-12) (const std::vector&lt; bool &gt; & enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_enforced**](classrobot__dart_1_1Robot.md#function-set_position_enforced-22) (bool enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_position_lower_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_position_upper_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_positions**](classrobot__dart_1_1Robot.md#function-set_positions) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_restitution\_coeff**](classrobot__dart_1_1Robot.md#function-set_restitution_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_restitution\_coeff**](classrobot__dart_1_1Robot.md#function-set_restitution_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_restitution\_coeffs**](classrobot__dart_1_1Robot.md#function-set_restitution_coeffs) (double value) <br> |
-|  void | [**set\_secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_secondary\_friction\_coeffs**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeffs) (double value) <br> |
-|  void | [**set\_self\_collision**](classrobot__dart_1_1Robot.md#function-set_self_collision) (bool enable\_self\_collisions=true, bool enable\_adjacent\_collisions=false) <br> |
-|  void | [**set\_spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-set_spring_stiffnesses-12) (const std::vector&lt; double &gt; & stiffnesses, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-set_spring_stiffnesses-22) (double stiffness, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocities**](classrobot__dart_1_1Robot.md#function-set_velocities) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocity\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_velocity_lower_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocity\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_velocity_upper_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  dart::dynamics::SkeletonPtr | [**skeleton**](classrobot__dart_1_1Robot.md#function-skeleton) () <br> |
-|  std::vector&lt; double &gt; | [**spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-spring_stiffnesses) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**update**](classrobot__dart_1_1Robot.md#function-update) (double t) <br> |
-|  void | [**update\_joint\_dof\_maps**](classrobot__dart_1_1Robot.md#function-update_joint_dof_maps) () <br> |
-|  Eigen::VectorXd | [**vec\_dof**](classrobot__dart_1_1Robot.md#function-vec_dof) (const Eigen::VectorXd & vec, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-|  Eigen::VectorXd | [**velocities**](classrobot__dart_1_1Robot.md#function-velocities) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**velocity\_lower\_limits**](classrobot__dart_1_1Robot.md#function-velocity_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**velocity\_upper\_limits**](classrobot__dart_1_1Robot.md#function-velocity_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-| virtual  | [**~Robot**](classrobot__dart_1_1Robot.md#function-robot) () <br> |
+|   | [**Robot**](#function-robot-13) (const std::string & model\_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
+|   | [**Robot**](#function-robot-23) (const std::string & model\_file, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
+|   | [**Robot**](#function-robot-33) (dart::dynamics::SkeletonPtr skeleton, const std::string & robot\_name="robot", bool cast\_shadows=true) <br> |
+|  Eigen::VectorXd | [**acceleration\_lower\_limits**](#function-acceleration_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**acceleration\_upper\_limits**](#function-acceleration_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**accelerations**](#function-accelerations) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**active\_controllers**](#function-active_controllers) () const<br> |
+|  std::string | [**actuator\_type**](#function-actuator_type) (const std::string & joint\_name) const<br> |
+|  std::vector&lt; std::string &gt; | [**actuator\_types**](#function-actuator_types) (const std::vector&lt; std::string &gt; & joint\_names={}) const<br> |
+|  void | [**add\_body\_mass**](#function-add_body_mass-12) (const std::string & body\_name, double mass) <br> |
+|  void | [**add\_body\_mass**](#function-add_body_mass-22) (size\_t body\_index, double mass) <br> |
+|  void | [**add\_controller**](#function-add_controller) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller, double weight=1.0) <br> |
+|  void | [**add\_external\_force**](#function-add_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**add\_external\_force**](#function-add_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**add\_external\_torque**](#function-add_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**add\_external\_torque**](#function-add_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  bool | [**adjacent\_colliding**](#function-adjacent_colliding) () const<br> |
+|  Eigen::MatrixXd | [**aug\_mass\_matrix**](#function-aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::Isometry3d | [**base\_pose**](#function-base_pose) () const<br> |
+|  Eigen::Vector6d | [**base\_pose\_vec**](#function-base_pose_vec) () const<br> |
+|  Eigen::Vector6d | [**body\_acceleration**](#function-body_acceleration-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_acceleration**](#function-body_acceleration-22) (size\_t body\_index) const<br> |
+|  size\_t | [**body\_index**](#function-body_index) (const std::string & body\_name) const<br> |
+|  double | [**body\_mass**](#function-body_mass-12) (const std::string & body\_name) const<br> |
+|  double | [**body\_mass**](#function-body_mass-22) (size\_t body\_index) const<br> |
+|  std::string | [**body\_name**](#function-body_name) (size\_t body\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**body\_names**](#function-body_names) () const<br> |
+|  dart::dynamics::BodyNode \* | [**body\_node**](#function-body_node-12) (const std::string & body\_name) <br> |
+|  dart::dynamics::BodyNode \* | [**body\_node**](#function-body_node-22) (size\_t body\_index) <br> |
+|  Eigen::Isometry3d | [**body\_pose**](#function-body_pose-12) (const std::string & body\_name) const<br> |
+|  Eigen::Isometry3d | [**body\_pose**](#function-body_pose-22) (size\_t body\_index) const<br> |
+|  Eigen::Vector6d | [**body\_pose\_vec**](#function-body_pose_vec-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_pose\_vec**](#function-body_pose_vec-22) (size\_t body\_index) const<br> |
+|  Eigen::Vector6d | [**body\_velocity**](#function-body_velocity-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_velocity**](#function-body_velocity-22) (size\_t body\_index) const<br> |
+|  bool | [**cast\_shadows**](#function-cast_shadows) () const<br> |
+|  void | [**clear\_controllers**](#function-clear_controllers) () <br> |
+|  void | [**clear\_external\_forces**](#function-clear_external_forces) () <br> |
+|  void | [**clear\_internal\_forces**](#function-clear_internal_forces) () <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone**](#function-clone) () const<br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone\_ghost**](#function-clone_ghost) (const std::string & ghost\_name="ghost", const Eigen::Vector4d & ghost\_color={0.3, 0.3, 0.3, 0.7}) const<br> |
+|  Eigen::Vector3d | [**com**](#function-com) () const<br> |
+|  Eigen::Vector6d | [**com\_acceleration**](#function-com_acceleration) () const<br> |
+|  Eigen::MatrixXd | [**com\_jacobian**](#function-com_jacobian) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**com\_jacobian\_deriv**](#function-com_jacobian_deriv) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::Vector6d | [**com\_velocity**](#function-com_velocity) () const<br> |
+|  Eigen::VectorXd | [**commands**](#function-commands) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**constraint\_forces**](#function-constraint_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**controller**](#function-controller) (size\_t index) const<br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**controllers**](#function-controllers) () const<br> |
+|  Eigen::VectorXd | [**coriolis\_forces**](#function-coriolis_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**coriolis\_gravity\_forces**](#function-coriolis_gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; double &gt; | [**coulomb\_coeffs**](#function-coulomb_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; double &gt; | [**damping\_coeffs**](#function-damping_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  dart::dynamics::DegreeOfFreedom \* | [**dof**](#function-dof-12) (const std::string & dof\_name) <br> |
+|  dart::dynamics::DegreeOfFreedom \* | [**dof**](#function-dof-22) (size\_t dof\_index) <br> |
+|  size\_t | [**dof\_index**](#function-dof_index) (const std::string & dof\_name) const<br> |
+|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**dof\_map**](#function-dof_map) () const<br> |
+|  std::string | [**dof\_name**](#function-dof_name) (size\_t dof\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**dof\_names**](#function-dof_names) (bool filter\_mimics=false, bool filter\_locked=false, bool filter\_passive=false) const<br> |
+|  const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; & | [**drawing\_axes**](#function-drawing_axes) () const<br> |
+|  Eigen::Vector6d | [**external\_forces**](#function-external_forces-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**external\_forces**](#function-external_forces-22) (size\_t body\_index) const<br> |
+|  void | [**fix\_to\_world**](#function-fix_to_world) () <br> |
+|  bool | [**fixed**](#function-fixed) () const<br> |
+|  Eigen::VectorXd | [**force\_lower\_limits**](#function-force_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**force\_position\_bounds**](#function-force_position_bounds) () <br> |
+|  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; | [**force\_torque**](#function-force_torque) (size\_t joint\_index) const<br> |
+|  Eigen::VectorXd | [**force\_upper\_limits**](#function-force_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**forces**](#function-forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  bool | [**free**](#function-free) () const<br> |
+|  void | [**free\_from\_world**](#function-free_from_world) (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) <br> |
+|  double | [**friction\_coeff**](#function-friction_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**friction\_coeff**](#function-friction_coeff-22) (size\_t body\_index) <br> |
+|  Eigen::Vector3d | [**friction\_dir**](#function-friction_dir-12) (const std::string & body\_name) <br> |
+|  Eigen::Vector3d | [**friction\_dir**](#function-friction_dir-22) (size\_t body\_index) <br> |
+|  bool | [**ghost**](#function-ghost) () const<br> |
+|  Eigen::VectorXd | [**gravity\_forces**](#function-gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**inv\_aug\_mass\_matrix**](#function-inv_aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**inv\_mass\_matrix**](#function-inv_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**jacobian**](#function-jacobian) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**jacobian\_deriv**](#function-jacobian_deriv) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  dart::dynamics::Joint \* | [**joint**](#function-joint-12) (const std::string & joint\_name) <br> |
+|  dart::dynamics::Joint \* | [**joint**](#function-joint-22) (size\_t joint\_index) <br> |
+|  size\_t | [**joint\_index**](#function-joint_index) (const std::string & joint\_name) const<br> |
+|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**joint\_map**](#function-joint_map) () const<br> |
+|  std::string | [**joint\_name**](#function-joint_name) (size\_t joint\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**joint\_names**](#function-joint_names) () const<br> |
+|  std::vector&lt; std::string &gt; | [**locked\_dof\_names**](#function-locked_dof_names) () const<br> |
+|  Eigen::MatrixXd | [**mass\_matrix**](#function-mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; std::string &gt; | [**mimic\_dof\_names**](#function-mimic_dof_names) () const<br> |
+|  const std::string & | [**model\_filename**](#function-model_filename) () const<br> |
+|  const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & | [**model\_packages**](#function-model_packages) () const<br> |
+|  const std::string & | [**name**](#function-name) () const<br> |
+|  size\_t | [**num\_bodies**](#function-num_bodies) () const<br> |
+|  size\_t | [**num\_controllers**](#function-num_controllers) () const<br> |
+|  size\_t | [**num\_dofs**](#function-num_dofs) () const<br> |
+|  size\_t | [**num\_joints**](#function-num_joints) () const<br> |
+|  std::vector&lt; std::string &gt; | [**passive\_dof\_names**](#function-passive_dof_names) () const<br> |
+|  std::vector&lt; bool &gt; | [**position\_enforced**](#function-position_enforced) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**position\_lower\_limits**](#function-position_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**position\_upper\_limits**](#function-position_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**positions**](#function-positions) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**reinit\_controllers**](#function-reinit_controllers) () <br> |
+|  void | [**remove\_all\_drawing\_axis**](#function-remove_all_drawing_axis) () <br> |
+|  void | [**remove\_controller**](#function-remove_controller-12) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller) <br> |
+|  void | [**remove\_controller**](#function-remove_controller-22) (size\_t index) <br> |
+| virtual void | [**reset**](#function-reset) () <br> |
+|  void | [**reset\_commands**](#function-reset_commands) () <br> |
+|  double | [**restitution\_coeff**](#function-restitution_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**restitution\_coeff**](#function-restitution_coeff-22) (size\_t body\_index) <br> |
+|  double | [**secondary\_friction\_coeff**](#function-secondary_friction_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**secondary\_friction\_coeff**](#function-secondary_friction_coeff-22) (size\_t body\_index) <br> |
+|  bool | [**self\_colliding**](#function-self_colliding) () const<br> |
+|  void | [**set\_acceleration\_lower\_limits**](#function-set_acceleration_lower_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_acceleration\_upper\_limits**](#function-set_acceleration_upper_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_accelerations**](#function-set_accelerations) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_actuator\_type**](#function-set_actuator_type) (const std::string & type, const std::string & joint\_name, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**set\_actuator\_types**](#function-set_actuator_types) (const std::string & type, const std::vector&lt; std::string &gt; & joint\_names={}, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**set\_base\_pose**](#function-set_base_pose-12) (const Eigen::Isometry3d & tf) <br> |
+|  void | [**set\_base\_pose**](#function-set_base_pose-22) (const Eigen::Vector6d & pose) <br>_set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)_  |
+|  void | [**set\_body\_mass**](#function-set_body_mass-12) (const std::string & body\_name, double mass) <br> |
+|  void | [**set\_body\_mass**](#function-set_body_mass-22) (size\_t body\_index, double mass) <br> |
+|  void | [**set\_body\_name**](#function-set_body_name) (size\_t body\_index, const std::string & body\_name) <br> |
+|  void | [**set\_cast\_shadows**](#function-set_cast_shadows) (bool cast\_shadows=true) <br> |
+|  void | [**set\_color\_mode**](#function-set_color_mode-12) (const std::string & color\_mode) <br> |
+|  void | [**set\_color\_mode**](#function-set_color_mode-22) (const std::string & color\_mode, const std::string & body\_name) <br> |
+|  void | [**set\_commands**](#function-set_commands) (const Eigen::VectorXd & commands, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_coulomb\_coeffs**](#function-set_coulomb_coeffs-12) (const std::vector&lt; double &gt; & cfrictions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_coulomb\_coeffs**](#function-set_coulomb_coeffs-22) (double cfriction, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_damping\_coeffs**](#function-set_damping_coeffs-12) (const std::vector&lt; double &gt; & damps, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_damping\_coeffs**](#function-set_damping_coeffs-22) (double damp, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_draw\_axis**](#function-set_draw_axis) (const std::string & body\_name, double size=0.25) <br> |
+|  void | [**set\_external\_force**](#function-set_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**set\_external\_force**](#function-set_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**set\_external\_torque**](#function-set_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**set\_external\_torque**](#function-set_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**set\_force\_lower\_limits**](#function-set_force_lower_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_force\_upper\_limits**](#function-set_force_upper_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_forces**](#function-set_forces) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_friction\_coeff**](#function-set_friction_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_friction\_coeff**](#function-set_friction_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_friction\_coeffs**](#function-set_friction_coeffs) (double value) <br> |
+|  void | [**set\_friction\_dir**](#function-set_friction_dir-12) (const std::string & body\_name, const Eigen::Vector3d & direction) <br> |
+|  void | [**set\_friction\_dir**](#function-set_friction_dir-22) (size\_t body\_index, const Eigen::Vector3d & direction) <br> |
+|  void | [**set\_ghost**](#function-set_ghost) (bool ghost=true) <br> |
+|  void | [**set\_joint\_name**](#function-set_joint_name) (size\_t joint\_index, const std::string & joint\_name) <br> |
+|  void | [**set\_mimic**](#function-set_mimic) (const std::string & joint\_name, const std::string & mimic\_joint\_name, double multiplier=1., double offset=0.) <br> |
+|  void | [**set\_position\_enforced**](#function-set_position_enforced-12) (const std::vector&lt; bool &gt; & enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_enforced**](#function-set_position_enforced-22) (bool enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_lower\_limits**](#function-set_position_lower_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_upper\_limits**](#function-set_position_upper_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_positions**](#function-set_positions) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_restitution\_coeff**](#function-set_restitution_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_restitution\_coeff**](#function-set_restitution_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_restitution\_coeffs**](#function-set_restitution_coeffs) (double value) <br> |
+|  void | [**set\_secondary\_friction\_coeff**](#function-set_secondary_friction_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_secondary\_friction\_coeff**](#function-set_secondary_friction_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_secondary\_friction\_coeffs**](#function-set_secondary_friction_coeffs) (double value) <br> |
+|  void | [**set\_self\_collision**](#function-set_self_collision) (bool enable\_self\_collisions=true, bool enable\_adjacent\_collisions=false) <br> |
+|  void | [**set\_spring\_stiffnesses**](#function-set_spring_stiffnesses-12) (const std::vector&lt; double &gt; & stiffnesses, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_spring\_stiffnesses**](#function-set_spring_stiffnesses-22) (double stiffness, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocities**](#function-set_velocities) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocity\_lower\_limits**](#function-set_velocity_lower_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocity\_upper\_limits**](#function-set_velocity_upper_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  dart::dynamics::SkeletonPtr | [**skeleton**](#function-skeleton) () <br> |
+|  std::vector&lt; double &gt; | [**spring\_stiffnesses**](#function-spring_stiffnesses) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**update**](#function-update) (double t) <br> |
+|  void | [**update\_joint\_dof\_maps**](#function-update_joint_dof_maps) () <br> |
+|  Eigen::VectorXd | [**vec\_dof**](#function-vec_dof) (const Eigen::VectorXd & vec, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+|  Eigen::VectorXd | [**velocities**](#function-velocities) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**velocity\_lower\_limits**](#function-velocity_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**velocity\_upper\_limits**](#function-velocity_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+| virtual  | [**~Robot**](#function-robot) () <br> |
 
 
 
@@ -269,10 +269,10 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](classrobot__dart_1_1Robot.md#function-create_box-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](classrobot__dart_1_1Robot.md#function-create_box-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](classrobot__dart_1_1Robot.md#function-create_ellipsoid-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](classrobot__dart_1_1Robot.md#function-create_ellipsoid-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](#function-create_box-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](#function-create_box-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](#function-create_ellipsoid-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](#function-create_ellipsoid-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
 
 
 
@@ -298,16 +298,16 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; | [**\_axis\_shapes**](classrobot__dart_1_1Robot.md#variable-_axis_shapes)  <br> |
-|  bool | [**\_cast\_shadows**](classrobot__dart_1_1Robot.md#variable-_cast_shadows)  <br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**\_controllers**](classrobot__dart_1_1Robot.md#variable-_controllers)  <br> |
-|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_dof\_map**](classrobot__dart_1_1Robot.md#variable-_dof_map)  <br> |
-|  bool | [**\_is\_ghost**](classrobot__dart_1_1Robot.md#variable-_is_ghost)  <br> |
-|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_joint\_map**](classrobot__dart_1_1Robot.md#variable-_joint_map)  <br> |
-|  std::string | [**\_model\_filename**](classrobot__dart_1_1Robot.md#variable-_model_filename)  <br> |
-|  std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; | [**\_packages**](classrobot__dart_1_1Robot.md#variable-_packages)  <br> |
-|  std::string | [**\_robot\_name**](classrobot__dart_1_1Robot.md#variable-_robot_name)  <br> |
-|  dart::dynamics::SkeletonPtr | [**\_skeleton**](classrobot__dart_1_1Robot.md#variable-_skeleton)  <br> |
+|  std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; | [**\_axis\_shapes**](#variable-_axis_shapes)  <br> |
+|  bool | [**\_cast\_shadows**](#variable-_cast_shadows)  <br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**\_controllers**](#variable-_controllers)  <br> |
+|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_dof\_map**](#variable-_dof_map)  <br> |
+|  bool | [**\_is\_ghost**](#variable-_is_ghost)  <br> |
+|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_joint\_map**](#variable-_joint_map)  <br> |
+|  std::string | [**\_model\_filename**](#variable-_model_filename)  <br> |
+|  std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; | [**\_packages**](#variable-_packages)  <br> |
+|  std::string | [**\_robot\_name**](#variable-_robot_name)  <br> |
+|  dart::dynamics::SkeletonPtr | [**\_skeleton**](#variable-_skeleton)  <br> |
 
 
 
@@ -352,19 +352,19 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  dart::dynamics::Joint::ActuatorType | [**\_actuator\_type**](classrobot__dart_1_1Robot.md#function-_actuator_type) (size\_t joint\_index) const<br> |
-|  std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; | [**\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_actuator_types) () const<br> |
-|  std::string | [**\_get\_path**](classrobot__dart_1_1Robot.md#function-_get_path) (const std::string & filename) const<br> |
-|  Eigen::MatrixXd | [**\_jacobian**](classrobot__dart_1_1Robot.md#function-_jacobian) (const Eigen::MatrixXd & full\_jacobian, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-|  dart::dynamics::SkeletonPtr | [**\_load\_model**](classrobot__dart_1_1Robot.md#function-_load_model) (const std::string & filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is\_urdf\_string=false) <br> |
-|  Eigen::MatrixXd | [**\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-_mass_matrix) (const Eigen::MatrixXd & full\_mass\_matrix, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-| virtual void | [**\_post\_addition**](classrobot__dart_1_1Robot.md#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
-| virtual void | [**\_post\_removal**](classrobot__dart_1_1Robot.md#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
-|  void | [**\_set\_actuator\_type**](classrobot__dart_1_1Robot.md#function-_set_actuator_type) (size\_t joint\_index, dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_set_actuator_types-12) (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; & types, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_set_actuator_types-22) (dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_color\_mode**](classrobot__dart_1_1Robot.md#function-_set_color_mode-12) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::SkeletonPtr skel) <br> |
-|  void | [**\_set\_color\_mode**](classrobot__dart_1_1Robot.md#function-_set_color_mode-22) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::ShapeNode \* sn) <br> |
+|  dart::dynamics::Joint::ActuatorType | [**\_actuator\_type**](#function-_actuator_type) (size\_t joint\_index) const<br> |
+|  std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; | [**\_actuator\_types**](#function-_actuator_types) () const<br> |
+|  std::string | [**\_get\_path**](#function-_get_path) (const std::string & filename) const<br> |
+|  Eigen::MatrixXd | [**\_jacobian**](#function-_jacobian) (const Eigen::MatrixXd & full\_jacobian, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+|  dart::dynamics::SkeletonPtr | [**\_load\_model**](#function-_load_model) (const std::string & filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is\_urdf\_string=false) <br> |
+|  Eigen::MatrixXd | [**\_mass\_matrix**](#function-_mass_matrix) (const Eigen::MatrixXd & full\_mass\_matrix, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+| virtual void | [**\_post\_addition**](#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
+| virtual void | [**\_post\_removal**](#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
+|  void | [**\_set\_actuator\_type**](#function-_set_actuator_type) (size\_t joint\_index, dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_actuator\_types**](#function-_set_actuator_types-12) (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; & types, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_actuator\_types**](#function-_set_actuator_types-22) (dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_color\_mode**](#function-_set_color_mode-12) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::SkeletonPtr skel) <br> |
+|  void | [**\_set\_color\_mode**](#function-_set_color_mode-22) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::ShapeNode \* sn) <br> |
 
 
 
diff --git a/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Iiwa.md b/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Iiwa.md
index fe46bfb9..b70a1f33 100644
--- a/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Iiwa.md
+++ b/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Iiwa.md
@@ -82,180 +82,180 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-13) (const std::string & model\_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-23) (const std::string & model\_file, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-33) (dart::dynamics::SkeletonPtr skeleton, const std::string & robot\_name="robot", bool cast\_shadows=true) <br> |
-|  Eigen::VectorXd | [**acceleration\_lower\_limits**](classrobot__dart_1_1Robot.md#function-acceleration_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**acceleration\_upper\_limits**](classrobot__dart_1_1Robot.md#function-acceleration_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**accelerations**](classrobot__dart_1_1Robot.md#function-accelerations) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**active\_controllers**](classrobot__dart_1_1Robot.md#function-active_controllers) () const<br> |
-|  std::string | [**actuator\_type**](classrobot__dart_1_1Robot.md#function-actuator_type) (const std::string & joint\_name) const<br> |
-|  std::vector&lt; std::string &gt; | [**actuator\_types**](classrobot__dart_1_1Robot.md#function-actuator_types) (const std::vector&lt; std::string &gt; & joint\_names={}) const<br> |
-|  void | [**add\_body\_mass**](classrobot__dart_1_1Robot.md#function-add_body_mass-12) (const std::string & body\_name, double mass) <br> |
-|  void | [**add\_body\_mass**](classrobot__dart_1_1Robot.md#function-add_body_mass-22) (size\_t body\_index, double mass) <br> |
-|  void | [**add\_controller**](classrobot__dart_1_1Robot.md#function-add_controller) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller, double weight=1.0) <br> |
-|  void | [**add\_external\_force**](classrobot__dart_1_1Robot.md#function-add_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**add\_external\_force**](classrobot__dart_1_1Robot.md#function-add_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**add\_external\_torque**](classrobot__dart_1_1Robot.md#function-add_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**add\_external\_torque**](classrobot__dart_1_1Robot.md#function-add_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  bool | [**adjacent\_colliding**](classrobot__dart_1_1Robot.md#function-adjacent_colliding) () const<br> |
-|  Eigen::MatrixXd | [**aug\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::Isometry3d | [**base\_pose**](classrobot__dart_1_1Robot.md#function-base_pose) () const<br> |
-|  Eigen::Vector6d | [**base\_pose\_vec**](classrobot__dart_1_1Robot.md#function-base_pose_vec) () const<br> |
-|  Eigen::Vector6d | [**body\_acceleration**](classrobot__dart_1_1Robot.md#function-body_acceleration-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_acceleration**](classrobot__dart_1_1Robot.md#function-body_acceleration-22) (size\_t body\_index) const<br> |
-|  size\_t | [**body\_index**](classrobot__dart_1_1Robot.md#function-body_index) (const std::string & body\_name) const<br> |
-|  double | [**body\_mass**](classrobot__dart_1_1Robot.md#function-body_mass-12) (const std::string & body\_name) const<br> |
-|  double | [**body\_mass**](classrobot__dart_1_1Robot.md#function-body_mass-22) (size\_t body\_index) const<br> |
-|  std::string | [**body\_name**](classrobot__dart_1_1Robot.md#function-body_name) (size\_t body\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**body\_names**](classrobot__dart_1_1Robot.md#function-body_names) () const<br> |
-|  dart::dynamics::BodyNode \* | [**body\_node**](classrobot__dart_1_1Robot.md#function-body_node-12) (const std::string & body\_name) <br> |
-|  dart::dynamics::BodyNode \* | [**body\_node**](classrobot__dart_1_1Robot.md#function-body_node-22) (size\_t body\_index) <br> |
-|  Eigen::Isometry3d | [**body\_pose**](classrobot__dart_1_1Robot.md#function-body_pose-12) (const std::string & body\_name) const<br> |
-|  Eigen::Isometry3d | [**body\_pose**](classrobot__dart_1_1Robot.md#function-body_pose-22) (size\_t body\_index) const<br> |
-|  Eigen::Vector6d | [**body\_pose\_vec**](classrobot__dart_1_1Robot.md#function-body_pose_vec-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_pose\_vec**](classrobot__dart_1_1Robot.md#function-body_pose_vec-22) (size\_t body\_index) const<br> |
-|  Eigen::Vector6d | [**body\_velocity**](classrobot__dart_1_1Robot.md#function-body_velocity-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_velocity**](classrobot__dart_1_1Robot.md#function-body_velocity-22) (size\_t body\_index) const<br> |
-|  bool | [**cast\_shadows**](classrobot__dart_1_1Robot.md#function-cast_shadows) () const<br> |
-|  void | [**clear\_controllers**](classrobot__dart_1_1Robot.md#function-clear_controllers) () <br> |
-|  void | [**clear\_external\_forces**](classrobot__dart_1_1Robot.md#function-clear_external_forces) () <br> |
-|  void | [**clear\_internal\_forces**](classrobot__dart_1_1Robot.md#function-clear_internal_forces) () <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone**](classrobot__dart_1_1Robot.md#function-clone) () const<br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone\_ghost**](classrobot__dart_1_1Robot.md#function-clone_ghost) (const std::string & ghost\_name="ghost", const Eigen::Vector4d & ghost\_color={0.3, 0.3, 0.3, 0.7}) const<br> |
-|  Eigen::Vector3d | [**com**](classrobot__dart_1_1Robot.md#function-com) () const<br> |
-|  Eigen::Vector6d | [**com\_acceleration**](classrobot__dart_1_1Robot.md#function-com_acceleration) () const<br> |
-|  Eigen::MatrixXd | [**com\_jacobian**](classrobot__dart_1_1Robot.md#function-com_jacobian) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**com\_jacobian\_deriv**](classrobot__dart_1_1Robot.md#function-com_jacobian_deriv) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::Vector6d | [**com\_velocity**](classrobot__dart_1_1Robot.md#function-com_velocity) () const<br> |
-|  Eigen::VectorXd | [**commands**](classrobot__dart_1_1Robot.md#function-commands) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**constraint\_forces**](classrobot__dart_1_1Robot.md#function-constraint_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**controller**](classrobot__dart_1_1Robot.md#function-controller) (size\_t index) const<br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**controllers**](classrobot__dart_1_1Robot.md#function-controllers) () const<br> |
-|  Eigen::VectorXd | [**coriolis\_forces**](classrobot__dart_1_1Robot.md#function-coriolis_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**coriolis\_gravity\_forces**](classrobot__dart_1_1Robot.md#function-coriolis_gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; double &gt; | [**coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-coulomb_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; double &gt; | [**damping\_coeffs**](classrobot__dart_1_1Robot.md#function-damping_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  dart::dynamics::DegreeOfFreedom \* | [**dof**](classrobot__dart_1_1Robot.md#function-dof-12) (const std::string & dof\_name) <br> |
-|  dart::dynamics::DegreeOfFreedom \* | [**dof**](classrobot__dart_1_1Robot.md#function-dof-22) (size\_t dof\_index) <br> |
-|  size\_t | [**dof\_index**](classrobot__dart_1_1Robot.md#function-dof_index) (const std::string & dof\_name) const<br> |
-|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**dof\_map**](classrobot__dart_1_1Robot.md#function-dof_map) () const<br> |
-|  std::string | [**dof\_name**](classrobot__dart_1_1Robot.md#function-dof_name) (size\_t dof\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**dof\_names**](classrobot__dart_1_1Robot.md#function-dof_names) (bool filter\_mimics=false, bool filter\_locked=false, bool filter\_passive=false) const<br> |
-|  const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; & | [**drawing\_axes**](classrobot__dart_1_1Robot.md#function-drawing_axes) () const<br> |
-|  Eigen::Vector6d | [**external\_forces**](classrobot__dart_1_1Robot.md#function-external_forces-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**external\_forces**](classrobot__dart_1_1Robot.md#function-external_forces-22) (size\_t body\_index) const<br> |
-|  void | [**fix\_to\_world**](classrobot__dart_1_1Robot.md#function-fix_to_world) () <br> |
-|  bool | [**fixed**](classrobot__dart_1_1Robot.md#function-fixed) () const<br> |
-|  Eigen::VectorXd | [**force\_lower\_limits**](classrobot__dart_1_1Robot.md#function-force_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**force\_position\_bounds**](classrobot__dart_1_1Robot.md#function-force_position_bounds) () <br> |
-|  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; | [**force\_torque**](classrobot__dart_1_1Robot.md#function-force_torque) (size\_t joint\_index) const<br> |
-|  Eigen::VectorXd | [**force\_upper\_limits**](classrobot__dart_1_1Robot.md#function-force_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**forces**](classrobot__dart_1_1Robot.md#function-forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  bool | [**free**](classrobot__dart_1_1Robot.md#function-free) () const<br> |
-|  void | [**free\_from\_world**](classrobot__dart_1_1Robot.md#function-free_from_world) (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) <br> |
-|  double | [**friction\_coeff**](classrobot__dart_1_1Robot.md#function-friction_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**friction\_coeff**](classrobot__dart_1_1Robot.md#function-friction_coeff-22) (size\_t body\_index) <br> |
-|  Eigen::Vector3d | [**friction\_dir**](classrobot__dart_1_1Robot.md#function-friction_dir-12) (const std::string & body\_name) <br> |
-|  Eigen::Vector3d | [**friction\_dir**](classrobot__dart_1_1Robot.md#function-friction_dir-22) (size\_t body\_index) <br> |
-|  bool | [**ghost**](classrobot__dart_1_1Robot.md#function-ghost) () const<br> |
-|  Eigen::VectorXd | [**gravity\_forces**](classrobot__dart_1_1Robot.md#function-gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**inv\_aug\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-inv_aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**inv\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-inv_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**jacobian**](classrobot__dart_1_1Robot.md#function-jacobian) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**jacobian\_deriv**](classrobot__dart_1_1Robot.md#function-jacobian_deriv) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  dart::dynamics::Joint \* | [**joint**](classrobot__dart_1_1Robot.md#function-joint-12) (const std::string & joint\_name) <br> |
-|  dart::dynamics::Joint \* | [**joint**](classrobot__dart_1_1Robot.md#function-joint-22) (size\_t joint\_index) <br> |
-|  size\_t | [**joint\_index**](classrobot__dart_1_1Robot.md#function-joint_index) (const std::string & joint\_name) const<br> |
-|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**joint\_map**](classrobot__dart_1_1Robot.md#function-joint_map) () const<br> |
-|  std::string | [**joint\_name**](classrobot__dart_1_1Robot.md#function-joint_name) (size\_t joint\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**joint\_names**](classrobot__dart_1_1Robot.md#function-joint_names) () const<br> |
-|  std::vector&lt; std::string &gt; | [**locked\_dof\_names**](classrobot__dart_1_1Robot.md#function-locked_dof_names) () const<br> |
-|  Eigen::MatrixXd | [**mass\_matrix**](classrobot__dart_1_1Robot.md#function-mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; std::string &gt; | [**mimic\_dof\_names**](classrobot__dart_1_1Robot.md#function-mimic_dof_names) () const<br> |
-|  const std::string & | [**model\_filename**](classrobot__dart_1_1Robot.md#function-model_filename) () const<br> |
-|  const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & | [**model\_packages**](classrobot__dart_1_1Robot.md#function-model_packages) () const<br> |
-|  const std::string & | [**name**](classrobot__dart_1_1Robot.md#function-name) () const<br> |
-|  size\_t | [**num\_bodies**](classrobot__dart_1_1Robot.md#function-num_bodies) () const<br> |
-|  size\_t | [**num\_controllers**](classrobot__dart_1_1Robot.md#function-num_controllers) () const<br> |
-|  size\_t | [**num\_dofs**](classrobot__dart_1_1Robot.md#function-num_dofs) () const<br> |
-|  size\_t | [**num\_joints**](classrobot__dart_1_1Robot.md#function-num_joints) () const<br> |
-|  std::vector&lt; std::string &gt; | [**passive\_dof\_names**](classrobot__dart_1_1Robot.md#function-passive_dof_names) () const<br> |
-|  std::vector&lt; bool &gt; | [**position\_enforced**](classrobot__dart_1_1Robot.md#function-position_enforced) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**position\_lower\_limits**](classrobot__dart_1_1Robot.md#function-position_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**position\_upper\_limits**](classrobot__dart_1_1Robot.md#function-position_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**positions**](classrobot__dart_1_1Robot.md#function-positions) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**reinit\_controllers**](classrobot__dart_1_1Robot.md#function-reinit_controllers) () <br> |
-|  void | [**remove\_all\_drawing\_axis**](classrobot__dart_1_1Robot.md#function-remove_all_drawing_axis) () <br> |
-|  void | [**remove\_controller**](classrobot__dart_1_1Robot.md#function-remove_controller-12) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller) <br> |
-|  void | [**remove\_controller**](classrobot__dart_1_1Robot.md#function-remove_controller-22) (size\_t index) <br> |
-| virtual void | [**reset**](classrobot__dart_1_1Robot.md#function-reset) () <br> |
-|  void | [**reset\_commands**](classrobot__dart_1_1Robot.md#function-reset_commands) () <br> |
-|  double | [**restitution\_coeff**](classrobot__dart_1_1Robot.md#function-restitution_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**restitution\_coeff**](classrobot__dart_1_1Robot.md#function-restitution_coeff-22) (size\_t body\_index) <br> |
-|  double | [**secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-secondary_friction_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-secondary_friction_coeff-22) (size\_t body\_index) <br> |
-|  bool | [**self\_colliding**](classrobot__dart_1_1Robot.md#function-self_colliding) () const<br> |
-|  void | [**set\_acceleration\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_acceleration_lower_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_acceleration\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_acceleration_upper_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_accelerations**](classrobot__dart_1_1Robot.md#function-set_accelerations) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_actuator\_type**](classrobot__dart_1_1Robot.md#function-set_actuator_type) (const std::string & type, const std::string & joint\_name, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-set_actuator_types) (const std::string & type, const std::vector&lt; std::string &gt; & joint\_names={}, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**set\_base\_pose**](classrobot__dart_1_1Robot.md#function-set_base_pose-12) (const Eigen::Isometry3d & tf) <br> |
-|  void | [**set\_base\_pose**](classrobot__dart_1_1Robot.md#function-set_base_pose-22) (const Eigen::Vector6d & pose) <br>_set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)_  |
-|  void | [**set\_body\_mass**](classrobot__dart_1_1Robot.md#function-set_body_mass-12) (const std::string & body\_name, double mass) <br> |
-|  void | [**set\_body\_mass**](classrobot__dart_1_1Robot.md#function-set_body_mass-22) (size\_t body\_index, double mass) <br> |
-|  void | [**set\_body\_name**](classrobot__dart_1_1Robot.md#function-set_body_name) (size\_t body\_index, const std::string & body\_name) <br> |
-|  void | [**set\_cast\_shadows**](classrobot__dart_1_1Robot.md#function-set_cast_shadows) (bool cast\_shadows=true) <br> |
-|  void | [**set\_color\_mode**](classrobot__dart_1_1Robot.md#function-set_color_mode-12) (const std::string & color\_mode) <br> |
-|  void | [**set\_color\_mode**](classrobot__dart_1_1Robot.md#function-set_color_mode-22) (const std::string & color\_mode, const std::string & body\_name) <br> |
-|  void | [**set\_commands**](classrobot__dart_1_1Robot.md#function-set_commands) (const Eigen::VectorXd & commands, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-set_coulomb_coeffs-12) (const std::vector&lt; double &gt; & cfrictions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-set_coulomb_coeffs-22) (double cfriction, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_damping\_coeffs**](classrobot__dart_1_1Robot.md#function-set_damping_coeffs-12) (const std::vector&lt; double &gt; & damps, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_damping\_coeffs**](classrobot__dart_1_1Robot.md#function-set_damping_coeffs-22) (double damp, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_draw\_axis**](classrobot__dart_1_1Robot.md#function-set_draw_axis) (const std::string & body\_name, double size=0.25) <br> |
-|  void | [**set\_external\_force**](classrobot__dart_1_1Robot.md#function-set_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**set\_external\_force**](classrobot__dart_1_1Robot.md#function-set_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**set\_external\_torque**](classrobot__dart_1_1Robot.md#function-set_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**set\_external\_torque**](classrobot__dart_1_1Robot.md#function-set_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**set\_force\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_force_lower_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_force\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_force_upper_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_forces**](classrobot__dart_1_1Robot.md#function-set_forces) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_friction_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_friction_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_friction\_coeffs**](classrobot__dart_1_1Robot.md#function-set_friction_coeffs) (double value) <br> |
-|  void | [**set\_friction\_dir**](classrobot__dart_1_1Robot.md#function-set_friction_dir-12) (const std::string & body\_name, const Eigen::Vector3d & direction) <br> |
-|  void | [**set\_friction\_dir**](classrobot__dart_1_1Robot.md#function-set_friction_dir-22) (size\_t body\_index, const Eigen::Vector3d & direction) <br> |
-|  void | [**set\_ghost**](classrobot__dart_1_1Robot.md#function-set_ghost) (bool ghost=true) <br> |
-|  void | [**set\_joint\_name**](classrobot__dart_1_1Robot.md#function-set_joint_name) (size\_t joint\_index, const std::string & joint\_name) <br> |
-|  void | [**set\_mimic**](classrobot__dart_1_1Robot.md#function-set_mimic) (const std::string & joint\_name, const std::string & mimic\_joint\_name, double multiplier=1., double offset=0.) <br> |
-|  void | [**set\_position\_enforced**](classrobot__dart_1_1Robot.md#function-set_position_enforced-12) (const std::vector&lt; bool &gt; & enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_enforced**](classrobot__dart_1_1Robot.md#function-set_position_enforced-22) (bool enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_position_lower_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_position_upper_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_positions**](classrobot__dart_1_1Robot.md#function-set_positions) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_restitution\_coeff**](classrobot__dart_1_1Robot.md#function-set_restitution_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_restitution\_coeff**](classrobot__dart_1_1Robot.md#function-set_restitution_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_restitution\_coeffs**](classrobot__dart_1_1Robot.md#function-set_restitution_coeffs) (double value) <br> |
-|  void | [**set\_secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_secondary\_friction\_coeffs**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeffs) (double value) <br> |
-|  void | [**set\_self\_collision**](classrobot__dart_1_1Robot.md#function-set_self_collision) (bool enable\_self\_collisions=true, bool enable\_adjacent\_collisions=false) <br> |
-|  void | [**set\_spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-set_spring_stiffnesses-12) (const std::vector&lt; double &gt; & stiffnesses, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-set_spring_stiffnesses-22) (double stiffness, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocities**](classrobot__dart_1_1Robot.md#function-set_velocities) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocity\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_velocity_lower_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocity\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_velocity_upper_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  dart::dynamics::SkeletonPtr | [**skeleton**](classrobot__dart_1_1Robot.md#function-skeleton) () <br> |
-|  std::vector&lt; double &gt; | [**spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-spring_stiffnesses) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**update**](classrobot__dart_1_1Robot.md#function-update) (double t) <br> |
-|  void | [**update\_joint\_dof\_maps**](classrobot__dart_1_1Robot.md#function-update_joint_dof_maps) () <br> |
-|  Eigen::VectorXd | [**vec\_dof**](classrobot__dart_1_1Robot.md#function-vec_dof) (const Eigen::VectorXd & vec, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-|  Eigen::VectorXd | [**velocities**](classrobot__dart_1_1Robot.md#function-velocities) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**velocity\_lower\_limits**](classrobot__dart_1_1Robot.md#function-velocity_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**velocity\_upper\_limits**](classrobot__dart_1_1Robot.md#function-velocity_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-| virtual  | [**~Robot**](classrobot__dart_1_1Robot.md#function-robot) () <br> |
+|   | [**Robot**](#function-robot-13) (const std::string & model\_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
+|   | [**Robot**](#function-robot-23) (const std::string & model\_file, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
+|   | [**Robot**](#function-robot-33) (dart::dynamics::SkeletonPtr skeleton, const std::string & robot\_name="robot", bool cast\_shadows=true) <br> |
+|  Eigen::VectorXd | [**acceleration\_lower\_limits**](#function-acceleration_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**acceleration\_upper\_limits**](#function-acceleration_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**accelerations**](#function-accelerations) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**active\_controllers**](#function-active_controllers) () const<br> |
+|  std::string | [**actuator\_type**](#function-actuator_type) (const std::string & joint\_name) const<br> |
+|  std::vector&lt; std::string &gt; | [**actuator\_types**](#function-actuator_types) (const std::vector&lt; std::string &gt; & joint\_names={}) const<br> |
+|  void | [**add\_body\_mass**](#function-add_body_mass-12) (const std::string & body\_name, double mass) <br> |
+|  void | [**add\_body\_mass**](#function-add_body_mass-22) (size\_t body\_index, double mass) <br> |
+|  void | [**add\_controller**](#function-add_controller) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller, double weight=1.0) <br> |
+|  void | [**add\_external\_force**](#function-add_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**add\_external\_force**](#function-add_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**add\_external\_torque**](#function-add_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**add\_external\_torque**](#function-add_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  bool | [**adjacent\_colliding**](#function-adjacent_colliding) () const<br> |
+|  Eigen::MatrixXd | [**aug\_mass\_matrix**](#function-aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::Isometry3d | [**base\_pose**](#function-base_pose) () const<br> |
+|  Eigen::Vector6d | [**base\_pose\_vec**](#function-base_pose_vec) () const<br> |
+|  Eigen::Vector6d | [**body\_acceleration**](#function-body_acceleration-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_acceleration**](#function-body_acceleration-22) (size\_t body\_index) const<br> |
+|  size\_t | [**body\_index**](#function-body_index) (const std::string & body\_name) const<br> |
+|  double | [**body\_mass**](#function-body_mass-12) (const std::string & body\_name) const<br> |
+|  double | [**body\_mass**](#function-body_mass-22) (size\_t body\_index) const<br> |
+|  std::string | [**body\_name**](#function-body_name) (size\_t body\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**body\_names**](#function-body_names) () const<br> |
+|  dart::dynamics::BodyNode \* | [**body\_node**](#function-body_node-12) (const std::string & body\_name) <br> |
+|  dart::dynamics::BodyNode \* | [**body\_node**](#function-body_node-22) (size\_t body\_index) <br> |
+|  Eigen::Isometry3d | [**body\_pose**](#function-body_pose-12) (const std::string & body\_name) const<br> |
+|  Eigen::Isometry3d | [**body\_pose**](#function-body_pose-22) (size\_t body\_index) const<br> |
+|  Eigen::Vector6d | [**body\_pose\_vec**](#function-body_pose_vec-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_pose\_vec**](#function-body_pose_vec-22) (size\_t body\_index) const<br> |
+|  Eigen::Vector6d | [**body\_velocity**](#function-body_velocity-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_velocity**](#function-body_velocity-22) (size\_t body\_index) const<br> |
+|  bool | [**cast\_shadows**](#function-cast_shadows) () const<br> |
+|  void | [**clear\_controllers**](#function-clear_controllers) () <br> |
+|  void | [**clear\_external\_forces**](#function-clear_external_forces) () <br> |
+|  void | [**clear\_internal\_forces**](#function-clear_internal_forces) () <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone**](#function-clone) () const<br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone\_ghost**](#function-clone_ghost) (const std::string & ghost\_name="ghost", const Eigen::Vector4d & ghost\_color={0.3, 0.3, 0.3, 0.7}) const<br> |
+|  Eigen::Vector3d | [**com**](#function-com) () const<br> |
+|  Eigen::Vector6d | [**com\_acceleration**](#function-com_acceleration) () const<br> |
+|  Eigen::MatrixXd | [**com\_jacobian**](#function-com_jacobian) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**com\_jacobian\_deriv**](#function-com_jacobian_deriv) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::Vector6d | [**com\_velocity**](#function-com_velocity) () const<br> |
+|  Eigen::VectorXd | [**commands**](#function-commands) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**constraint\_forces**](#function-constraint_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**controller**](#function-controller) (size\_t index) const<br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**controllers**](#function-controllers) () const<br> |
+|  Eigen::VectorXd | [**coriolis\_forces**](#function-coriolis_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**coriolis\_gravity\_forces**](#function-coriolis_gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; double &gt; | [**coulomb\_coeffs**](#function-coulomb_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; double &gt; | [**damping\_coeffs**](#function-damping_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  dart::dynamics::DegreeOfFreedom \* | [**dof**](#function-dof-12) (const std::string & dof\_name) <br> |
+|  dart::dynamics::DegreeOfFreedom \* | [**dof**](#function-dof-22) (size\_t dof\_index) <br> |
+|  size\_t | [**dof\_index**](#function-dof_index) (const std::string & dof\_name) const<br> |
+|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**dof\_map**](#function-dof_map) () const<br> |
+|  std::string | [**dof\_name**](#function-dof_name) (size\_t dof\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**dof\_names**](#function-dof_names) (bool filter\_mimics=false, bool filter\_locked=false, bool filter\_passive=false) const<br> |
+|  const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; & | [**drawing\_axes**](#function-drawing_axes) () const<br> |
+|  Eigen::Vector6d | [**external\_forces**](#function-external_forces-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**external\_forces**](#function-external_forces-22) (size\_t body\_index) const<br> |
+|  void | [**fix\_to\_world**](#function-fix_to_world) () <br> |
+|  bool | [**fixed**](#function-fixed) () const<br> |
+|  Eigen::VectorXd | [**force\_lower\_limits**](#function-force_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**force\_position\_bounds**](#function-force_position_bounds) () <br> |
+|  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; | [**force\_torque**](#function-force_torque) (size\_t joint\_index) const<br> |
+|  Eigen::VectorXd | [**force\_upper\_limits**](#function-force_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**forces**](#function-forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  bool | [**free**](#function-free) () const<br> |
+|  void | [**free\_from\_world**](#function-free_from_world) (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) <br> |
+|  double | [**friction\_coeff**](#function-friction_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**friction\_coeff**](#function-friction_coeff-22) (size\_t body\_index) <br> |
+|  Eigen::Vector3d | [**friction\_dir**](#function-friction_dir-12) (const std::string & body\_name) <br> |
+|  Eigen::Vector3d | [**friction\_dir**](#function-friction_dir-22) (size\_t body\_index) <br> |
+|  bool | [**ghost**](#function-ghost) () const<br> |
+|  Eigen::VectorXd | [**gravity\_forces**](#function-gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**inv\_aug\_mass\_matrix**](#function-inv_aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**inv\_mass\_matrix**](#function-inv_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**jacobian**](#function-jacobian) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**jacobian\_deriv**](#function-jacobian_deriv) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  dart::dynamics::Joint \* | [**joint**](#function-joint-12) (const std::string & joint\_name) <br> |
+|  dart::dynamics::Joint \* | [**joint**](#function-joint-22) (size\_t joint\_index) <br> |
+|  size\_t | [**joint\_index**](#function-joint_index) (const std::string & joint\_name) const<br> |
+|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**joint\_map**](#function-joint_map) () const<br> |
+|  std::string | [**joint\_name**](#function-joint_name) (size\_t joint\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**joint\_names**](#function-joint_names) () const<br> |
+|  std::vector&lt; std::string &gt; | [**locked\_dof\_names**](#function-locked_dof_names) () const<br> |
+|  Eigen::MatrixXd | [**mass\_matrix**](#function-mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; std::string &gt; | [**mimic\_dof\_names**](#function-mimic_dof_names) () const<br> |
+|  const std::string & | [**model\_filename**](#function-model_filename) () const<br> |
+|  const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & | [**model\_packages**](#function-model_packages) () const<br> |
+|  const std::string & | [**name**](#function-name) () const<br> |
+|  size\_t | [**num\_bodies**](#function-num_bodies) () const<br> |
+|  size\_t | [**num\_controllers**](#function-num_controllers) () const<br> |
+|  size\_t | [**num\_dofs**](#function-num_dofs) () const<br> |
+|  size\_t | [**num\_joints**](#function-num_joints) () const<br> |
+|  std::vector&lt; std::string &gt; | [**passive\_dof\_names**](#function-passive_dof_names) () const<br> |
+|  std::vector&lt; bool &gt; | [**position\_enforced**](#function-position_enforced) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**position\_lower\_limits**](#function-position_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**position\_upper\_limits**](#function-position_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**positions**](#function-positions) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**reinit\_controllers**](#function-reinit_controllers) () <br> |
+|  void | [**remove\_all\_drawing\_axis**](#function-remove_all_drawing_axis) () <br> |
+|  void | [**remove\_controller**](#function-remove_controller-12) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller) <br> |
+|  void | [**remove\_controller**](#function-remove_controller-22) (size\_t index) <br> |
+| virtual void | [**reset**](#function-reset) () <br> |
+|  void | [**reset\_commands**](#function-reset_commands) () <br> |
+|  double | [**restitution\_coeff**](#function-restitution_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**restitution\_coeff**](#function-restitution_coeff-22) (size\_t body\_index) <br> |
+|  double | [**secondary\_friction\_coeff**](#function-secondary_friction_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**secondary\_friction\_coeff**](#function-secondary_friction_coeff-22) (size\_t body\_index) <br> |
+|  bool | [**self\_colliding**](#function-self_colliding) () const<br> |
+|  void | [**set\_acceleration\_lower\_limits**](#function-set_acceleration_lower_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_acceleration\_upper\_limits**](#function-set_acceleration_upper_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_accelerations**](#function-set_accelerations) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_actuator\_type**](#function-set_actuator_type) (const std::string & type, const std::string & joint\_name, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**set\_actuator\_types**](#function-set_actuator_types) (const std::string & type, const std::vector&lt; std::string &gt; & joint\_names={}, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**set\_base\_pose**](#function-set_base_pose-12) (const Eigen::Isometry3d & tf) <br> |
+|  void | [**set\_base\_pose**](#function-set_base_pose-22) (const Eigen::Vector6d & pose) <br>_set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)_  |
+|  void | [**set\_body\_mass**](#function-set_body_mass-12) (const std::string & body\_name, double mass) <br> |
+|  void | [**set\_body\_mass**](#function-set_body_mass-22) (size\_t body\_index, double mass) <br> |
+|  void | [**set\_body\_name**](#function-set_body_name) (size\_t body\_index, const std::string & body\_name) <br> |
+|  void | [**set\_cast\_shadows**](#function-set_cast_shadows) (bool cast\_shadows=true) <br> |
+|  void | [**set\_color\_mode**](#function-set_color_mode-12) (const std::string & color\_mode) <br> |
+|  void | [**set\_color\_mode**](#function-set_color_mode-22) (const std::string & color\_mode, const std::string & body\_name) <br> |
+|  void | [**set\_commands**](#function-set_commands) (const Eigen::VectorXd & commands, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_coulomb\_coeffs**](#function-set_coulomb_coeffs-12) (const std::vector&lt; double &gt; & cfrictions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_coulomb\_coeffs**](#function-set_coulomb_coeffs-22) (double cfriction, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_damping\_coeffs**](#function-set_damping_coeffs-12) (const std::vector&lt; double &gt; & damps, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_damping\_coeffs**](#function-set_damping_coeffs-22) (double damp, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_draw\_axis**](#function-set_draw_axis) (const std::string & body\_name, double size=0.25) <br> |
+|  void | [**set\_external\_force**](#function-set_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**set\_external\_force**](#function-set_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**set\_external\_torque**](#function-set_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**set\_external\_torque**](#function-set_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**set\_force\_lower\_limits**](#function-set_force_lower_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_force\_upper\_limits**](#function-set_force_upper_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_forces**](#function-set_forces) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_friction\_coeff**](#function-set_friction_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_friction\_coeff**](#function-set_friction_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_friction\_coeffs**](#function-set_friction_coeffs) (double value) <br> |
+|  void | [**set\_friction\_dir**](#function-set_friction_dir-12) (const std::string & body\_name, const Eigen::Vector3d & direction) <br> |
+|  void | [**set\_friction\_dir**](#function-set_friction_dir-22) (size\_t body\_index, const Eigen::Vector3d & direction) <br> |
+|  void | [**set\_ghost**](#function-set_ghost) (bool ghost=true) <br> |
+|  void | [**set\_joint\_name**](#function-set_joint_name) (size\_t joint\_index, const std::string & joint\_name) <br> |
+|  void | [**set\_mimic**](#function-set_mimic) (const std::string & joint\_name, const std::string & mimic\_joint\_name, double multiplier=1., double offset=0.) <br> |
+|  void | [**set\_position\_enforced**](#function-set_position_enforced-12) (const std::vector&lt; bool &gt; & enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_enforced**](#function-set_position_enforced-22) (bool enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_lower\_limits**](#function-set_position_lower_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_upper\_limits**](#function-set_position_upper_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_positions**](#function-set_positions) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_restitution\_coeff**](#function-set_restitution_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_restitution\_coeff**](#function-set_restitution_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_restitution\_coeffs**](#function-set_restitution_coeffs) (double value) <br> |
+|  void | [**set\_secondary\_friction\_coeff**](#function-set_secondary_friction_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_secondary\_friction\_coeff**](#function-set_secondary_friction_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_secondary\_friction\_coeffs**](#function-set_secondary_friction_coeffs) (double value) <br> |
+|  void | [**set\_self\_collision**](#function-set_self_collision) (bool enable\_self\_collisions=true, bool enable\_adjacent\_collisions=false) <br> |
+|  void | [**set\_spring\_stiffnesses**](#function-set_spring_stiffnesses-12) (const std::vector&lt; double &gt; & stiffnesses, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_spring\_stiffnesses**](#function-set_spring_stiffnesses-22) (double stiffness, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocities**](#function-set_velocities) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocity\_lower\_limits**](#function-set_velocity_lower_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocity\_upper\_limits**](#function-set_velocity_upper_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  dart::dynamics::SkeletonPtr | [**skeleton**](#function-skeleton) () <br> |
+|  std::vector&lt; double &gt; | [**spring\_stiffnesses**](#function-spring_stiffnesses) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**update**](#function-update) (double t) <br> |
+|  void | [**update\_joint\_dof\_maps**](#function-update_joint_dof_maps) () <br> |
+|  Eigen::VectorXd | [**vec\_dof**](#function-vec_dof) (const Eigen::VectorXd & vec, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+|  Eigen::VectorXd | [**velocities**](#function-velocities) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**velocity\_lower\_limits**](#function-velocity_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**velocity\_upper\_limits**](#function-velocity_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+| virtual  | [**~Robot**](#function-robot) () <br> |
 
 
 
@@ -266,10 +266,10 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](classrobot__dart_1_1Robot.md#function-create_box-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](classrobot__dart_1_1Robot.md#function-create_box-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](classrobot__dart_1_1Robot.md#function-create_ellipsoid-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](classrobot__dart_1_1Robot.md#function-create_ellipsoid-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](#function-create_box-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](#function-create_box-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](#function-create_ellipsoid-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](#function-create_ellipsoid-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
 
 
 
@@ -293,16 +293,16 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; | [**\_axis\_shapes**](classrobot__dart_1_1Robot.md#variable-_axis_shapes)  <br> |
-|  bool | [**\_cast\_shadows**](classrobot__dart_1_1Robot.md#variable-_cast_shadows)  <br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**\_controllers**](classrobot__dart_1_1Robot.md#variable-_controllers)  <br> |
-|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_dof\_map**](classrobot__dart_1_1Robot.md#variable-_dof_map)  <br> |
-|  bool | [**\_is\_ghost**](classrobot__dart_1_1Robot.md#variable-_is_ghost)  <br> |
-|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_joint\_map**](classrobot__dart_1_1Robot.md#variable-_joint_map)  <br> |
-|  std::string | [**\_model\_filename**](classrobot__dart_1_1Robot.md#variable-_model_filename)  <br> |
-|  std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; | [**\_packages**](classrobot__dart_1_1Robot.md#variable-_packages)  <br> |
-|  std::string | [**\_robot\_name**](classrobot__dart_1_1Robot.md#variable-_robot_name)  <br> |
-|  dart::dynamics::SkeletonPtr | [**\_skeleton**](classrobot__dart_1_1Robot.md#variable-_skeleton)  <br> |
+|  std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; | [**\_axis\_shapes**](#variable-_axis_shapes)  <br> |
+|  bool | [**\_cast\_shadows**](#variable-_cast_shadows)  <br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**\_controllers**](#variable-_controllers)  <br> |
+|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_dof\_map**](#variable-_dof_map)  <br> |
+|  bool | [**\_is\_ghost**](#variable-_is_ghost)  <br> |
+|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_joint\_map**](#variable-_joint_map)  <br> |
+|  std::string | [**\_model\_filename**](#variable-_model_filename)  <br> |
+|  std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; | [**\_packages**](#variable-_packages)  <br> |
+|  std::string | [**\_robot\_name**](#variable-_robot_name)  <br> |
+|  dart::dynamics::SkeletonPtr | [**\_skeleton**](#variable-_skeleton)  <br> |
 
 
 
@@ -347,19 +347,19 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  dart::dynamics::Joint::ActuatorType | [**\_actuator\_type**](classrobot__dart_1_1Robot.md#function-_actuator_type) (size\_t joint\_index) const<br> |
-|  std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; | [**\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_actuator_types) () const<br> |
-|  std::string | [**\_get\_path**](classrobot__dart_1_1Robot.md#function-_get_path) (const std::string & filename) const<br> |
-|  Eigen::MatrixXd | [**\_jacobian**](classrobot__dart_1_1Robot.md#function-_jacobian) (const Eigen::MatrixXd & full\_jacobian, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-|  dart::dynamics::SkeletonPtr | [**\_load\_model**](classrobot__dart_1_1Robot.md#function-_load_model) (const std::string & filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is\_urdf\_string=false) <br> |
-|  Eigen::MatrixXd | [**\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-_mass_matrix) (const Eigen::MatrixXd & full\_mass\_matrix, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-| virtual void | [**\_post\_addition**](classrobot__dart_1_1Robot.md#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
-| virtual void | [**\_post\_removal**](classrobot__dart_1_1Robot.md#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
-|  void | [**\_set\_actuator\_type**](classrobot__dart_1_1Robot.md#function-_set_actuator_type) (size\_t joint\_index, dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_set_actuator_types-12) (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; & types, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_set_actuator_types-22) (dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_color\_mode**](classrobot__dart_1_1Robot.md#function-_set_color_mode-12) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::SkeletonPtr skel) <br> |
-|  void | [**\_set\_color\_mode**](classrobot__dart_1_1Robot.md#function-_set_color_mode-22) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::ShapeNode \* sn) <br> |
+|  dart::dynamics::Joint::ActuatorType | [**\_actuator\_type**](#function-_actuator_type) (size\_t joint\_index) const<br> |
+|  std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; | [**\_actuator\_types**](#function-_actuator_types) () const<br> |
+|  std::string | [**\_get\_path**](#function-_get_path) (const std::string & filename) const<br> |
+|  Eigen::MatrixXd | [**\_jacobian**](#function-_jacobian) (const Eigen::MatrixXd & full\_jacobian, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+|  dart::dynamics::SkeletonPtr | [**\_load\_model**](#function-_load_model) (const std::string & filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is\_urdf\_string=false) <br> |
+|  Eigen::MatrixXd | [**\_mass\_matrix**](#function-_mass_matrix) (const Eigen::MatrixXd & full\_mass\_matrix, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+| virtual void | [**\_post\_addition**](#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
+| virtual void | [**\_post\_removal**](#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
+|  void | [**\_set\_actuator\_type**](#function-_set_actuator_type) (size\_t joint\_index, dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_actuator\_types**](#function-_set_actuator_types-12) (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; & types, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_actuator\_types**](#function-_set_actuator_types-22) (dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_color\_mode**](#function-_set_color_mode-12) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::SkeletonPtr skel) <br> |
+|  void | [**\_set\_color\_mode**](#function-_set_color_mode-22) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::ShapeNode \* sn) <br> |
 
 
 
diff --git a/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Pendulum.md b/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Pendulum.md
index fb7a0078..6fb3fe7e 100644
--- a/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Pendulum.md
+++ b/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Pendulum.md
@@ -81,180 +81,180 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-13) (const std::string & model\_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-23) (const std::string & model\_file, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-33) (dart::dynamics::SkeletonPtr skeleton, const std::string & robot\_name="robot", bool cast\_shadows=true) <br> |
-|  Eigen::VectorXd | [**acceleration\_lower\_limits**](classrobot__dart_1_1Robot.md#function-acceleration_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**acceleration\_upper\_limits**](classrobot__dart_1_1Robot.md#function-acceleration_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**accelerations**](classrobot__dart_1_1Robot.md#function-accelerations) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**active\_controllers**](classrobot__dart_1_1Robot.md#function-active_controllers) () const<br> |
-|  std::string | [**actuator\_type**](classrobot__dart_1_1Robot.md#function-actuator_type) (const std::string & joint\_name) const<br> |
-|  std::vector&lt; std::string &gt; | [**actuator\_types**](classrobot__dart_1_1Robot.md#function-actuator_types) (const std::vector&lt; std::string &gt; & joint\_names={}) const<br> |
-|  void | [**add\_body\_mass**](classrobot__dart_1_1Robot.md#function-add_body_mass-12) (const std::string & body\_name, double mass) <br> |
-|  void | [**add\_body\_mass**](classrobot__dart_1_1Robot.md#function-add_body_mass-22) (size\_t body\_index, double mass) <br> |
-|  void | [**add\_controller**](classrobot__dart_1_1Robot.md#function-add_controller) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller, double weight=1.0) <br> |
-|  void | [**add\_external\_force**](classrobot__dart_1_1Robot.md#function-add_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**add\_external\_force**](classrobot__dart_1_1Robot.md#function-add_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**add\_external\_torque**](classrobot__dart_1_1Robot.md#function-add_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**add\_external\_torque**](classrobot__dart_1_1Robot.md#function-add_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  bool | [**adjacent\_colliding**](classrobot__dart_1_1Robot.md#function-adjacent_colliding) () const<br> |
-|  Eigen::MatrixXd | [**aug\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::Isometry3d | [**base\_pose**](classrobot__dart_1_1Robot.md#function-base_pose) () const<br> |
-|  Eigen::Vector6d | [**base\_pose\_vec**](classrobot__dart_1_1Robot.md#function-base_pose_vec) () const<br> |
-|  Eigen::Vector6d | [**body\_acceleration**](classrobot__dart_1_1Robot.md#function-body_acceleration-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_acceleration**](classrobot__dart_1_1Robot.md#function-body_acceleration-22) (size\_t body\_index) const<br> |
-|  size\_t | [**body\_index**](classrobot__dart_1_1Robot.md#function-body_index) (const std::string & body\_name) const<br> |
-|  double | [**body\_mass**](classrobot__dart_1_1Robot.md#function-body_mass-12) (const std::string & body\_name) const<br> |
-|  double | [**body\_mass**](classrobot__dart_1_1Robot.md#function-body_mass-22) (size\_t body\_index) const<br> |
-|  std::string | [**body\_name**](classrobot__dart_1_1Robot.md#function-body_name) (size\_t body\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**body\_names**](classrobot__dart_1_1Robot.md#function-body_names) () const<br> |
-|  dart::dynamics::BodyNode \* | [**body\_node**](classrobot__dart_1_1Robot.md#function-body_node-12) (const std::string & body\_name) <br> |
-|  dart::dynamics::BodyNode \* | [**body\_node**](classrobot__dart_1_1Robot.md#function-body_node-22) (size\_t body\_index) <br> |
-|  Eigen::Isometry3d | [**body\_pose**](classrobot__dart_1_1Robot.md#function-body_pose-12) (const std::string & body\_name) const<br> |
-|  Eigen::Isometry3d | [**body\_pose**](classrobot__dart_1_1Robot.md#function-body_pose-22) (size\_t body\_index) const<br> |
-|  Eigen::Vector6d | [**body\_pose\_vec**](classrobot__dart_1_1Robot.md#function-body_pose_vec-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_pose\_vec**](classrobot__dart_1_1Robot.md#function-body_pose_vec-22) (size\_t body\_index) const<br> |
-|  Eigen::Vector6d | [**body\_velocity**](classrobot__dart_1_1Robot.md#function-body_velocity-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_velocity**](classrobot__dart_1_1Robot.md#function-body_velocity-22) (size\_t body\_index) const<br> |
-|  bool | [**cast\_shadows**](classrobot__dart_1_1Robot.md#function-cast_shadows) () const<br> |
-|  void | [**clear\_controllers**](classrobot__dart_1_1Robot.md#function-clear_controllers) () <br> |
-|  void | [**clear\_external\_forces**](classrobot__dart_1_1Robot.md#function-clear_external_forces) () <br> |
-|  void | [**clear\_internal\_forces**](classrobot__dart_1_1Robot.md#function-clear_internal_forces) () <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone**](classrobot__dart_1_1Robot.md#function-clone) () const<br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone\_ghost**](classrobot__dart_1_1Robot.md#function-clone_ghost) (const std::string & ghost\_name="ghost", const Eigen::Vector4d & ghost\_color={0.3, 0.3, 0.3, 0.7}) const<br> |
-|  Eigen::Vector3d | [**com**](classrobot__dart_1_1Robot.md#function-com) () const<br> |
-|  Eigen::Vector6d | [**com\_acceleration**](classrobot__dart_1_1Robot.md#function-com_acceleration) () const<br> |
-|  Eigen::MatrixXd | [**com\_jacobian**](classrobot__dart_1_1Robot.md#function-com_jacobian) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**com\_jacobian\_deriv**](classrobot__dart_1_1Robot.md#function-com_jacobian_deriv) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::Vector6d | [**com\_velocity**](classrobot__dart_1_1Robot.md#function-com_velocity) () const<br> |
-|  Eigen::VectorXd | [**commands**](classrobot__dart_1_1Robot.md#function-commands) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**constraint\_forces**](classrobot__dart_1_1Robot.md#function-constraint_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**controller**](classrobot__dart_1_1Robot.md#function-controller) (size\_t index) const<br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**controllers**](classrobot__dart_1_1Robot.md#function-controllers) () const<br> |
-|  Eigen::VectorXd | [**coriolis\_forces**](classrobot__dart_1_1Robot.md#function-coriolis_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**coriolis\_gravity\_forces**](classrobot__dart_1_1Robot.md#function-coriolis_gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; double &gt; | [**coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-coulomb_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; double &gt; | [**damping\_coeffs**](classrobot__dart_1_1Robot.md#function-damping_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  dart::dynamics::DegreeOfFreedom \* | [**dof**](classrobot__dart_1_1Robot.md#function-dof-12) (const std::string & dof\_name) <br> |
-|  dart::dynamics::DegreeOfFreedom \* | [**dof**](classrobot__dart_1_1Robot.md#function-dof-22) (size\_t dof\_index) <br> |
-|  size\_t | [**dof\_index**](classrobot__dart_1_1Robot.md#function-dof_index) (const std::string & dof\_name) const<br> |
-|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**dof\_map**](classrobot__dart_1_1Robot.md#function-dof_map) () const<br> |
-|  std::string | [**dof\_name**](classrobot__dart_1_1Robot.md#function-dof_name) (size\_t dof\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**dof\_names**](classrobot__dart_1_1Robot.md#function-dof_names) (bool filter\_mimics=false, bool filter\_locked=false, bool filter\_passive=false) const<br> |
-|  const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; & | [**drawing\_axes**](classrobot__dart_1_1Robot.md#function-drawing_axes) () const<br> |
-|  Eigen::Vector6d | [**external\_forces**](classrobot__dart_1_1Robot.md#function-external_forces-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**external\_forces**](classrobot__dart_1_1Robot.md#function-external_forces-22) (size\_t body\_index) const<br> |
-|  void | [**fix\_to\_world**](classrobot__dart_1_1Robot.md#function-fix_to_world) () <br> |
-|  bool | [**fixed**](classrobot__dart_1_1Robot.md#function-fixed) () const<br> |
-|  Eigen::VectorXd | [**force\_lower\_limits**](classrobot__dart_1_1Robot.md#function-force_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**force\_position\_bounds**](classrobot__dart_1_1Robot.md#function-force_position_bounds) () <br> |
-|  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; | [**force\_torque**](classrobot__dart_1_1Robot.md#function-force_torque) (size\_t joint\_index) const<br> |
-|  Eigen::VectorXd | [**force\_upper\_limits**](classrobot__dart_1_1Robot.md#function-force_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**forces**](classrobot__dart_1_1Robot.md#function-forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  bool | [**free**](classrobot__dart_1_1Robot.md#function-free) () const<br> |
-|  void | [**free\_from\_world**](classrobot__dart_1_1Robot.md#function-free_from_world) (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) <br> |
-|  double | [**friction\_coeff**](classrobot__dart_1_1Robot.md#function-friction_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**friction\_coeff**](classrobot__dart_1_1Robot.md#function-friction_coeff-22) (size\_t body\_index) <br> |
-|  Eigen::Vector3d | [**friction\_dir**](classrobot__dart_1_1Robot.md#function-friction_dir-12) (const std::string & body\_name) <br> |
-|  Eigen::Vector3d | [**friction\_dir**](classrobot__dart_1_1Robot.md#function-friction_dir-22) (size\_t body\_index) <br> |
-|  bool | [**ghost**](classrobot__dart_1_1Robot.md#function-ghost) () const<br> |
-|  Eigen::VectorXd | [**gravity\_forces**](classrobot__dart_1_1Robot.md#function-gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**inv\_aug\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-inv_aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**inv\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-inv_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**jacobian**](classrobot__dart_1_1Robot.md#function-jacobian) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**jacobian\_deriv**](classrobot__dart_1_1Robot.md#function-jacobian_deriv) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  dart::dynamics::Joint \* | [**joint**](classrobot__dart_1_1Robot.md#function-joint-12) (const std::string & joint\_name) <br> |
-|  dart::dynamics::Joint \* | [**joint**](classrobot__dart_1_1Robot.md#function-joint-22) (size\_t joint\_index) <br> |
-|  size\_t | [**joint\_index**](classrobot__dart_1_1Robot.md#function-joint_index) (const std::string & joint\_name) const<br> |
-|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**joint\_map**](classrobot__dart_1_1Robot.md#function-joint_map) () const<br> |
-|  std::string | [**joint\_name**](classrobot__dart_1_1Robot.md#function-joint_name) (size\_t joint\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**joint\_names**](classrobot__dart_1_1Robot.md#function-joint_names) () const<br> |
-|  std::vector&lt; std::string &gt; | [**locked\_dof\_names**](classrobot__dart_1_1Robot.md#function-locked_dof_names) () const<br> |
-|  Eigen::MatrixXd | [**mass\_matrix**](classrobot__dart_1_1Robot.md#function-mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; std::string &gt; | [**mimic\_dof\_names**](classrobot__dart_1_1Robot.md#function-mimic_dof_names) () const<br> |
-|  const std::string & | [**model\_filename**](classrobot__dart_1_1Robot.md#function-model_filename) () const<br> |
-|  const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & | [**model\_packages**](classrobot__dart_1_1Robot.md#function-model_packages) () const<br> |
-|  const std::string & | [**name**](classrobot__dart_1_1Robot.md#function-name) () const<br> |
-|  size\_t | [**num\_bodies**](classrobot__dart_1_1Robot.md#function-num_bodies) () const<br> |
-|  size\_t | [**num\_controllers**](classrobot__dart_1_1Robot.md#function-num_controllers) () const<br> |
-|  size\_t | [**num\_dofs**](classrobot__dart_1_1Robot.md#function-num_dofs) () const<br> |
-|  size\_t | [**num\_joints**](classrobot__dart_1_1Robot.md#function-num_joints) () const<br> |
-|  std::vector&lt; std::string &gt; | [**passive\_dof\_names**](classrobot__dart_1_1Robot.md#function-passive_dof_names) () const<br> |
-|  std::vector&lt; bool &gt; | [**position\_enforced**](classrobot__dart_1_1Robot.md#function-position_enforced) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**position\_lower\_limits**](classrobot__dart_1_1Robot.md#function-position_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**position\_upper\_limits**](classrobot__dart_1_1Robot.md#function-position_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**positions**](classrobot__dart_1_1Robot.md#function-positions) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**reinit\_controllers**](classrobot__dart_1_1Robot.md#function-reinit_controllers) () <br> |
-|  void | [**remove\_all\_drawing\_axis**](classrobot__dart_1_1Robot.md#function-remove_all_drawing_axis) () <br> |
-|  void | [**remove\_controller**](classrobot__dart_1_1Robot.md#function-remove_controller-12) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller) <br> |
-|  void | [**remove\_controller**](classrobot__dart_1_1Robot.md#function-remove_controller-22) (size\_t index) <br> |
-| virtual void | [**reset**](classrobot__dart_1_1Robot.md#function-reset) () <br> |
-|  void | [**reset\_commands**](classrobot__dart_1_1Robot.md#function-reset_commands) () <br> |
-|  double | [**restitution\_coeff**](classrobot__dart_1_1Robot.md#function-restitution_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**restitution\_coeff**](classrobot__dart_1_1Robot.md#function-restitution_coeff-22) (size\_t body\_index) <br> |
-|  double | [**secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-secondary_friction_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-secondary_friction_coeff-22) (size\_t body\_index) <br> |
-|  bool | [**self\_colliding**](classrobot__dart_1_1Robot.md#function-self_colliding) () const<br> |
-|  void | [**set\_acceleration\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_acceleration_lower_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_acceleration\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_acceleration_upper_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_accelerations**](classrobot__dart_1_1Robot.md#function-set_accelerations) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_actuator\_type**](classrobot__dart_1_1Robot.md#function-set_actuator_type) (const std::string & type, const std::string & joint\_name, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-set_actuator_types) (const std::string & type, const std::vector&lt; std::string &gt; & joint\_names={}, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**set\_base\_pose**](classrobot__dart_1_1Robot.md#function-set_base_pose-12) (const Eigen::Isometry3d & tf) <br> |
-|  void | [**set\_base\_pose**](classrobot__dart_1_1Robot.md#function-set_base_pose-22) (const Eigen::Vector6d & pose) <br>_set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)_  |
-|  void | [**set\_body\_mass**](classrobot__dart_1_1Robot.md#function-set_body_mass-12) (const std::string & body\_name, double mass) <br> |
-|  void | [**set\_body\_mass**](classrobot__dart_1_1Robot.md#function-set_body_mass-22) (size\_t body\_index, double mass) <br> |
-|  void | [**set\_body\_name**](classrobot__dart_1_1Robot.md#function-set_body_name) (size\_t body\_index, const std::string & body\_name) <br> |
-|  void | [**set\_cast\_shadows**](classrobot__dart_1_1Robot.md#function-set_cast_shadows) (bool cast\_shadows=true) <br> |
-|  void | [**set\_color\_mode**](classrobot__dart_1_1Robot.md#function-set_color_mode-12) (const std::string & color\_mode) <br> |
-|  void | [**set\_color\_mode**](classrobot__dart_1_1Robot.md#function-set_color_mode-22) (const std::string & color\_mode, const std::string & body\_name) <br> |
-|  void | [**set\_commands**](classrobot__dart_1_1Robot.md#function-set_commands) (const Eigen::VectorXd & commands, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-set_coulomb_coeffs-12) (const std::vector&lt; double &gt; & cfrictions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-set_coulomb_coeffs-22) (double cfriction, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_damping\_coeffs**](classrobot__dart_1_1Robot.md#function-set_damping_coeffs-12) (const std::vector&lt; double &gt; & damps, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_damping\_coeffs**](classrobot__dart_1_1Robot.md#function-set_damping_coeffs-22) (double damp, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_draw\_axis**](classrobot__dart_1_1Robot.md#function-set_draw_axis) (const std::string & body\_name, double size=0.25) <br> |
-|  void | [**set\_external\_force**](classrobot__dart_1_1Robot.md#function-set_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**set\_external\_force**](classrobot__dart_1_1Robot.md#function-set_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**set\_external\_torque**](classrobot__dart_1_1Robot.md#function-set_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**set\_external\_torque**](classrobot__dart_1_1Robot.md#function-set_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**set\_force\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_force_lower_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_force\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_force_upper_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_forces**](classrobot__dart_1_1Robot.md#function-set_forces) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_friction_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_friction_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_friction\_coeffs**](classrobot__dart_1_1Robot.md#function-set_friction_coeffs) (double value) <br> |
-|  void | [**set\_friction\_dir**](classrobot__dart_1_1Robot.md#function-set_friction_dir-12) (const std::string & body\_name, const Eigen::Vector3d & direction) <br> |
-|  void | [**set\_friction\_dir**](classrobot__dart_1_1Robot.md#function-set_friction_dir-22) (size\_t body\_index, const Eigen::Vector3d & direction) <br> |
-|  void | [**set\_ghost**](classrobot__dart_1_1Robot.md#function-set_ghost) (bool ghost=true) <br> |
-|  void | [**set\_joint\_name**](classrobot__dart_1_1Robot.md#function-set_joint_name) (size\_t joint\_index, const std::string & joint\_name) <br> |
-|  void | [**set\_mimic**](classrobot__dart_1_1Robot.md#function-set_mimic) (const std::string & joint\_name, const std::string & mimic\_joint\_name, double multiplier=1., double offset=0.) <br> |
-|  void | [**set\_position\_enforced**](classrobot__dart_1_1Robot.md#function-set_position_enforced-12) (const std::vector&lt; bool &gt; & enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_enforced**](classrobot__dart_1_1Robot.md#function-set_position_enforced-22) (bool enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_position_lower_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_position_upper_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_positions**](classrobot__dart_1_1Robot.md#function-set_positions) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_restitution\_coeff**](classrobot__dart_1_1Robot.md#function-set_restitution_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_restitution\_coeff**](classrobot__dart_1_1Robot.md#function-set_restitution_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_restitution\_coeffs**](classrobot__dart_1_1Robot.md#function-set_restitution_coeffs) (double value) <br> |
-|  void | [**set\_secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_secondary\_friction\_coeffs**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeffs) (double value) <br> |
-|  void | [**set\_self\_collision**](classrobot__dart_1_1Robot.md#function-set_self_collision) (bool enable\_self\_collisions=true, bool enable\_adjacent\_collisions=false) <br> |
-|  void | [**set\_spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-set_spring_stiffnesses-12) (const std::vector&lt; double &gt; & stiffnesses, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-set_spring_stiffnesses-22) (double stiffness, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocities**](classrobot__dart_1_1Robot.md#function-set_velocities) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocity\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_velocity_lower_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocity\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_velocity_upper_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  dart::dynamics::SkeletonPtr | [**skeleton**](classrobot__dart_1_1Robot.md#function-skeleton) () <br> |
-|  std::vector&lt; double &gt; | [**spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-spring_stiffnesses) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**update**](classrobot__dart_1_1Robot.md#function-update) (double t) <br> |
-|  void | [**update\_joint\_dof\_maps**](classrobot__dart_1_1Robot.md#function-update_joint_dof_maps) () <br> |
-|  Eigen::VectorXd | [**vec\_dof**](classrobot__dart_1_1Robot.md#function-vec_dof) (const Eigen::VectorXd & vec, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-|  Eigen::VectorXd | [**velocities**](classrobot__dart_1_1Robot.md#function-velocities) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**velocity\_lower\_limits**](classrobot__dart_1_1Robot.md#function-velocity_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**velocity\_upper\_limits**](classrobot__dart_1_1Robot.md#function-velocity_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-| virtual  | [**~Robot**](classrobot__dart_1_1Robot.md#function-robot) () <br> |
+|   | [**Robot**](#function-robot-13) (const std::string & model\_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
+|   | [**Robot**](#function-robot-23) (const std::string & model\_file, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
+|   | [**Robot**](#function-robot-33) (dart::dynamics::SkeletonPtr skeleton, const std::string & robot\_name="robot", bool cast\_shadows=true) <br> |
+|  Eigen::VectorXd | [**acceleration\_lower\_limits**](#function-acceleration_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**acceleration\_upper\_limits**](#function-acceleration_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**accelerations**](#function-accelerations) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**active\_controllers**](#function-active_controllers) () const<br> |
+|  std::string | [**actuator\_type**](#function-actuator_type) (const std::string & joint\_name) const<br> |
+|  std::vector&lt; std::string &gt; | [**actuator\_types**](#function-actuator_types) (const std::vector&lt; std::string &gt; & joint\_names={}) const<br> |
+|  void | [**add\_body\_mass**](#function-add_body_mass-12) (const std::string & body\_name, double mass) <br> |
+|  void | [**add\_body\_mass**](#function-add_body_mass-22) (size\_t body\_index, double mass) <br> |
+|  void | [**add\_controller**](#function-add_controller) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller, double weight=1.0) <br> |
+|  void | [**add\_external\_force**](#function-add_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**add\_external\_force**](#function-add_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**add\_external\_torque**](#function-add_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**add\_external\_torque**](#function-add_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  bool | [**adjacent\_colliding**](#function-adjacent_colliding) () const<br> |
+|  Eigen::MatrixXd | [**aug\_mass\_matrix**](#function-aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::Isometry3d | [**base\_pose**](#function-base_pose) () const<br> |
+|  Eigen::Vector6d | [**base\_pose\_vec**](#function-base_pose_vec) () const<br> |
+|  Eigen::Vector6d | [**body\_acceleration**](#function-body_acceleration-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_acceleration**](#function-body_acceleration-22) (size\_t body\_index) const<br> |
+|  size\_t | [**body\_index**](#function-body_index) (const std::string & body\_name) const<br> |
+|  double | [**body\_mass**](#function-body_mass-12) (const std::string & body\_name) const<br> |
+|  double | [**body\_mass**](#function-body_mass-22) (size\_t body\_index) const<br> |
+|  std::string | [**body\_name**](#function-body_name) (size\_t body\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**body\_names**](#function-body_names) () const<br> |
+|  dart::dynamics::BodyNode \* | [**body\_node**](#function-body_node-12) (const std::string & body\_name) <br> |
+|  dart::dynamics::BodyNode \* | [**body\_node**](#function-body_node-22) (size\_t body\_index) <br> |
+|  Eigen::Isometry3d | [**body\_pose**](#function-body_pose-12) (const std::string & body\_name) const<br> |
+|  Eigen::Isometry3d | [**body\_pose**](#function-body_pose-22) (size\_t body\_index) const<br> |
+|  Eigen::Vector6d | [**body\_pose\_vec**](#function-body_pose_vec-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_pose\_vec**](#function-body_pose_vec-22) (size\_t body\_index) const<br> |
+|  Eigen::Vector6d | [**body\_velocity**](#function-body_velocity-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_velocity**](#function-body_velocity-22) (size\_t body\_index) const<br> |
+|  bool | [**cast\_shadows**](#function-cast_shadows) () const<br> |
+|  void | [**clear\_controllers**](#function-clear_controllers) () <br> |
+|  void | [**clear\_external\_forces**](#function-clear_external_forces) () <br> |
+|  void | [**clear\_internal\_forces**](#function-clear_internal_forces) () <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone**](#function-clone) () const<br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone\_ghost**](#function-clone_ghost) (const std::string & ghost\_name="ghost", const Eigen::Vector4d & ghost\_color={0.3, 0.3, 0.3, 0.7}) const<br> |
+|  Eigen::Vector3d | [**com**](#function-com) () const<br> |
+|  Eigen::Vector6d | [**com\_acceleration**](#function-com_acceleration) () const<br> |
+|  Eigen::MatrixXd | [**com\_jacobian**](#function-com_jacobian) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**com\_jacobian\_deriv**](#function-com_jacobian_deriv) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::Vector6d | [**com\_velocity**](#function-com_velocity) () const<br> |
+|  Eigen::VectorXd | [**commands**](#function-commands) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**constraint\_forces**](#function-constraint_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**controller**](#function-controller) (size\_t index) const<br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**controllers**](#function-controllers) () const<br> |
+|  Eigen::VectorXd | [**coriolis\_forces**](#function-coriolis_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**coriolis\_gravity\_forces**](#function-coriolis_gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; double &gt; | [**coulomb\_coeffs**](#function-coulomb_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; double &gt; | [**damping\_coeffs**](#function-damping_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  dart::dynamics::DegreeOfFreedom \* | [**dof**](#function-dof-12) (const std::string & dof\_name) <br> |
+|  dart::dynamics::DegreeOfFreedom \* | [**dof**](#function-dof-22) (size\_t dof\_index) <br> |
+|  size\_t | [**dof\_index**](#function-dof_index) (const std::string & dof\_name) const<br> |
+|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**dof\_map**](#function-dof_map) () const<br> |
+|  std::string | [**dof\_name**](#function-dof_name) (size\_t dof\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**dof\_names**](#function-dof_names) (bool filter\_mimics=false, bool filter\_locked=false, bool filter\_passive=false) const<br> |
+|  const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; & | [**drawing\_axes**](#function-drawing_axes) () const<br> |
+|  Eigen::Vector6d | [**external\_forces**](#function-external_forces-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**external\_forces**](#function-external_forces-22) (size\_t body\_index) const<br> |
+|  void | [**fix\_to\_world**](#function-fix_to_world) () <br> |
+|  bool | [**fixed**](#function-fixed) () const<br> |
+|  Eigen::VectorXd | [**force\_lower\_limits**](#function-force_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**force\_position\_bounds**](#function-force_position_bounds) () <br> |
+|  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; | [**force\_torque**](#function-force_torque) (size\_t joint\_index) const<br> |
+|  Eigen::VectorXd | [**force\_upper\_limits**](#function-force_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**forces**](#function-forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  bool | [**free**](#function-free) () const<br> |
+|  void | [**free\_from\_world**](#function-free_from_world) (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) <br> |
+|  double | [**friction\_coeff**](#function-friction_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**friction\_coeff**](#function-friction_coeff-22) (size\_t body\_index) <br> |
+|  Eigen::Vector3d | [**friction\_dir**](#function-friction_dir-12) (const std::string & body\_name) <br> |
+|  Eigen::Vector3d | [**friction\_dir**](#function-friction_dir-22) (size\_t body\_index) <br> |
+|  bool | [**ghost**](#function-ghost) () const<br> |
+|  Eigen::VectorXd | [**gravity\_forces**](#function-gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**inv\_aug\_mass\_matrix**](#function-inv_aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**inv\_mass\_matrix**](#function-inv_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**jacobian**](#function-jacobian) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**jacobian\_deriv**](#function-jacobian_deriv) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  dart::dynamics::Joint \* | [**joint**](#function-joint-12) (const std::string & joint\_name) <br> |
+|  dart::dynamics::Joint \* | [**joint**](#function-joint-22) (size\_t joint\_index) <br> |
+|  size\_t | [**joint\_index**](#function-joint_index) (const std::string & joint\_name) const<br> |
+|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**joint\_map**](#function-joint_map) () const<br> |
+|  std::string | [**joint\_name**](#function-joint_name) (size\_t joint\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**joint\_names**](#function-joint_names) () const<br> |
+|  std::vector&lt; std::string &gt; | [**locked\_dof\_names**](#function-locked_dof_names) () const<br> |
+|  Eigen::MatrixXd | [**mass\_matrix**](#function-mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; std::string &gt; | [**mimic\_dof\_names**](#function-mimic_dof_names) () const<br> |
+|  const std::string & | [**model\_filename**](#function-model_filename) () const<br> |
+|  const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & | [**model\_packages**](#function-model_packages) () const<br> |
+|  const std::string & | [**name**](#function-name) () const<br> |
+|  size\_t | [**num\_bodies**](#function-num_bodies) () const<br> |
+|  size\_t | [**num\_controllers**](#function-num_controllers) () const<br> |
+|  size\_t | [**num\_dofs**](#function-num_dofs) () const<br> |
+|  size\_t | [**num\_joints**](#function-num_joints) () const<br> |
+|  std::vector&lt; std::string &gt; | [**passive\_dof\_names**](#function-passive_dof_names) () const<br> |
+|  std::vector&lt; bool &gt; | [**position\_enforced**](#function-position_enforced) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**position\_lower\_limits**](#function-position_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**position\_upper\_limits**](#function-position_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**positions**](#function-positions) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**reinit\_controllers**](#function-reinit_controllers) () <br> |
+|  void | [**remove\_all\_drawing\_axis**](#function-remove_all_drawing_axis) () <br> |
+|  void | [**remove\_controller**](#function-remove_controller-12) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller) <br> |
+|  void | [**remove\_controller**](#function-remove_controller-22) (size\_t index) <br> |
+| virtual void | [**reset**](#function-reset) () <br> |
+|  void | [**reset\_commands**](#function-reset_commands) () <br> |
+|  double | [**restitution\_coeff**](#function-restitution_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**restitution\_coeff**](#function-restitution_coeff-22) (size\_t body\_index) <br> |
+|  double | [**secondary\_friction\_coeff**](#function-secondary_friction_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**secondary\_friction\_coeff**](#function-secondary_friction_coeff-22) (size\_t body\_index) <br> |
+|  bool | [**self\_colliding**](#function-self_colliding) () const<br> |
+|  void | [**set\_acceleration\_lower\_limits**](#function-set_acceleration_lower_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_acceleration\_upper\_limits**](#function-set_acceleration_upper_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_accelerations**](#function-set_accelerations) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_actuator\_type**](#function-set_actuator_type) (const std::string & type, const std::string & joint\_name, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**set\_actuator\_types**](#function-set_actuator_types) (const std::string & type, const std::vector&lt; std::string &gt; & joint\_names={}, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**set\_base\_pose**](#function-set_base_pose-12) (const Eigen::Isometry3d & tf) <br> |
+|  void | [**set\_base\_pose**](#function-set_base_pose-22) (const Eigen::Vector6d & pose) <br>_set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)_  |
+|  void | [**set\_body\_mass**](#function-set_body_mass-12) (const std::string & body\_name, double mass) <br> |
+|  void | [**set\_body\_mass**](#function-set_body_mass-22) (size\_t body\_index, double mass) <br> |
+|  void | [**set\_body\_name**](#function-set_body_name) (size\_t body\_index, const std::string & body\_name) <br> |
+|  void | [**set\_cast\_shadows**](#function-set_cast_shadows) (bool cast\_shadows=true) <br> |
+|  void | [**set\_color\_mode**](#function-set_color_mode-12) (const std::string & color\_mode) <br> |
+|  void | [**set\_color\_mode**](#function-set_color_mode-22) (const std::string & color\_mode, const std::string & body\_name) <br> |
+|  void | [**set\_commands**](#function-set_commands) (const Eigen::VectorXd & commands, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_coulomb\_coeffs**](#function-set_coulomb_coeffs-12) (const std::vector&lt; double &gt; & cfrictions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_coulomb\_coeffs**](#function-set_coulomb_coeffs-22) (double cfriction, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_damping\_coeffs**](#function-set_damping_coeffs-12) (const std::vector&lt; double &gt; & damps, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_damping\_coeffs**](#function-set_damping_coeffs-22) (double damp, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_draw\_axis**](#function-set_draw_axis) (const std::string & body\_name, double size=0.25) <br> |
+|  void | [**set\_external\_force**](#function-set_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**set\_external\_force**](#function-set_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**set\_external\_torque**](#function-set_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**set\_external\_torque**](#function-set_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**set\_force\_lower\_limits**](#function-set_force_lower_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_force\_upper\_limits**](#function-set_force_upper_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_forces**](#function-set_forces) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_friction\_coeff**](#function-set_friction_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_friction\_coeff**](#function-set_friction_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_friction\_coeffs**](#function-set_friction_coeffs) (double value) <br> |
+|  void | [**set\_friction\_dir**](#function-set_friction_dir-12) (const std::string & body\_name, const Eigen::Vector3d & direction) <br> |
+|  void | [**set\_friction\_dir**](#function-set_friction_dir-22) (size\_t body\_index, const Eigen::Vector3d & direction) <br> |
+|  void | [**set\_ghost**](#function-set_ghost) (bool ghost=true) <br> |
+|  void | [**set\_joint\_name**](#function-set_joint_name) (size\_t joint\_index, const std::string & joint\_name) <br> |
+|  void | [**set\_mimic**](#function-set_mimic) (const std::string & joint\_name, const std::string & mimic\_joint\_name, double multiplier=1., double offset=0.) <br> |
+|  void | [**set\_position\_enforced**](#function-set_position_enforced-12) (const std::vector&lt; bool &gt; & enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_enforced**](#function-set_position_enforced-22) (bool enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_lower\_limits**](#function-set_position_lower_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_upper\_limits**](#function-set_position_upper_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_positions**](#function-set_positions) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_restitution\_coeff**](#function-set_restitution_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_restitution\_coeff**](#function-set_restitution_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_restitution\_coeffs**](#function-set_restitution_coeffs) (double value) <br> |
+|  void | [**set\_secondary\_friction\_coeff**](#function-set_secondary_friction_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_secondary\_friction\_coeff**](#function-set_secondary_friction_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_secondary\_friction\_coeffs**](#function-set_secondary_friction_coeffs) (double value) <br> |
+|  void | [**set\_self\_collision**](#function-set_self_collision) (bool enable\_self\_collisions=true, bool enable\_adjacent\_collisions=false) <br> |
+|  void | [**set\_spring\_stiffnesses**](#function-set_spring_stiffnesses-12) (const std::vector&lt; double &gt; & stiffnesses, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_spring\_stiffnesses**](#function-set_spring_stiffnesses-22) (double stiffness, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocities**](#function-set_velocities) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocity\_lower\_limits**](#function-set_velocity_lower_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocity\_upper\_limits**](#function-set_velocity_upper_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  dart::dynamics::SkeletonPtr | [**skeleton**](#function-skeleton) () <br> |
+|  std::vector&lt; double &gt; | [**spring\_stiffnesses**](#function-spring_stiffnesses) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**update**](#function-update) (double t) <br> |
+|  void | [**update\_joint\_dof\_maps**](#function-update_joint_dof_maps) () <br> |
+|  Eigen::VectorXd | [**vec\_dof**](#function-vec_dof) (const Eigen::VectorXd & vec, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+|  Eigen::VectorXd | [**velocities**](#function-velocities) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**velocity\_lower\_limits**](#function-velocity_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**velocity\_upper\_limits**](#function-velocity_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+| virtual  | [**~Robot**](#function-robot) () <br> |
 
 
 
@@ -265,10 +265,10 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](classrobot__dart_1_1Robot.md#function-create_box-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](classrobot__dart_1_1Robot.md#function-create_box-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](classrobot__dart_1_1Robot.md#function-create_ellipsoid-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](classrobot__dart_1_1Robot.md#function-create_ellipsoid-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](#function-create_box-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](#function-create_box-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](#function-create_ellipsoid-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](#function-create_ellipsoid-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
 
 
 
@@ -287,16 +287,16 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; | [**\_axis\_shapes**](classrobot__dart_1_1Robot.md#variable-_axis_shapes)  <br> |
-|  bool | [**\_cast\_shadows**](classrobot__dart_1_1Robot.md#variable-_cast_shadows)  <br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**\_controllers**](classrobot__dart_1_1Robot.md#variable-_controllers)  <br> |
-|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_dof\_map**](classrobot__dart_1_1Robot.md#variable-_dof_map)  <br> |
-|  bool | [**\_is\_ghost**](classrobot__dart_1_1Robot.md#variable-_is_ghost)  <br> |
-|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_joint\_map**](classrobot__dart_1_1Robot.md#variable-_joint_map)  <br> |
-|  std::string | [**\_model\_filename**](classrobot__dart_1_1Robot.md#variable-_model_filename)  <br> |
-|  std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; | [**\_packages**](classrobot__dart_1_1Robot.md#variable-_packages)  <br> |
-|  std::string | [**\_robot\_name**](classrobot__dart_1_1Robot.md#variable-_robot_name)  <br> |
-|  dart::dynamics::SkeletonPtr | [**\_skeleton**](classrobot__dart_1_1Robot.md#variable-_skeleton)  <br> |
+|  std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; | [**\_axis\_shapes**](#variable-_axis_shapes)  <br> |
+|  bool | [**\_cast\_shadows**](#variable-_cast_shadows)  <br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**\_controllers**](#variable-_controllers)  <br> |
+|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_dof\_map**](#variable-_dof_map)  <br> |
+|  bool | [**\_is\_ghost**](#variable-_is_ghost)  <br> |
+|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_joint\_map**](#variable-_joint_map)  <br> |
+|  std::string | [**\_model\_filename**](#variable-_model_filename)  <br> |
+|  std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; | [**\_packages**](#variable-_packages)  <br> |
+|  std::string | [**\_robot\_name**](#variable-_robot_name)  <br> |
+|  dart::dynamics::SkeletonPtr | [**\_skeleton**](#variable-_skeleton)  <br> |
 
 
 
@@ -335,19 +335,19 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  dart::dynamics::Joint::ActuatorType | [**\_actuator\_type**](classrobot__dart_1_1Robot.md#function-_actuator_type) (size\_t joint\_index) const<br> |
-|  std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; | [**\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_actuator_types) () const<br> |
-|  std::string | [**\_get\_path**](classrobot__dart_1_1Robot.md#function-_get_path) (const std::string & filename) const<br> |
-|  Eigen::MatrixXd | [**\_jacobian**](classrobot__dart_1_1Robot.md#function-_jacobian) (const Eigen::MatrixXd & full\_jacobian, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-|  dart::dynamics::SkeletonPtr | [**\_load\_model**](classrobot__dart_1_1Robot.md#function-_load_model) (const std::string & filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is\_urdf\_string=false) <br> |
-|  Eigen::MatrixXd | [**\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-_mass_matrix) (const Eigen::MatrixXd & full\_mass\_matrix, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-| virtual void | [**\_post\_addition**](classrobot__dart_1_1Robot.md#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
-| virtual void | [**\_post\_removal**](classrobot__dart_1_1Robot.md#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
-|  void | [**\_set\_actuator\_type**](classrobot__dart_1_1Robot.md#function-_set_actuator_type) (size\_t joint\_index, dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_set_actuator_types-12) (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; & types, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_set_actuator_types-22) (dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_color\_mode**](classrobot__dart_1_1Robot.md#function-_set_color_mode-12) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::SkeletonPtr skel) <br> |
-|  void | [**\_set\_color\_mode**](classrobot__dart_1_1Robot.md#function-_set_color_mode-22) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::ShapeNode \* sn) <br> |
+|  dart::dynamics::Joint::ActuatorType | [**\_actuator\_type**](#function-_actuator_type) (size\_t joint\_index) const<br> |
+|  std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; | [**\_actuator\_types**](#function-_actuator_types) () const<br> |
+|  std::string | [**\_get\_path**](#function-_get_path) (const std::string & filename) const<br> |
+|  Eigen::MatrixXd | [**\_jacobian**](#function-_jacobian) (const Eigen::MatrixXd & full\_jacobian, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+|  dart::dynamics::SkeletonPtr | [**\_load\_model**](#function-_load_model) (const std::string & filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is\_urdf\_string=false) <br> |
+|  Eigen::MatrixXd | [**\_mass\_matrix**](#function-_mass_matrix) (const Eigen::MatrixXd & full\_mass\_matrix, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+| virtual void | [**\_post\_addition**](#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
+| virtual void | [**\_post\_removal**](#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
+|  void | [**\_set\_actuator\_type**](#function-_set_actuator_type) (size\_t joint\_index, dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_actuator\_types**](#function-_set_actuator_types-12) (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; & types, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_actuator\_types**](#function-_set_actuator_types-22) (dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_color\_mode**](#function-_set_color_mode-12) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::SkeletonPtr skel) <br> |
+|  void | [**\_set\_color\_mode**](#function-_set_color_mode-22) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::ShapeNode \* sn) <br> |
 
 
 
diff --git a/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Talos.md b/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Talos.md
index 118853c2..62a3e375 100644
--- a/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Talos.md
+++ b/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Talos.md
@@ -95,180 +95,180 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-13) (const std::string & model\_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-23) (const std::string & model\_file, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-33) (dart::dynamics::SkeletonPtr skeleton, const std::string & robot\_name="robot", bool cast\_shadows=true) <br> |
-|  Eigen::VectorXd | [**acceleration\_lower\_limits**](classrobot__dart_1_1Robot.md#function-acceleration_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**acceleration\_upper\_limits**](classrobot__dart_1_1Robot.md#function-acceleration_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**accelerations**](classrobot__dart_1_1Robot.md#function-accelerations) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**active\_controllers**](classrobot__dart_1_1Robot.md#function-active_controllers) () const<br> |
-|  std::string | [**actuator\_type**](classrobot__dart_1_1Robot.md#function-actuator_type) (const std::string & joint\_name) const<br> |
-|  std::vector&lt; std::string &gt; | [**actuator\_types**](classrobot__dart_1_1Robot.md#function-actuator_types) (const std::vector&lt; std::string &gt; & joint\_names={}) const<br> |
-|  void | [**add\_body\_mass**](classrobot__dart_1_1Robot.md#function-add_body_mass-12) (const std::string & body\_name, double mass) <br> |
-|  void | [**add\_body\_mass**](classrobot__dart_1_1Robot.md#function-add_body_mass-22) (size\_t body\_index, double mass) <br> |
-|  void | [**add\_controller**](classrobot__dart_1_1Robot.md#function-add_controller) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller, double weight=1.0) <br> |
-|  void | [**add\_external\_force**](classrobot__dart_1_1Robot.md#function-add_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**add\_external\_force**](classrobot__dart_1_1Robot.md#function-add_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**add\_external\_torque**](classrobot__dart_1_1Robot.md#function-add_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**add\_external\_torque**](classrobot__dart_1_1Robot.md#function-add_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  bool | [**adjacent\_colliding**](classrobot__dart_1_1Robot.md#function-adjacent_colliding) () const<br> |
-|  Eigen::MatrixXd | [**aug\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::Isometry3d | [**base\_pose**](classrobot__dart_1_1Robot.md#function-base_pose) () const<br> |
-|  Eigen::Vector6d | [**base\_pose\_vec**](classrobot__dart_1_1Robot.md#function-base_pose_vec) () const<br> |
-|  Eigen::Vector6d | [**body\_acceleration**](classrobot__dart_1_1Robot.md#function-body_acceleration-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_acceleration**](classrobot__dart_1_1Robot.md#function-body_acceleration-22) (size\_t body\_index) const<br> |
-|  size\_t | [**body\_index**](classrobot__dart_1_1Robot.md#function-body_index) (const std::string & body\_name) const<br> |
-|  double | [**body\_mass**](classrobot__dart_1_1Robot.md#function-body_mass-12) (const std::string & body\_name) const<br> |
-|  double | [**body\_mass**](classrobot__dart_1_1Robot.md#function-body_mass-22) (size\_t body\_index) const<br> |
-|  std::string | [**body\_name**](classrobot__dart_1_1Robot.md#function-body_name) (size\_t body\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**body\_names**](classrobot__dart_1_1Robot.md#function-body_names) () const<br> |
-|  dart::dynamics::BodyNode \* | [**body\_node**](classrobot__dart_1_1Robot.md#function-body_node-12) (const std::string & body\_name) <br> |
-|  dart::dynamics::BodyNode \* | [**body\_node**](classrobot__dart_1_1Robot.md#function-body_node-22) (size\_t body\_index) <br> |
-|  Eigen::Isometry3d | [**body\_pose**](classrobot__dart_1_1Robot.md#function-body_pose-12) (const std::string & body\_name) const<br> |
-|  Eigen::Isometry3d | [**body\_pose**](classrobot__dart_1_1Robot.md#function-body_pose-22) (size\_t body\_index) const<br> |
-|  Eigen::Vector6d | [**body\_pose\_vec**](classrobot__dart_1_1Robot.md#function-body_pose_vec-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_pose\_vec**](classrobot__dart_1_1Robot.md#function-body_pose_vec-22) (size\_t body\_index) const<br> |
-|  Eigen::Vector6d | [**body\_velocity**](classrobot__dart_1_1Robot.md#function-body_velocity-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_velocity**](classrobot__dart_1_1Robot.md#function-body_velocity-22) (size\_t body\_index) const<br> |
-|  bool | [**cast\_shadows**](classrobot__dart_1_1Robot.md#function-cast_shadows) () const<br> |
-|  void | [**clear\_controllers**](classrobot__dart_1_1Robot.md#function-clear_controllers) () <br> |
-|  void | [**clear\_external\_forces**](classrobot__dart_1_1Robot.md#function-clear_external_forces) () <br> |
-|  void | [**clear\_internal\_forces**](classrobot__dart_1_1Robot.md#function-clear_internal_forces) () <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone**](classrobot__dart_1_1Robot.md#function-clone) () const<br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone\_ghost**](classrobot__dart_1_1Robot.md#function-clone_ghost) (const std::string & ghost\_name="ghost", const Eigen::Vector4d & ghost\_color={0.3, 0.3, 0.3, 0.7}) const<br> |
-|  Eigen::Vector3d | [**com**](classrobot__dart_1_1Robot.md#function-com) () const<br> |
-|  Eigen::Vector6d | [**com\_acceleration**](classrobot__dart_1_1Robot.md#function-com_acceleration) () const<br> |
-|  Eigen::MatrixXd | [**com\_jacobian**](classrobot__dart_1_1Robot.md#function-com_jacobian) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**com\_jacobian\_deriv**](classrobot__dart_1_1Robot.md#function-com_jacobian_deriv) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::Vector6d | [**com\_velocity**](classrobot__dart_1_1Robot.md#function-com_velocity) () const<br> |
-|  Eigen::VectorXd | [**commands**](classrobot__dart_1_1Robot.md#function-commands) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**constraint\_forces**](classrobot__dart_1_1Robot.md#function-constraint_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**controller**](classrobot__dart_1_1Robot.md#function-controller) (size\_t index) const<br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**controllers**](classrobot__dart_1_1Robot.md#function-controllers) () const<br> |
-|  Eigen::VectorXd | [**coriolis\_forces**](classrobot__dart_1_1Robot.md#function-coriolis_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**coriolis\_gravity\_forces**](classrobot__dart_1_1Robot.md#function-coriolis_gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; double &gt; | [**coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-coulomb_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; double &gt; | [**damping\_coeffs**](classrobot__dart_1_1Robot.md#function-damping_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  dart::dynamics::DegreeOfFreedom \* | [**dof**](classrobot__dart_1_1Robot.md#function-dof-12) (const std::string & dof\_name) <br> |
-|  dart::dynamics::DegreeOfFreedom \* | [**dof**](classrobot__dart_1_1Robot.md#function-dof-22) (size\_t dof\_index) <br> |
-|  size\_t | [**dof\_index**](classrobot__dart_1_1Robot.md#function-dof_index) (const std::string & dof\_name) const<br> |
-|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**dof\_map**](classrobot__dart_1_1Robot.md#function-dof_map) () const<br> |
-|  std::string | [**dof\_name**](classrobot__dart_1_1Robot.md#function-dof_name) (size\_t dof\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**dof\_names**](classrobot__dart_1_1Robot.md#function-dof_names) (bool filter\_mimics=false, bool filter\_locked=false, bool filter\_passive=false) const<br> |
-|  const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; & | [**drawing\_axes**](classrobot__dart_1_1Robot.md#function-drawing_axes) () const<br> |
-|  Eigen::Vector6d | [**external\_forces**](classrobot__dart_1_1Robot.md#function-external_forces-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**external\_forces**](classrobot__dart_1_1Robot.md#function-external_forces-22) (size\_t body\_index) const<br> |
-|  void | [**fix\_to\_world**](classrobot__dart_1_1Robot.md#function-fix_to_world) () <br> |
-|  bool | [**fixed**](classrobot__dart_1_1Robot.md#function-fixed) () const<br> |
-|  Eigen::VectorXd | [**force\_lower\_limits**](classrobot__dart_1_1Robot.md#function-force_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**force\_position\_bounds**](classrobot__dart_1_1Robot.md#function-force_position_bounds) () <br> |
-|  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; | [**force\_torque**](classrobot__dart_1_1Robot.md#function-force_torque) (size\_t joint\_index) const<br> |
-|  Eigen::VectorXd | [**force\_upper\_limits**](classrobot__dart_1_1Robot.md#function-force_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**forces**](classrobot__dart_1_1Robot.md#function-forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  bool | [**free**](classrobot__dart_1_1Robot.md#function-free) () const<br> |
-|  void | [**free\_from\_world**](classrobot__dart_1_1Robot.md#function-free_from_world) (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) <br> |
-|  double | [**friction\_coeff**](classrobot__dart_1_1Robot.md#function-friction_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**friction\_coeff**](classrobot__dart_1_1Robot.md#function-friction_coeff-22) (size\_t body\_index) <br> |
-|  Eigen::Vector3d | [**friction\_dir**](classrobot__dart_1_1Robot.md#function-friction_dir-12) (const std::string & body\_name) <br> |
-|  Eigen::Vector3d | [**friction\_dir**](classrobot__dart_1_1Robot.md#function-friction_dir-22) (size\_t body\_index) <br> |
-|  bool | [**ghost**](classrobot__dart_1_1Robot.md#function-ghost) () const<br> |
-|  Eigen::VectorXd | [**gravity\_forces**](classrobot__dart_1_1Robot.md#function-gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**inv\_aug\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-inv_aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**inv\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-inv_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**jacobian**](classrobot__dart_1_1Robot.md#function-jacobian) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**jacobian\_deriv**](classrobot__dart_1_1Robot.md#function-jacobian_deriv) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  dart::dynamics::Joint \* | [**joint**](classrobot__dart_1_1Robot.md#function-joint-12) (const std::string & joint\_name) <br> |
-|  dart::dynamics::Joint \* | [**joint**](classrobot__dart_1_1Robot.md#function-joint-22) (size\_t joint\_index) <br> |
-|  size\_t | [**joint\_index**](classrobot__dart_1_1Robot.md#function-joint_index) (const std::string & joint\_name) const<br> |
-|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**joint\_map**](classrobot__dart_1_1Robot.md#function-joint_map) () const<br> |
-|  std::string | [**joint\_name**](classrobot__dart_1_1Robot.md#function-joint_name) (size\_t joint\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**joint\_names**](classrobot__dart_1_1Robot.md#function-joint_names) () const<br> |
-|  std::vector&lt; std::string &gt; | [**locked\_dof\_names**](classrobot__dart_1_1Robot.md#function-locked_dof_names) () const<br> |
-|  Eigen::MatrixXd | [**mass\_matrix**](classrobot__dart_1_1Robot.md#function-mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; std::string &gt; | [**mimic\_dof\_names**](classrobot__dart_1_1Robot.md#function-mimic_dof_names) () const<br> |
-|  const std::string & | [**model\_filename**](classrobot__dart_1_1Robot.md#function-model_filename) () const<br> |
-|  const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & | [**model\_packages**](classrobot__dart_1_1Robot.md#function-model_packages) () const<br> |
-|  const std::string & | [**name**](classrobot__dart_1_1Robot.md#function-name) () const<br> |
-|  size\_t | [**num\_bodies**](classrobot__dart_1_1Robot.md#function-num_bodies) () const<br> |
-|  size\_t | [**num\_controllers**](classrobot__dart_1_1Robot.md#function-num_controllers) () const<br> |
-|  size\_t | [**num\_dofs**](classrobot__dart_1_1Robot.md#function-num_dofs) () const<br> |
-|  size\_t | [**num\_joints**](classrobot__dart_1_1Robot.md#function-num_joints) () const<br> |
-|  std::vector&lt; std::string &gt; | [**passive\_dof\_names**](classrobot__dart_1_1Robot.md#function-passive_dof_names) () const<br> |
-|  std::vector&lt; bool &gt; | [**position\_enforced**](classrobot__dart_1_1Robot.md#function-position_enforced) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**position\_lower\_limits**](classrobot__dart_1_1Robot.md#function-position_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**position\_upper\_limits**](classrobot__dart_1_1Robot.md#function-position_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**positions**](classrobot__dart_1_1Robot.md#function-positions) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**reinit\_controllers**](classrobot__dart_1_1Robot.md#function-reinit_controllers) () <br> |
-|  void | [**remove\_all\_drawing\_axis**](classrobot__dart_1_1Robot.md#function-remove_all_drawing_axis) () <br> |
-|  void | [**remove\_controller**](classrobot__dart_1_1Robot.md#function-remove_controller-12) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller) <br> |
-|  void | [**remove\_controller**](classrobot__dart_1_1Robot.md#function-remove_controller-22) (size\_t index) <br> |
-| virtual void | [**reset**](classrobot__dart_1_1Robot.md#function-reset) () <br> |
-|  void | [**reset\_commands**](classrobot__dart_1_1Robot.md#function-reset_commands) () <br> |
-|  double | [**restitution\_coeff**](classrobot__dart_1_1Robot.md#function-restitution_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**restitution\_coeff**](classrobot__dart_1_1Robot.md#function-restitution_coeff-22) (size\_t body\_index) <br> |
-|  double | [**secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-secondary_friction_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-secondary_friction_coeff-22) (size\_t body\_index) <br> |
-|  bool | [**self\_colliding**](classrobot__dart_1_1Robot.md#function-self_colliding) () const<br> |
-|  void | [**set\_acceleration\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_acceleration_lower_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_acceleration\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_acceleration_upper_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_accelerations**](classrobot__dart_1_1Robot.md#function-set_accelerations) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_actuator\_type**](classrobot__dart_1_1Robot.md#function-set_actuator_type) (const std::string & type, const std::string & joint\_name, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-set_actuator_types) (const std::string & type, const std::vector&lt; std::string &gt; & joint\_names={}, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**set\_base\_pose**](classrobot__dart_1_1Robot.md#function-set_base_pose-12) (const Eigen::Isometry3d & tf) <br> |
-|  void | [**set\_base\_pose**](classrobot__dart_1_1Robot.md#function-set_base_pose-22) (const Eigen::Vector6d & pose) <br>_set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)_  |
-|  void | [**set\_body\_mass**](classrobot__dart_1_1Robot.md#function-set_body_mass-12) (const std::string & body\_name, double mass) <br> |
-|  void | [**set\_body\_mass**](classrobot__dart_1_1Robot.md#function-set_body_mass-22) (size\_t body\_index, double mass) <br> |
-|  void | [**set\_body\_name**](classrobot__dart_1_1Robot.md#function-set_body_name) (size\_t body\_index, const std::string & body\_name) <br> |
-|  void | [**set\_cast\_shadows**](classrobot__dart_1_1Robot.md#function-set_cast_shadows) (bool cast\_shadows=true) <br> |
-|  void | [**set\_color\_mode**](classrobot__dart_1_1Robot.md#function-set_color_mode-12) (const std::string & color\_mode) <br> |
-|  void | [**set\_color\_mode**](classrobot__dart_1_1Robot.md#function-set_color_mode-22) (const std::string & color\_mode, const std::string & body\_name) <br> |
-|  void | [**set\_commands**](classrobot__dart_1_1Robot.md#function-set_commands) (const Eigen::VectorXd & commands, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-set_coulomb_coeffs-12) (const std::vector&lt; double &gt; & cfrictions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-set_coulomb_coeffs-22) (double cfriction, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_damping\_coeffs**](classrobot__dart_1_1Robot.md#function-set_damping_coeffs-12) (const std::vector&lt; double &gt; & damps, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_damping\_coeffs**](classrobot__dart_1_1Robot.md#function-set_damping_coeffs-22) (double damp, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_draw\_axis**](classrobot__dart_1_1Robot.md#function-set_draw_axis) (const std::string & body\_name, double size=0.25) <br> |
-|  void | [**set\_external\_force**](classrobot__dart_1_1Robot.md#function-set_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**set\_external\_force**](classrobot__dart_1_1Robot.md#function-set_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**set\_external\_torque**](classrobot__dart_1_1Robot.md#function-set_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**set\_external\_torque**](classrobot__dart_1_1Robot.md#function-set_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**set\_force\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_force_lower_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_force\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_force_upper_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_forces**](classrobot__dart_1_1Robot.md#function-set_forces) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_friction_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_friction_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_friction\_coeffs**](classrobot__dart_1_1Robot.md#function-set_friction_coeffs) (double value) <br> |
-|  void | [**set\_friction\_dir**](classrobot__dart_1_1Robot.md#function-set_friction_dir-12) (const std::string & body\_name, const Eigen::Vector3d & direction) <br> |
-|  void | [**set\_friction\_dir**](classrobot__dart_1_1Robot.md#function-set_friction_dir-22) (size\_t body\_index, const Eigen::Vector3d & direction) <br> |
-|  void | [**set\_ghost**](classrobot__dart_1_1Robot.md#function-set_ghost) (bool ghost=true) <br> |
-|  void | [**set\_joint\_name**](classrobot__dart_1_1Robot.md#function-set_joint_name) (size\_t joint\_index, const std::string & joint\_name) <br> |
-|  void | [**set\_mimic**](classrobot__dart_1_1Robot.md#function-set_mimic) (const std::string & joint\_name, const std::string & mimic\_joint\_name, double multiplier=1., double offset=0.) <br> |
-|  void | [**set\_position\_enforced**](classrobot__dart_1_1Robot.md#function-set_position_enforced-12) (const std::vector&lt; bool &gt; & enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_enforced**](classrobot__dart_1_1Robot.md#function-set_position_enforced-22) (bool enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_position_lower_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_position_upper_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_positions**](classrobot__dart_1_1Robot.md#function-set_positions) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_restitution\_coeff**](classrobot__dart_1_1Robot.md#function-set_restitution_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_restitution\_coeff**](classrobot__dart_1_1Robot.md#function-set_restitution_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_restitution\_coeffs**](classrobot__dart_1_1Robot.md#function-set_restitution_coeffs) (double value) <br> |
-|  void | [**set\_secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_secondary\_friction\_coeffs**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeffs) (double value) <br> |
-|  void | [**set\_self\_collision**](classrobot__dart_1_1Robot.md#function-set_self_collision) (bool enable\_self\_collisions=true, bool enable\_adjacent\_collisions=false) <br> |
-|  void | [**set\_spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-set_spring_stiffnesses-12) (const std::vector&lt; double &gt; & stiffnesses, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-set_spring_stiffnesses-22) (double stiffness, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocities**](classrobot__dart_1_1Robot.md#function-set_velocities) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocity\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_velocity_lower_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocity\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_velocity_upper_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  dart::dynamics::SkeletonPtr | [**skeleton**](classrobot__dart_1_1Robot.md#function-skeleton) () <br> |
-|  std::vector&lt; double &gt; | [**spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-spring_stiffnesses) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**update**](classrobot__dart_1_1Robot.md#function-update) (double t) <br> |
-|  void | [**update\_joint\_dof\_maps**](classrobot__dart_1_1Robot.md#function-update_joint_dof_maps) () <br> |
-|  Eigen::VectorXd | [**vec\_dof**](classrobot__dart_1_1Robot.md#function-vec_dof) (const Eigen::VectorXd & vec, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-|  Eigen::VectorXd | [**velocities**](classrobot__dart_1_1Robot.md#function-velocities) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**velocity\_lower\_limits**](classrobot__dart_1_1Robot.md#function-velocity_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**velocity\_upper\_limits**](classrobot__dart_1_1Robot.md#function-velocity_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-| virtual  | [**~Robot**](classrobot__dart_1_1Robot.md#function-robot) () <br> |
+|   | [**Robot**](#function-robot-13) (const std::string & model\_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
+|   | [**Robot**](#function-robot-23) (const std::string & model\_file, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
+|   | [**Robot**](#function-robot-33) (dart::dynamics::SkeletonPtr skeleton, const std::string & robot\_name="robot", bool cast\_shadows=true) <br> |
+|  Eigen::VectorXd | [**acceleration\_lower\_limits**](#function-acceleration_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**acceleration\_upper\_limits**](#function-acceleration_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**accelerations**](#function-accelerations) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**active\_controllers**](#function-active_controllers) () const<br> |
+|  std::string | [**actuator\_type**](#function-actuator_type) (const std::string & joint\_name) const<br> |
+|  std::vector&lt; std::string &gt; | [**actuator\_types**](#function-actuator_types) (const std::vector&lt; std::string &gt; & joint\_names={}) const<br> |
+|  void | [**add\_body\_mass**](#function-add_body_mass-12) (const std::string & body\_name, double mass) <br> |
+|  void | [**add\_body\_mass**](#function-add_body_mass-22) (size\_t body\_index, double mass) <br> |
+|  void | [**add\_controller**](#function-add_controller) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller, double weight=1.0) <br> |
+|  void | [**add\_external\_force**](#function-add_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**add\_external\_force**](#function-add_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**add\_external\_torque**](#function-add_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**add\_external\_torque**](#function-add_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  bool | [**adjacent\_colliding**](#function-adjacent_colliding) () const<br> |
+|  Eigen::MatrixXd | [**aug\_mass\_matrix**](#function-aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::Isometry3d | [**base\_pose**](#function-base_pose) () const<br> |
+|  Eigen::Vector6d | [**base\_pose\_vec**](#function-base_pose_vec) () const<br> |
+|  Eigen::Vector6d | [**body\_acceleration**](#function-body_acceleration-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_acceleration**](#function-body_acceleration-22) (size\_t body\_index) const<br> |
+|  size\_t | [**body\_index**](#function-body_index) (const std::string & body\_name) const<br> |
+|  double | [**body\_mass**](#function-body_mass-12) (const std::string & body\_name) const<br> |
+|  double | [**body\_mass**](#function-body_mass-22) (size\_t body\_index) const<br> |
+|  std::string | [**body\_name**](#function-body_name) (size\_t body\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**body\_names**](#function-body_names) () const<br> |
+|  dart::dynamics::BodyNode \* | [**body\_node**](#function-body_node-12) (const std::string & body\_name) <br> |
+|  dart::dynamics::BodyNode \* | [**body\_node**](#function-body_node-22) (size\_t body\_index) <br> |
+|  Eigen::Isometry3d | [**body\_pose**](#function-body_pose-12) (const std::string & body\_name) const<br> |
+|  Eigen::Isometry3d | [**body\_pose**](#function-body_pose-22) (size\_t body\_index) const<br> |
+|  Eigen::Vector6d | [**body\_pose\_vec**](#function-body_pose_vec-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_pose\_vec**](#function-body_pose_vec-22) (size\_t body\_index) const<br> |
+|  Eigen::Vector6d | [**body\_velocity**](#function-body_velocity-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_velocity**](#function-body_velocity-22) (size\_t body\_index) const<br> |
+|  bool | [**cast\_shadows**](#function-cast_shadows) () const<br> |
+|  void | [**clear\_controllers**](#function-clear_controllers) () <br> |
+|  void | [**clear\_external\_forces**](#function-clear_external_forces) () <br> |
+|  void | [**clear\_internal\_forces**](#function-clear_internal_forces) () <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone**](#function-clone) () const<br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone\_ghost**](#function-clone_ghost) (const std::string & ghost\_name="ghost", const Eigen::Vector4d & ghost\_color={0.3, 0.3, 0.3, 0.7}) const<br> |
+|  Eigen::Vector3d | [**com**](#function-com) () const<br> |
+|  Eigen::Vector6d | [**com\_acceleration**](#function-com_acceleration) () const<br> |
+|  Eigen::MatrixXd | [**com\_jacobian**](#function-com_jacobian) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**com\_jacobian\_deriv**](#function-com_jacobian_deriv) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::Vector6d | [**com\_velocity**](#function-com_velocity) () const<br> |
+|  Eigen::VectorXd | [**commands**](#function-commands) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**constraint\_forces**](#function-constraint_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**controller**](#function-controller) (size\_t index) const<br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**controllers**](#function-controllers) () const<br> |
+|  Eigen::VectorXd | [**coriolis\_forces**](#function-coriolis_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**coriolis\_gravity\_forces**](#function-coriolis_gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; double &gt; | [**coulomb\_coeffs**](#function-coulomb_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; double &gt; | [**damping\_coeffs**](#function-damping_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  dart::dynamics::DegreeOfFreedom \* | [**dof**](#function-dof-12) (const std::string & dof\_name) <br> |
+|  dart::dynamics::DegreeOfFreedom \* | [**dof**](#function-dof-22) (size\_t dof\_index) <br> |
+|  size\_t | [**dof\_index**](#function-dof_index) (const std::string & dof\_name) const<br> |
+|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**dof\_map**](#function-dof_map) () const<br> |
+|  std::string | [**dof\_name**](#function-dof_name) (size\_t dof\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**dof\_names**](#function-dof_names) (bool filter\_mimics=false, bool filter\_locked=false, bool filter\_passive=false) const<br> |
+|  const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; & | [**drawing\_axes**](#function-drawing_axes) () const<br> |
+|  Eigen::Vector6d | [**external\_forces**](#function-external_forces-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**external\_forces**](#function-external_forces-22) (size\_t body\_index) const<br> |
+|  void | [**fix\_to\_world**](#function-fix_to_world) () <br> |
+|  bool | [**fixed**](#function-fixed) () const<br> |
+|  Eigen::VectorXd | [**force\_lower\_limits**](#function-force_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**force\_position\_bounds**](#function-force_position_bounds) () <br> |
+|  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; | [**force\_torque**](#function-force_torque) (size\_t joint\_index) const<br> |
+|  Eigen::VectorXd | [**force\_upper\_limits**](#function-force_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**forces**](#function-forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  bool | [**free**](#function-free) () const<br> |
+|  void | [**free\_from\_world**](#function-free_from_world) (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) <br> |
+|  double | [**friction\_coeff**](#function-friction_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**friction\_coeff**](#function-friction_coeff-22) (size\_t body\_index) <br> |
+|  Eigen::Vector3d | [**friction\_dir**](#function-friction_dir-12) (const std::string & body\_name) <br> |
+|  Eigen::Vector3d | [**friction\_dir**](#function-friction_dir-22) (size\_t body\_index) <br> |
+|  bool | [**ghost**](#function-ghost) () const<br> |
+|  Eigen::VectorXd | [**gravity\_forces**](#function-gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**inv\_aug\_mass\_matrix**](#function-inv_aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**inv\_mass\_matrix**](#function-inv_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**jacobian**](#function-jacobian) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**jacobian\_deriv**](#function-jacobian_deriv) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  dart::dynamics::Joint \* | [**joint**](#function-joint-12) (const std::string & joint\_name) <br> |
+|  dart::dynamics::Joint \* | [**joint**](#function-joint-22) (size\_t joint\_index) <br> |
+|  size\_t | [**joint\_index**](#function-joint_index) (const std::string & joint\_name) const<br> |
+|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**joint\_map**](#function-joint_map) () const<br> |
+|  std::string | [**joint\_name**](#function-joint_name) (size\_t joint\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**joint\_names**](#function-joint_names) () const<br> |
+|  std::vector&lt; std::string &gt; | [**locked\_dof\_names**](#function-locked_dof_names) () const<br> |
+|  Eigen::MatrixXd | [**mass\_matrix**](#function-mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; std::string &gt; | [**mimic\_dof\_names**](#function-mimic_dof_names) () const<br> |
+|  const std::string & | [**model\_filename**](#function-model_filename) () const<br> |
+|  const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & | [**model\_packages**](#function-model_packages) () const<br> |
+|  const std::string & | [**name**](#function-name) () const<br> |
+|  size\_t | [**num\_bodies**](#function-num_bodies) () const<br> |
+|  size\_t | [**num\_controllers**](#function-num_controllers) () const<br> |
+|  size\_t | [**num\_dofs**](#function-num_dofs) () const<br> |
+|  size\_t | [**num\_joints**](#function-num_joints) () const<br> |
+|  std::vector&lt; std::string &gt; | [**passive\_dof\_names**](#function-passive_dof_names) () const<br> |
+|  std::vector&lt; bool &gt; | [**position\_enforced**](#function-position_enforced) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**position\_lower\_limits**](#function-position_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**position\_upper\_limits**](#function-position_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**positions**](#function-positions) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**reinit\_controllers**](#function-reinit_controllers) () <br> |
+|  void | [**remove\_all\_drawing\_axis**](#function-remove_all_drawing_axis) () <br> |
+|  void | [**remove\_controller**](#function-remove_controller-12) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller) <br> |
+|  void | [**remove\_controller**](#function-remove_controller-22) (size\_t index) <br> |
+| virtual void | [**reset**](#function-reset) () <br> |
+|  void | [**reset\_commands**](#function-reset_commands) () <br> |
+|  double | [**restitution\_coeff**](#function-restitution_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**restitution\_coeff**](#function-restitution_coeff-22) (size\_t body\_index) <br> |
+|  double | [**secondary\_friction\_coeff**](#function-secondary_friction_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**secondary\_friction\_coeff**](#function-secondary_friction_coeff-22) (size\_t body\_index) <br> |
+|  bool | [**self\_colliding**](#function-self_colliding) () const<br> |
+|  void | [**set\_acceleration\_lower\_limits**](#function-set_acceleration_lower_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_acceleration\_upper\_limits**](#function-set_acceleration_upper_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_accelerations**](#function-set_accelerations) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_actuator\_type**](#function-set_actuator_type) (const std::string & type, const std::string & joint\_name, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**set\_actuator\_types**](#function-set_actuator_types) (const std::string & type, const std::vector&lt; std::string &gt; & joint\_names={}, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**set\_base\_pose**](#function-set_base_pose-12) (const Eigen::Isometry3d & tf) <br> |
+|  void | [**set\_base\_pose**](#function-set_base_pose-22) (const Eigen::Vector6d & pose) <br>_set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)_  |
+|  void | [**set\_body\_mass**](#function-set_body_mass-12) (const std::string & body\_name, double mass) <br> |
+|  void | [**set\_body\_mass**](#function-set_body_mass-22) (size\_t body\_index, double mass) <br> |
+|  void | [**set\_body\_name**](#function-set_body_name) (size\_t body\_index, const std::string & body\_name) <br> |
+|  void | [**set\_cast\_shadows**](#function-set_cast_shadows) (bool cast\_shadows=true) <br> |
+|  void | [**set\_color\_mode**](#function-set_color_mode-12) (const std::string & color\_mode) <br> |
+|  void | [**set\_color\_mode**](#function-set_color_mode-22) (const std::string & color\_mode, const std::string & body\_name) <br> |
+|  void | [**set\_commands**](#function-set_commands) (const Eigen::VectorXd & commands, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_coulomb\_coeffs**](#function-set_coulomb_coeffs-12) (const std::vector&lt; double &gt; & cfrictions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_coulomb\_coeffs**](#function-set_coulomb_coeffs-22) (double cfriction, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_damping\_coeffs**](#function-set_damping_coeffs-12) (const std::vector&lt; double &gt; & damps, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_damping\_coeffs**](#function-set_damping_coeffs-22) (double damp, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_draw\_axis**](#function-set_draw_axis) (const std::string & body\_name, double size=0.25) <br> |
+|  void | [**set\_external\_force**](#function-set_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**set\_external\_force**](#function-set_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**set\_external\_torque**](#function-set_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**set\_external\_torque**](#function-set_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**set\_force\_lower\_limits**](#function-set_force_lower_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_force\_upper\_limits**](#function-set_force_upper_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_forces**](#function-set_forces) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_friction\_coeff**](#function-set_friction_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_friction\_coeff**](#function-set_friction_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_friction\_coeffs**](#function-set_friction_coeffs) (double value) <br> |
+|  void | [**set\_friction\_dir**](#function-set_friction_dir-12) (const std::string & body\_name, const Eigen::Vector3d & direction) <br> |
+|  void | [**set\_friction\_dir**](#function-set_friction_dir-22) (size\_t body\_index, const Eigen::Vector3d & direction) <br> |
+|  void | [**set\_ghost**](#function-set_ghost) (bool ghost=true) <br> |
+|  void | [**set\_joint\_name**](#function-set_joint_name) (size\_t joint\_index, const std::string & joint\_name) <br> |
+|  void | [**set\_mimic**](#function-set_mimic) (const std::string & joint\_name, const std::string & mimic\_joint\_name, double multiplier=1., double offset=0.) <br> |
+|  void | [**set\_position\_enforced**](#function-set_position_enforced-12) (const std::vector&lt; bool &gt; & enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_enforced**](#function-set_position_enforced-22) (bool enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_lower\_limits**](#function-set_position_lower_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_upper\_limits**](#function-set_position_upper_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_positions**](#function-set_positions) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_restitution\_coeff**](#function-set_restitution_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_restitution\_coeff**](#function-set_restitution_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_restitution\_coeffs**](#function-set_restitution_coeffs) (double value) <br> |
+|  void | [**set\_secondary\_friction\_coeff**](#function-set_secondary_friction_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_secondary\_friction\_coeff**](#function-set_secondary_friction_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_secondary\_friction\_coeffs**](#function-set_secondary_friction_coeffs) (double value) <br> |
+|  void | [**set\_self\_collision**](#function-set_self_collision) (bool enable\_self\_collisions=true, bool enable\_adjacent\_collisions=false) <br> |
+|  void | [**set\_spring\_stiffnesses**](#function-set_spring_stiffnesses-12) (const std::vector&lt; double &gt; & stiffnesses, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_spring\_stiffnesses**](#function-set_spring_stiffnesses-22) (double stiffness, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocities**](#function-set_velocities) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocity\_lower\_limits**](#function-set_velocity_lower_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocity\_upper\_limits**](#function-set_velocity_upper_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  dart::dynamics::SkeletonPtr | [**skeleton**](#function-skeleton) () <br> |
+|  std::vector&lt; double &gt; | [**spring\_stiffnesses**](#function-spring_stiffnesses) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**update**](#function-update) (double t) <br> |
+|  void | [**update\_joint\_dof\_maps**](#function-update_joint_dof_maps) () <br> |
+|  Eigen::VectorXd | [**vec\_dof**](#function-vec_dof) (const Eigen::VectorXd & vec, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+|  Eigen::VectorXd | [**velocities**](#function-velocities) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**velocity\_lower\_limits**](#function-velocity_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**velocity\_upper\_limits**](#function-velocity_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+| virtual  | [**~Robot**](#function-robot) () <br> |
 
 
 
@@ -279,10 +279,10 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](classrobot__dart_1_1Robot.md#function-create_box-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](classrobot__dart_1_1Robot.md#function-create_box-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](classrobot__dart_1_1Robot.md#function-create_ellipsoid-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](classrobot__dart_1_1Robot.md#function-create_ellipsoid-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](#function-create_box-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](#function-create_box-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](#function-create_ellipsoid-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](#function-create_ellipsoid-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
 
 
 
@@ -312,16 +312,16 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; | [**\_axis\_shapes**](classrobot__dart_1_1Robot.md#variable-_axis_shapes)  <br> |
-|  bool | [**\_cast\_shadows**](classrobot__dart_1_1Robot.md#variable-_cast_shadows)  <br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**\_controllers**](classrobot__dart_1_1Robot.md#variable-_controllers)  <br> |
-|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_dof\_map**](classrobot__dart_1_1Robot.md#variable-_dof_map)  <br> |
-|  bool | [**\_is\_ghost**](classrobot__dart_1_1Robot.md#variable-_is_ghost)  <br> |
-|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_joint\_map**](classrobot__dart_1_1Robot.md#variable-_joint_map)  <br> |
-|  std::string | [**\_model\_filename**](classrobot__dart_1_1Robot.md#variable-_model_filename)  <br> |
-|  std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; | [**\_packages**](classrobot__dart_1_1Robot.md#variable-_packages)  <br> |
-|  std::string | [**\_robot\_name**](classrobot__dart_1_1Robot.md#variable-_robot_name)  <br> |
-|  dart::dynamics::SkeletonPtr | [**\_skeleton**](classrobot__dart_1_1Robot.md#variable-_skeleton)  <br> |
+|  std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; | [**\_axis\_shapes**](#variable-_axis_shapes)  <br> |
+|  bool | [**\_cast\_shadows**](#variable-_cast_shadows)  <br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**\_controllers**](#variable-_controllers)  <br> |
+|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_dof\_map**](#variable-_dof_map)  <br> |
+|  bool | [**\_is\_ghost**](#variable-_is_ghost)  <br> |
+|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_joint\_map**](#variable-_joint_map)  <br> |
+|  std::string | [**\_model\_filename**](#variable-_model_filename)  <br> |
+|  std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; | [**\_packages**](#variable-_packages)  <br> |
+|  std::string | [**\_robot\_name**](#variable-_robot_name)  <br> |
+|  dart::dynamics::SkeletonPtr | [**\_skeleton**](#variable-_skeleton)  <br> |
 
 
 
@@ -366,19 +366,19 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  dart::dynamics::Joint::ActuatorType | [**\_actuator\_type**](classrobot__dart_1_1Robot.md#function-_actuator_type) (size\_t joint\_index) const<br> |
-|  std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; | [**\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_actuator_types) () const<br> |
-|  std::string | [**\_get\_path**](classrobot__dart_1_1Robot.md#function-_get_path) (const std::string & filename) const<br> |
-|  Eigen::MatrixXd | [**\_jacobian**](classrobot__dart_1_1Robot.md#function-_jacobian) (const Eigen::MatrixXd & full\_jacobian, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-|  dart::dynamics::SkeletonPtr | [**\_load\_model**](classrobot__dart_1_1Robot.md#function-_load_model) (const std::string & filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is\_urdf\_string=false) <br> |
-|  Eigen::MatrixXd | [**\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-_mass_matrix) (const Eigen::MatrixXd & full\_mass\_matrix, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-| virtual void | [**\_post\_addition**](classrobot__dart_1_1Robot.md#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
-| virtual void | [**\_post\_removal**](classrobot__dart_1_1Robot.md#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
-|  void | [**\_set\_actuator\_type**](classrobot__dart_1_1Robot.md#function-_set_actuator_type) (size\_t joint\_index, dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_set_actuator_types-12) (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; & types, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_set_actuator_types-22) (dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_color\_mode**](classrobot__dart_1_1Robot.md#function-_set_color_mode-12) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::SkeletonPtr skel) <br> |
-|  void | [**\_set\_color\_mode**](classrobot__dart_1_1Robot.md#function-_set_color_mode-22) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::ShapeNode \* sn) <br> |
+|  dart::dynamics::Joint::ActuatorType | [**\_actuator\_type**](#function-_actuator_type) (size\_t joint\_index) const<br> |
+|  std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; | [**\_actuator\_types**](#function-_actuator_types) () const<br> |
+|  std::string | [**\_get\_path**](#function-_get_path) (const std::string & filename) const<br> |
+|  Eigen::MatrixXd | [**\_jacobian**](#function-_jacobian) (const Eigen::MatrixXd & full\_jacobian, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+|  dart::dynamics::SkeletonPtr | [**\_load\_model**](#function-_load_model) (const std::string & filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is\_urdf\_string=false) <br> |
+|  Eigen::MatrixXd | [**\_mass\_matrix**](#function-_mass_matrix) (const Eigen::MatrixXd & full\_mass\_matrix, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+| virtual void | [**\_post\_addition**](#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
+| virtual void | [**\_post\_removal**](#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
+|  void | [**\_set\_actuator\_type**](#function-_set_actuator_type) (size\_t joint\_index, dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_actuator\_types**](#function-_set_actuator_types-12) (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; & types, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_actuator\_types**](#function-_set_actuator_types-22) (dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_color\_mode**](#function-_set_color_mode-12) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::SkeletonPtr skel) <br> |
+|  void | [**\_set\_color\_mode**](#function-_set_color_mode-22) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::ShapeNode \* sn) <br> |
 
 
 
diff --git a/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1TalosFastCollision.md b/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1TalosFastCollision.md
index 80dc60c4..bbe58daf 100644
--- a/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1TalosFastCollision.md
+++ b/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1TalosFastCollision.md
@@ -36,7 +36,7 @@ See [robot\_dart::robots::Talos](classrobot__dart_1_1robots_1_1Talos.md)
 
 | Type | Name |
 | ---: | :--- |
-| typedef std::unordered\_map&lt; std::string, std::shared\_ptr&lt; [**sensor::Torque**](classrobot__dart_1_1sensor_1_1Torque.md) &gt; &gt; | [**torque\_map\_t**](classrobot__dart_1_1robots_1_1Talos.md#typedef-torque_map_t)  <br> |
+| typedef std::unordered\_map&lt; std::string, std::shared\_ptr&lt; [**sensor::Torque**](classrobot__dart_1_1sensor_1_1Torque.md) &gt; &gt; | [**torque\_map\_t**](#typedef-torque_map_t)  <br> |
 
 
 
@@ -108,14 +108,14 @@ See [robot\_dart::robots::Talos](classrobot__dart_1_1robots_1_1Talos.md)
 
 | Type | Name |
 | ---: | :--- |
-|   | [**Talos**](classrobot__dart_1_1robots_1_1Talos.md#function-talos) (size\_t frequency=1000, const std::string & urdf="talos/talos.urdf", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages={{"talos\_description", "talos/talos\_description"}}) <br> |
-|  const [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) & | [**ft\_foot\_left**](classrobot__dart_1_1robots_1_1Talos.md#function-ft_foot_left) () const<br> |
-|  const [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) & | [**ft\_foot\_right**](classrobot__dart_1_1robots_1_1Talos.md#function-ft_foot_right) () const<br> |
-|  const [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) & | [**ft\_wrist\_left**](classrobot__dart_1_1robots_1_1Talos.md#function-ft_wrist_left) () const<br> |
-|  const [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) & | [**ft\_wrist\_right**](classrobot__dart_1_1robots_1_1Talos.md#function-ft_wrist_right) () const<br> |
-|  const [**sensor::IMU**](classrobot__dart_1_1sensor_1_1IMU.md) & | [**imu**](classrobot__dart_1_1robots_1_1Talos.md#function-imu) () const<br> |
-| virtual void | [**reset**](classrobot__dart_1_1robots_1_1Talos.md#function-reset) () override<br> |
-|  const torque\_map\_t & | [**torques**](classrobot__dart_1_1robots_1_1Talos.md#function-torques) () const<br> |
+|   | [**Talos**](#function-talos) (size\_t frequency=1000, const std::string & urdf="talos/talos.urdf", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages={{"talos\_description", "talos/talos\_description"}}) <br> |
+|  const [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) & | [**ft\_foot\_left**](#function-ft_foot_left) () const<br> |
+|  const [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) & | [**ft\_foot\_right**](#function-ft_foot_right) () const<br> |
+|  const [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) & | [**ft\_wrist\_left**](#function-ft_wrist_left) () const<br> |
+|  const [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) & | [**ft\_wrist\_right**](#function-ft_wrist_right) () const<br> |
+|  const [**sensor::IMU**](classrobot__dart_1_1sensor_1_1IMU.md) & | [**imu**](#function-imu) () const<br> |
+| virtual void | [**reset**](#function-reset) () override<br> |
+|  const torque\_map\_t & | [**torques**](#function-torques) () const<br> |
 
 
 ## Public Functions inherited from robot_dart::Robot
@@ -124,180 +124,180 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-13) (const std::string & model\_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-23) (const std::string & model\_file, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-33) (dart::dynamics::SkeletonPtr skeleton, const std::string & robot\_name="robot", bool cast\_shadows=true) <br> |
-|  Eigen::VectorXd | [**acceleration\_lower\_limits**](classrobot__dart_1_1Robot.md#function-acceleration_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**acceleration\_upper\_limits**](classrobot__dart_1_1Robot.md#function-acceleration_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**accelerations**](classrobot__dart_1_1Robot.md#function-accelerations) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**active\_controllers**](classrobot__dart_1_1Robot.md#function-active_controllers) () const<br> |
-|  std::string | [**actuator\_type**](classrobot__dart_1_1Robot.md#function-actuator_type) (const std::string & joint\_name) const<br> |
-|  std::vector&lt; std::string &gt; | [**actuator\_types**](classrobot__dart_1_1Robot.md#function-actuator_types) (const std::vector&lt; std::string &gt; & joint\_names={}) const<br> |
-|  void | [**add\_body\_mass**](classrobot__dart_1_1Robot.md#function-add_body_mass-12) (const std::string & body\_name, double mass) <br> |
-|  void | [**add\_body\_mass**](classrobot__dart_1_1Robot.md#function-add_body_mass-22) (size\_t body\_index, double mass) <br> |
-|  void | [**add\_controller**](classrobot__dart_1_1Robot.md#function-add_controller) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller, double weight=1.0) <br> |
-|  void | [**add\_external\_force**](classrobot__dart_1_1Robot.md#function-add_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**add\_external\_force**](classrobot__dart_1_1Robot.md#function-add_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**add\_external\_torque**](classrobot__dart_1_1Robot.md#function-add_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**add\_external\_torque**](classrobot__dart_1_1Robot.md#function-add_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  bool | [**adjacent\_colliding**](classrobot__dart_1_1Robot.md#function-adjacent_colliding) () const<br> |
-|  Eigen::MatrixXd | [**aug\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::Isometry3d | [**base\_pose**](classrobot__dart_1_1Robot.md#function-base_pose) () const<br> |
-|  Eigen::Vector6d | [**base\_pose\_vec**](classrobot__dart_1_1Robot.md#function-base_pose_vec) () const<br> |
-|  Eigen::Vector6d | [**body\_acceleration**](classrobot__dart_1_1Robot.md#function-body_acceleration-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_acceleration**](classrobot__dart_1_1Robot.md#function-body_acceleration-22) (size\_t body\_index) const<br> |
-|  size\_t | [**body\_index**](classrobot__dart_1_1Robot.md#function-body_index) (const std::string & body\_name) const<br> |
-|  double | [**body\_mass**](classrobot__dart_1_1Robot.md#function-body_mass-12) (const std::string & body\_name) const<br> |
-|  double | [**body\_mass**](classrobot__dart_1_1Robot.md#function-body_mass-22) (size\_t body\_index) const<br> |
-|  std::string | [**body\_name**](classrobot__dart_1_1Robot.md#function-body_name) (size\_t body\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**body\_names**](classrobot__dart_1_1Robot.md#function-body_names) () const<br> |
-|  dart::dynamics::BodyNode \* | [**body\_node**](classrobot__dart_1_1Robot.md#function-body_node-12) (const std::string & body\_name) <br> |
-|  dart::dynamics::BodyNode \* | [**body\_node**](classrobot__dart_1_1Robot.md#function-body_node-22) (size\_t body\_index) <br> |
-|  Eigen::Isometry3d | [**body\_pose**](classrobot__dart_1_1Robot.md#function-body_pose-12) (const std::string & body\_name) const<br> |
-|  Eigen::Isometry3d | [**body\_pose**](classrobot__dart_1_1Robot.md#function-body_pose-22) (size\_t body\_index) const<br> |
-|  Eigen::Vector6d | [**body\_pose\_vec**](classrobot__dart_1_1Robot.md#function-body_pose_vec-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_pose\_vec**](classrobot__dart_1_1Robot.md#function-body_pose_vec-22) (size\_t body\_index) const<br> |
-|  Eigen::Vector6d | [**body\_velocity**](classrobot__dart_1_1Robot.md#function-body_velocity-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_velocity**](classrobot__dart_1_1Robot.md#function-body_velocity-22) (size\_t body\_index) const<br> |
-|  bool | [**cast\_shadows**](classrobot__dart_1_1Robot.md#function-cast_shadows) () const<br> |
-|  void | [**clear\_controllers**](classrobot__dart_1_1Robot.md#function-clear_controllers) () <br> |
-|  void | [**clear\_external\_forces**](classrobot__dart_1_1Robot.md#function-clear_external_forces) () <br> |
-|  void | [**clear\_internal\_forces**](classrobot__dart_1_1Robot.md#function-clear_internal_forces) () <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone**](classrobot__dart_1_1Robot.md#function-clone) () const<br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone\_ghost**](classrobot__dart_1_1Robot.md#function-clone_ghost) (const std::string & ghost\_name="ghost", const Eigen::Vector4d & ghost\_color={0.3, 0.3, 0.3, 0.7}) const<br> |
-|  Eigen::Vector3d | [**com**](classrobot__dart_1_1Robot.md#function-com) () const<br> |
-|  Eigen::Vector6d | [**com\_acceleration**](classrobot__dart_1_1Robot.md#function-com_acceleration) () const<br> |
-|  Eigen::MatrixXd | [**com\_jacobian**](classrobot__dart_1_1Robot.md#function-com_jacobian) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**com\_jacobian\_deriv**](classrobot__dart_1_1Robot.md#function-com_jacobian_deriv) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::Vector6d | [**com\_velocity**](classrobot__dart_1_1Robot.md#function-com_velocity) () const<br> |
-|  Eigen::VectorXd | [**commands**](classrobot__dart_1_1Robot.md#function-commands) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**constraint\_forces**](classrobot__dart_1_1Robot.md#function-constraint_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**controller**](classrobot__dart_1_1Robot.md#function-controller) (size\_t index) const<br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**controllers**](classrobot__dart_1_1Robot.md#function-controllers) () const<br> |
-|  Eigen::VectorXd | [**coriolis\_forces**](classrobot__dart_1_1Robot.md#function-coriolis_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**coriolis\_gravity\_forces**](classrobot__dart_1_1Robot.md#function-coriolis_gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; double &gt; | [**coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-coulomb_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; double &gt; | [**damping\_coeffs**](classrobot__dart_1_1Robot.md#function-damping_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  dart::dynamics::DegreeOfFreedom \* | [**dof**](classrobot__dart_1_1Robot.md#function-dof-12) (const std::string & dof\_name) <br> |
-|  dart::dynamics::DegreeOfFreedom \* | [**dof**](classrobot__dart_1_1Robot.md#function-dof-22) (size\_t dof\_index) <br> |
-|  size\_t | [**dof\_index**](classrobot__dart_1_1Robot.md#function-dof_index) (const std::string & dof\_name) const<br> |
-|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**dof\_map**](classrobot__dart_1_1Robot.md#function-dof_map) () const<br> |
-|  std::string | [**dof\_name**](classrobot__dart_1_1Robot.md#function-dof_name) (size\_t dof\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**dof\_names**](classrobot__dart_1_1Robot.md#function-dof_names) (bool filter\_mimics=false, bool filter\_locked=false, bool filter\_passive=false) const<br> |
-|  const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; & | [**drawing\_axes**](classrobot__dart_1_1Robot.md#function-drawing_axes) () const<br> |
-|  Eigen::Vector6d | [**external\_forces**](classrobot__dart_1_1Robot.md#function-external_forces-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**external\_forces**](classrobot__dart_1_1Robot.md#function-external_forces-22) (size\_t body\_index) const<br> |
-|  void | [**fix\_to\_world**](classrobot__dart_1_1Robot.md#function-fix_to_world) () <br> |
-|  bool | [**fixed**](classrobot__dart_1_1Robot.md#function-fixed) () const<br> |
-|  Eigen::VectorXd | [**force\_lower\_limits**](classrobot__dart_1_1Robot.md#function-force_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**force\_position\_bounds**](classrobot__dart_1_1Robot.md#function-force_position_bounds) () <br> |
-|  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; | [**force\_torque**](classrobot__dart_1_1Robot.md#function-force_torque) (size\_t joint\_index) const<br> |
-|  Eigen::VectorXd | [**force\_upper\_limits**](classrobot__dart_1_1Robot.md#function-force_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**forces**](classrobot__dart_1_1Robot.md#function-forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  bool | [**free**](classrobot__dart_1_1Robot.md#function-free) () const<br> |
-|  void | [**free\_from\_world**](classrobot__dart_1_1Robot.md#function-free_from_world) (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) <br> |
-|  double | [**friction\_coeff**](classrobot__dart_1_1Robot.md#function-friction_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**friction\_coeff**](classrobot__dart_1_1Robot.md#function-friction_coeff-22) (size\_t body\_index) <br> |
-|  Eigen::Vector3d | [**friction\_dir**](classrobot__dart_1_1Robot.md#function-friction_dir-12) (const std::string & body\_name) <br> |
-|  Eigen::Vector3d | [**friction\_dir**](classrobot__dart_1_1Robot.md#function-friction_dir-22) (size\_t body\_index) <br> |
-|  bool | [**ghost**](classrobot__dart_1_1Robot.md#function-ghost) () const<br> |
-|  Eigen::VectorXd | [**gravity\_forces**](classrobot__dart_1_1Robot.md#function-gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**inv\_aug\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-inv_aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**inv\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-inv_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**jacobian**](classrobot__dart_1_1Robot.md#function-jacobian) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**jacobian\_deriv**](classrobot__dart_1_1Robot.md#function-jacobian_deriv) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  dart::dynamics::Joint \* | [**joint**](classrobot__dart_1_1Robot.md#function-joint-12) (const std::string & joint\_name) <br> |
-|  dart::dynamics::Joint \* | [**joint**](classrobot__dart_1_1Robot.md#function-joint-22) (size\_t joint\_index) <br> |
-|  size\_t | [**joint\_index**](classrobot__dart_1_1Robot.md#function-joint_index) (const std::string & joint\_name) const<br> |
-|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**joint\_map**](classrobot__dart_1_1Robot.md#function-joint_map) () const<br> |
-|  std::string | [**joint\_name**](classrobot__dart_1_1Robot.md#function-joint_name) (size\_t joint\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**joint\_names**](classrobot__dart_1_1Robot.md#function-joint_names) () const<br> |
-|  std::vector&lt; std::string &gt; | [**locked\_dof\_names**](classrobot__dart_1_1Robot.md#function-locked_dof_names) () const<br> |
-|  Eigen::MatrixXd | [**mass\_matrix**](classrobot__dart_1_1Robot.md#function-mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; std::string &gt; | [**mimic\_dof\_names**](classrobot__dart_1_1Robot.md#function-mimic_dof_names) () const<br> |
-|  const std::string & | [**model\_filename**](classrobot__dart_1_1Robot.md#function-model_filename) () const<br> |
-|  const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & | [**model\_packages**](classrobot__dart_1_1Robot.md#function-model_packages) () const<br> |
-|  const std::string & | [**name**](classrobot__dart_1_1Robot.md#function-name) () const<br> |
-|  size\_t | [**num\_bodies**](classrobot__dart_1_1Robot.md#function-num_bodies) () const<br> |
-|  size\_t | [**num\_controllers**](classrobot__dart_1_1Robot.md#function-num_controllers) () const<br> |
-|  size\_t | [**num\_dofs**](classrobot__dart_1_1Robot.md#function-num_dofs) () const<br> |
-|  size\_t | [**num\_joints**](classrobot__dart_1_1Robot.md#function-num_joints) () const<br> |
-|  std::vector&lt; std::string &gt; | [**passive\_dof\_names**](classrobot__dart_1_1Robot.md#function-passive_dof_names) () const<br> |
-|  std::vector&lt; bool &gt; | [**position\_enforced**](classrobot__dart_1_1Robot.md#function-position_enforced) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**position\_lower\_limits**](classrobot__dart_1_1Robot.md#function-position_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**position\_upper\_limits**](classrobot__dart_1_1Robot.md#function-position_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**positions**](classrobot__dart_1_1Robot.md#function-positions) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**reinit\_controllers**](classrobot__dart_1_1Robot.md#function-reinit_controllers) () <br> |
-|  void | [**remove\_all\_drawing\_axis**](classrobot__dart_1_1Robot.md#function-remove_all_drawing_axis) () <br> |
-|  void | [**remove\_controller**](classrobot__dart_1_1Robot.md#function-remove_controller-12) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller) <br> |
-|  void | [**remove\_controller**](classrobot__dart_1_1Robot.md#function-remove_controller-22) (size\_t index) <br> |
-| virtual void | [**reset**](classrobot__dart_1_1Robot.md#function-reset) () <br> |
-|  void | [**reset\_commands**](classrobot__dart_1_1Robot.md#function-reset_commands) () <br> |
-|  double | [**restitution\_coeff**](classrobot__dart_1_1Robot.md#function-restitution_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**restitution\_coeff**](classrobot__dart_1_1Robot.md#function-restitution_coeff-22) (size\_t body\_index) <br> |
-|  double | [**secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-secondary_friction_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-secondary_friction_coeff-22) (size\_t body\_index) <br> |
-|  bool | [**self\_colliding**](classrobot__dart_1_1Robot.md#function-self_colliding) () const<br> |
-|  void | [**set\_acceleration\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_acceleration_lower_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_acceleration\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_acceleration_upper_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_accelerations**](classrobot__dart_1_1Robot.md#function-set_accelerations) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_actuator\_type**](classrobot__dart_1_1Robot.md#function-set_actuator_type) (const std::string & type, const std::string & joint\_name, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-set_actuator_types) (const std::string & type, const std::vector&lt; std::string &gt; & joint\_names={}, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**set\_base\_pose**](classrobot__dart_1_1Robot.md#function-set_base_pose-12) (const Eigen::Isometry3d & tf) <br> |
-|  void | [**set\_base\_pose**](classrobot__dart_1_1Robot.md#function-set_base_pose-22) (const Eigen::Vector6d & pose) <br>_set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)_  |
-|  void | [**set\_body\_mass**](classrobot__dart_1_1Robot.md#function-set_body_mass-12) (const std::string & body\_name, double mass) <br> |
-|  void | [**set\_body\_mass**](classrobot__dart_1_1Robot.md#function-set_body_mass-22) (size\_t body\_index, double mass) <br> |
-|  void | [**set\_body\_name**](classrobot__dart_1_1Robot.md#function-set_body_name) (size\_t body\_index, const std::string & body\_name) <br> |
-|  void | [**set\_cast\_shadows**](classrobot__dart_1_1Robot.md#function-set_cast_shadows) (bool cast\_shadows=true) <br> |
-|  void | [**set\_color\_mode**](classrobot__dart_1_1Robot.md#function-set_color_mode-12) (const std::string & color\_mode) <br> |
-|  void | [**set\_color\_mode**](classrobot__dart_1_1Robot.md#function-set_color_mode-22) (const std::string & color\_mode, const std::string & body\_name) <br> |
-|  void | [**set\_commands**](classrobot__dart_1_1Robot.md#function-set_commands) (const Eigen::VectorXd & commands, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-set_coulomb_coeffs-12) (const std::vector&lt; double &gt; & cfrictions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-set_coulomb_coeffs-22) (double cfriction, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_damping\_coeffs**](classrobot__dart_1_1Robot.md#function-set_damping_coeffs-12) (const std::vector&lt; double &gt; & damps, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_damping\_coeffs**](classrobot__dart_1_1Robot.md#function-set_damping_coeffs-22) (double damp, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_draw\_axis**](classrobot__dart_1_1Robot.md#function-set_draw_axis) (const std::string & body\_name, double size=0.25) <br> |
-|  void | [**set\_external\_force**](classrobot__dart_1_1Robot.md#function-set_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**set\_external\_force**](classrobot__dart_1_1Robot.md#function-set_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**set\_external\_torque**](classrobot__dart_1_1Robot.md#function-set_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**set\_external\_torque**](classrobot__dart_1_1Robot.md#function-set_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**set\_force\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_force_lower_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_force\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_force_upper_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_forces**](classrobot__dart_1_1Robot.md#function-set_forces) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_friction_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_friction_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_friction\_coeffs**](classrobot__dart_1_1Robot.md#function-set_friction_coeffs) (double value) <br> |
-|  void | [**set\_friction\_dir**](classrobot__dart_1_1Robot.md#function-set_friction_dir-12) (const std::string & body\_name, const Eigen::Vector3d & direction) <br> |
-|  void | [**set\_friction\_dir**](classrobot__dart_1_1Robot.md#function-set_friction_dir-22) (size\_t body\_index, const Eigen::Vector3d & direction) <br> |
-|  void | [**set\_ghost**](classrobot__dart_1_1Robot.md#function-set_ghost) (bool ghost=true) <br> |
-|  void | [**set\_joint\_name**](classrobot__dart_1_1Robot.md#function-set_joint_name) (size\_t joint\_index, const std::string & joint\_name) <br> |
-|  void | [**set\_mimic**](classrobot__dart_1_1Robot.md#function-set_mimic) (const std::string & joint\_name, const std::string & mimic\_joint\_name, double multiplier=1., double offset=0.) <br> |
-|  void | [**set\_position\_enforced**](classrobot__dart_1_1Robot.md#function-set_position_enforced-12) (const std::vector&lt; bool &gt; & enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_enforced**](classrobot__dart_1_1Robot.md#function-set_position_enforced-22) (bool enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_position_lower_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_position_upper_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_positions**](classrobot__dart_1_1Robot.md#function-set_positions) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_restitution\_coeff**](classrobot__dart_1_1Robot.md#function-set_restitution_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_restitution\_coeff**](classrobot__dart_1_1Robot.md#function-set_restitution_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_restitution\_coeffs**](classrobot__dart_1_1Robot.md#function-set_restitution_coeffs) (double value) <br> |
-|  void | [**set\_secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_secondary\_friction\_coeffs**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeffs) (double value) <br> |
-|  void | [**set\_self\_collision**](classrobot__dart_1_1Robot.md#function-set_self_collision) (bool enable\_self\_collisions=true, bool enable\_adjacent\_collisions=false) <br> |
-|  void | [**set\_spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-set_spring_stiffnesses-12) (const std::vector&lt; double &gt; & stiffnesses, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-set_spring_stiffnesses-22) (double stiffness, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocities**](classrobot__dart_1_1Robot.md#function-set_velocities) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocity\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_velocity_lower_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocity\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_velocity_upper_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  dart::dynamics::SkeletonPtr | [**skeleton**](classrobot__dart_1_1Robot.md#function-skeleton) () <br> |
-|  std::vector&lt; double &gt; | [**spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-spring_stiffnesses) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**update**](classrobot__dart_1_1Robot.md#function-update) (double t) <br> |
-|  void | [**update\_joint\_dof\_maps**](classrobot__dart_1_1Robot.md#function-update_joint_dof_maps) () <br> |
-|  Eigen::VectorXd | [**vec\_dof**](classrobot__dart_1_1Robot.md#function-vec_dof) (const Eigen::VectorXd & vec, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-|  Eigen::VectorXd | [**velocities**](classrobot__dart_1_1Robot.md#function-velocities) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**velocity\_lower\_limits**](classrobot__dart_1_1Robot.md#function-velocity_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**velocity\_upper\_limits**](classrobot__dart_1_1Robot.md#function-velocity_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-| virtual  | [**~Robot**](classrobot__dart_1_1Robot.md#function-robot) () <br> |
+|   | [**Robot**](#function-robot-13) (const std::string & model\_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
+|   | [**Robot**](#function-robot-23) (const std::string & model\_file, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
+|   | [**Robot**](#function-robot-33) (dart::dynamics::SkeletonPtr skeleton, const std::string & robot\_name="robot", bool cast\_shadows=true) <br> |
+|  Eigen::VectorXd | [**acceleration\_lower\_limits**](#function-acceleration_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**acceleration\_upper\_limits**](#function-acceleration_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**accelerations**](#function-accelerations) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**active\_controllers**](#function-active_controllers) () const<br> |
+|  std::string | [**actuator\_type**](#function-actuator_type) (const std::string & joint\_name) const<br> |
+|  std::vector&lt; std::string &gt; | [**actuator\_types**](#function-actuator_types) (const std::vector&lt; std::string &gt; & joint\_names={}) const<br> |
+|  void | [**add\_body\_mass**](#function-add_body_mass-12) (const std::string & body\_name, double mass) <br> |
+|  void | [**add\_body\_mass**](#function-add_body_mass-22) (size\_t body\_index, double mass) <br> |
+|  void | [**add\_controller**](#function-add_controller) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller, double weight=1.0) <br> |
+|  void | [**add\_external\_force**](#function-add_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**add\_external\_force**](#function-add_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**add\_external\_torque**](#function-add_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**add\_external\_torque**](#function-add_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  bool | [**adjacent\_colliding**](#function-adjacent_colliding) () const<br> |
+|  Eigen::MatrixXd | [**aug\_mass\_matrix**](#function-aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::Isometry3d | [**base\_pose**](#function-base_pose) () const<br> |
+|  Eigen::Vector6d | [**base\_pose\_vec**](#function-base_pose_vec) () const<br> |
+|  Eigen::Vector6d | [**body\_acceleration**](#function-body_acceleration-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_acceleration**](#function-body_acceleration-22) (size\_t body\_index) const<br> |
+|  size\_t | [**body\_index**](#function-body_index) (const std::string & body\_name) const<br> |
+|  double | [**body\_mass**](#function-body_mass-12) (const std::string & body\_name) const<br> |
+|  double | [**body\_mass**](#function-body_mass-22) (size\_t body\_index) const<br> |
+|  std::string | [**body\_name**](#function-body_name) (size\_t body\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**body\_names**](#function-body_names) () const<br> |
+|  dart::dynamics::BodyNode \* | [**body\_node**](#function-body_node-12) (const std::string & body\_name) <br> |
+|  dart::dynamics::BodyNode \* | [**body\_node**](#function-body_node-22) (size\_t body\_index) <br> |
+|  Eigen::Isometry3d | [**body\_pose**](#function-body_pose-12) (const std::string & body\_name) const<br> |
+|  Eigen::Isometry3d | [**body\_pose**](#function-body_pose-22) (size\_t body\_index) const<br> |
+|  Eigen::Vector6d | [**body\_pose\_vec**](#function-body_pose_vec-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_pose\_vec**](#function-body_pose_vec-22) (size\_t body\_index) const<br> |
+|  Eigen::Vector6d | [**body\_velocity**](#function-body_velocity-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_velocity**](#function-body_velocity-22) (size\_t body\_index) const<br> |
+|  bool | [**cast\_shadows**](#function-cast_shadows) () const<br> |
+|  void | [**clear\_controllers**](#function-clear_controllers) () <br> |
+|  void | [**clear\_external\_forces**](#function-clear_external_forces) () <br> |
+|  void | [**clear\_internal\_forces**](#function-clear_internal_forces) () <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone**](#function-clone) () const<br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone\_ghost**](#function-clone_ghost) (const std::string & ghost\_name="ghost", const Eigen::Vector4d & ghost\_color={0.3, 0.3, 0.3, 0.7}) const<br> |
+|  Eigen::Vector3d | [**com**](#function-com) () const<br> |
+|  Eigen::Vector6d | [**com\_acceleration**](#function-com_acceleration) () const<br> |
+|  Eigen::MatrixXd | [**com\_jacobian**](#function-com_jacobian) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**com\_jacobian\_deriv**](#function-com_jacobian_deriv) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::Vector6d | [**com\_velocity**](#function-com_velocity) () const<br> |
+|  Eigen::VectorXd | [**commands**](#function-commands) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**constraint\_forces**](#function-constraint_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**controller**](#function-controller) (size\_t index) const<br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**controllers**](#function-controllers) () const<br> |
+|  Eigen::VectorXd | [**coriolis\_forces**](#function-coriolis_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**coriolis\_gravity\_forces**](#function-coriolis_gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; double &gt; | [**coulomb\_coeffs**](#function-coulomb_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; double &gt; | [**damping\_coeffs**](#function-damping_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  dart::dynamics::DegreeOfFreedom \* | [**dof**](#function-dof-12) (const std::string & dof\_name) <br> |
+|  dart::dynamics::DegreeOfFreedom \* | [**dof**](#function-dof-22) (size\_t dof\_index) <br> |
+|  size\_t | [**dof\_index**](#function-dof_index) (const std::string & dof\_name) const<br> |
+|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**dof\_map**](#function-dof_map) () const<br> |
+|  std::string | [**dof\_name**](#function-dof_name) (size\_t dof\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**dof\_names**](#function-dof_names) (bool filter\_mimics=false, bool filter\_locked=false, bool filter\_passive=false) const<br> |
+|  const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; & | [**drawing\_axes**](#function-drawing_axes) () const<br> |
+|  Eigen::Vector6d | [**external\_forces**](#function-external_forces-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**external\_forces**](#function-external_forces-22) (size\_t body\_index) const<br> |
+|  void | [**fix\_to\_world**](#function-fix_to_world) () <br> |
+|  bool | [**fixed**](#function-fixed) () const<br> |
+|  Eigen::VectorXd | [**force\_lower\_limits**](#function-force_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**force\_position\_bounds**](#function-force_position_bounds) () <br> |
+|  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; | [**force\_torque**](#function-force_torque) (size\_t joint\_index) const<br> |
+|  Eigen::VectorXd | [**force\_upper\_limits**](#function-force_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**forces**](#function-forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  bool | [**free**](#function-free) () const<br> |
+|  void | [**free\_from\_world**](#function-free_from_world) (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) <br> |
+|  double | [**friction\_coeff**](#function-friction_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**friction\_coeff**](#function-friction_coeff-22) (size\_t body\_index) <br> |
+|  Eigen::Vector3d | [**friction\_dir**](#function-friction_dir-12) (const std::string & body\_name) <br> |
+|  Eigen::Vector3d | [**friction\_dir**](#function-friction_dir-22) (size\_t body\_index) <br> |
+|  bool | [**ghost**](#function-ghost) () const<br> |
+|  Eigen::VectorXd | [**gravity\_forces**](#function-gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**inv\_aug\_mass\_matrix**](#function-inv_aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**inv\_mass\_matrix**](#function-inv_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**jacobian**](#function-jacobian) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**jacobian\_deriv**](#function-jacobian_deriv) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  dart::dynamics::Joint \* | [**joint**](#function-joint-12) (const std::string & joint\_name) <br> |
+|  dart::dynamics::Joint \* | [**joint**](#function-joint-22) (size\_t joint\_index) <br> |
+|  size\_t | [**joint\_index**](#function-joint_index) (const std::string & joint\_name) const<br> |
+|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**joint\_map**](#function-joint_map) () const<br> |
+|  std::string | [**joint\_name**](#function-joint_name) (size\_t joint\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**joint\_names**](#function-joint_names) () const<br> |
+|  std::vector&lt; std::string &gt; | [**locked\_dof\_names**](#function-locked_dof_names) () const<br> |
+|  Eigen::MatrixXd | [**mass\_matrix**](#function-mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; std::string &gt; | [**mimic\_dof\_names**](#function-mimic_dof_names) () const<br> |
+|  const std::string & | [**model\_filename**](#function-model_filename) () const<br> |
+|  const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & | [**model\_packages**](#function-model_packages) () const<br> |
+|  const std::string & | [**name**](#function-name) () const<br> |
+|  size\_t | [**num\_bodies**](#function-num_bodies) () const<br> |
+|  size\_t | [**num\_controllers**](#function-num_controllers) () const<br> |
+|  size\_t | [**num\_dofs**](#function-num_dofs) () const<br> |
+|  size\_t | [**num\_joints**](#function-num_joints) () const<br> |
+|  std::vector&lt; std::string &gt; | [**passive\_dof\_names**](#function-passive_dof_names) () const<br> |
+|  std::vector&lt; bool &gt; | [**position\_enforced**](#function-position_enforced) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**position\_lower\_limits**](#function-position_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**position\_upper\_limits**](#function-position_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**positions**](#function-positions) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**reinit\_controllers**](#function-reinit_controllers) () <br> |
+|  void | [**remove\_all\_drawing\_axis**](#function-remove_all_drawing_axis) () <br> |
+|  void | [**remove\_controller**](#function-remove_controller-12) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller) <br> |
+|  void | [**remove\_controller**](#function-remove_controller-22) (size\_t index) <br> |
+| virtual void | [**reset**](#function-reset) () <br> |
+|  void | [**reset\_commands**](#function-reset_commands) () <br> |
+|  double | [**restitution\_coeff**](#function-restitution_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**restitution\_coeff**](#function-restitution_coeff-22) (size\_t body\_index) <br> |
+|  double | [**secondary\_friction\_coeff**](#function-secondary_friction_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**secondary\_friction\_coeff**](#function-secondary_friction_coeff-22) (size\_t body\_index) <br> |
+|  bool | [**self\_colliding**](#function-self_colliding) () const<br> |
+|  void | [**set\_acceleration\_lower\_limits**](#function-set_acceleration_lower_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_acceleration\_upper\_limits**](#function-set_acceleration_upper_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_accelerations**](#function-set_accelerations) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_actuator\_type**](#function-set_actuator_type) (const std::string & type, const std::string & joint\_name, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**set\_actuator\_types**](#function-set_actuator_types) (const std::string & type, const std::vector&lt; std::string &gt; & joint\_names={}, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**set\_base\_pose**](#function-set_base_pose-12) (const Eigen::Isometry3d & tf) <br> |
+|  void | [**set\_base\_pose**](#function-set_base_pose-22) (const Eigen::Vector6d & pose) <br>_set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)_  |
+|  void | [**set\_body\_mass**](#function-set_body_mass-12) (const std::string & body\_name, double mass) <br> |
+|  void | [**set\_body\_mass**](#function-set_body_mass-22) (size\_t body\_index, double mass) <br> |
+|  void | [**set\_body\_name**](#function-set_body_name) (size\_t body\_index, const std::string & body\_name) <br> |
+|  void | [**set\_cast\_shadows**](#function-set_cast_shadows) (bool cast\_shadows=true) <br> |
+|  void | [**set\_color\_mode**](#function-set_color_mode-12) (const std::string & color\_mode) <br> |
+|  void | [**set\_color\_mode**](#function-set_color_mode-22) (const std::string & color\_mode, const std::string & body\_name) <br> |
+|  void | [**set\_commands**](#function-set_commands) (const Eigen::VectorXd & commands, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_coulomb\_coeffs**](#function-set_coulomb_coeffs-12) (const std::vector&lt; double &gt; & cfrictions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_coulomb\_coeffs**](#function-set_coulomb_coeffs-22) (double cfriction, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_damping\_coeffs**](#function-set_damping_coeffs-12) (const std::vector&lt; double &gt; & damps, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_damping\_coeffs**](#function-set_damping_coeffs-22) (double damp, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_draw\_axis**](#function-set_draw_axis) (const std::string & body\_name, double size=0.25) <br> |
+|  void | [**set\_external\_force**](#function-set_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**set\_external\_force**](#function-set_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**set\_external\_torque**](#function-set_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**set\_external\_torque**](#function-set_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**set\_force\_lower\_limits**](#function-set_force_lower_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_force\_upper\_limits**](#function-set_force_upper_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_forces**](#function-set_forces) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_friction\_coeff**](#function-set_friction_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_friction\_coeff**](#function-set_friction_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_friction\_coeffs**](#function-set_friction_coeffs) (double value) <br> |
+|  void | [**set\_friction\_dir**](#function-set_friction_dir-12) (const std::string & body\_name, const Eigen::Vector3d & direction) <br> |
+|  void | [**set\_friction\_dir**](#function-set_friction_dir-22) (size\_t body\_index, const Eigen::Vector3d & direction) <br> |
+|  void | [**set\_ghost**](#function-set_ghost) (bool ghost=true) <br> |
+|  void | [**set\_joint\_name**](#function-set_joint_name) (size\_t joint\_index, const std::string & joint\_name) <br> |
+|  void | [**set\_mimic**](#function-set_mimic) (const std::string & joint\_name, const std::string & mimic\_joint\_name, double multiplier=1., double offset=0.) <br> |
+|  void | [**set\_position\_enforced**](#function-set_position_enforced-12) (const std::vector&lt; bool &gt; & enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_enforced**](#function-set_position_enforced-22) (bool enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_lower\_limits**](#function-set_position_lower_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_upper\_limits**](#function-set_position_upper_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_positions**](#function-set_positions) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_restitution\_coeff**](#function-set_restitution_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_restitution\_coeff**](#function-set_restitution_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_restitution\_coeffs**](#function-set_restitution_coeffs) (double value) <br> |
+|  void | [**set\_secondary\_friction\_coeff**](#function-set_secondary_friction_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_secondary\_friction\_coeff**](#function-set_secondary_friction_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_secondary\_friction\_coeffs**](#function-set_secondary_friction_coeffs) (double value) <br> |
+|  void | [**set\_self\_collision**](#function-set_self_collision) (bool enable\_self\_collisions=true, bool enable\_adjacent\_collisions=false) <br> |
+|  void | [**set\_spring\_stiffnesses**](#function-set_spring_stiffnesses-12) (const std::vector&lt; double &gt; & stiffnesses, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_spring\_stiffnesses**](#function-set_spring_stiffnesses-22) (double stiffness, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocities**](#function-set_velocities) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocity\_lower\_limits**](#function-set_velocity_lower_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocity\_upper\_limits**](#function-set_velocity_upper_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  dart::dynamics::SkeletonPtr | [**skeleton**](#function-skeleton) () <br> |
+|  std::vector&lt; double &gt; | [**spring\_stiffnesses**](#function-spring_stiffnesses) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**update**](#function-update) (double t) <br> |
+|  void | [**update\_joint\_dof\_maps**](#function-update_joint_dof_maps) () <br> |
+|  Eigen::VectorXd | [**vec\_dof**](#function-vec_dof) (const Eigen::VectorXd & vec, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+|  Eigen::VectorXd | [**velocities**](#function-velocities) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**velocity\_lower\_limits**](#function-velocity_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**velocity\_upper\_limits**](#function-velocity_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+| virtual  | [**~Robot**](#function-robot) () <br> |
 
 
 ## Public Static Functions
@@ -315,10 +315,10 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](classrobot__dart_1_1Robot.md#function-create_box-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](classrobot__dart_1_1Robot.md#function-create_box-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](classrobot__dart_1_1Robot.md#function-create_ellipsoid-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](classrobot__dart_1_1Robot.md#function-create_ellipsoid-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](#function-create_box-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](#function-create_box-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](#function-create_ellipsoid-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](#function-create_ellipsoid-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
 
 
 
@@ -341,13 +341,13 @@ See [robot\_dart::robots::Talos](classrobot__dart_1_1robots_1_1Talos.md)
 
 | Type | Name |
 | ---: | :--- |
-|  size\_t | [**\_frequency**](classrobot__dart_1_1robots_1_1Talos.md#variable-_frequency)  <br> |
-|  std::shared\_ptr&lt; [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) &gt; | [**\_ft\_foot\_left**](classrobot__dart_1_1robots_1_1Talos.md#variable-_ft_foot_left)  <br> |
-|  std::shared\_ptr&lt; [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) &gt; | [**\_ft\_foot\_right**](classrobot__dart_1_1robots_1_1Talos.md#variable-_ft_foot_right)  <br> |
-|  std::shared\_ptr&lt; [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) &gt; | [**\_ft\_wrist\_left**](classrobot__dart_1_1robots_1_1Talos.md#variable-_ft_wrist_left)  <br> |
-|  std::shared\_ptr&lt; [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) &gt; | [**\_ft\_wrist\_right**](classrobot__dart_1_1robots_1_1Talos.md#variable-_ft_wrist_right)  <br> |
-|  std::shared\_ptr&lt; [**sensor::IMU**](classrobot__dart_1_1sensor_1_1IMU.md) &gt; | [**\_imu**](classrobot__dart_1_1robots_1_1Talos.md#variable-_imu)  <br> |
-|  torque\_map\_t | [**\_torques**](classrobot__dart_1_1robots_1_1Talos.md#variable-_torques)  <br> |
+|  size\_t | [**\_frequency**](#variable-_frequency)  <br> |
+|  std::shared\_ptr&lt; [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) &gt; | [**\_ft\_foot\_left**](#variable-_ft_foot_left)  <br> |
+|  std::shared\_ptr&lt; [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) &gt; | [**\_ft\_foot\_right**](#variable-_ft_foot_right)  <br> |
+|  std::shared\_ptr&lt; [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) &gt; | [**\_ft\_wrist\_left**](#variable-_ft_wrist_left)  <br> |
+|  std::shared\_ptr&lt; [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) &gt; | [**\_ft\_wrist\_right**](#variable-_ft_wrist_right)  <br> |
+|  std::shared\_ptr&lt; [**sensor::IMU**](classrobot__dart_1_1sensor_1_1IMU.md) &gt; | [**\_imu**](#variable-_imu)  <br> |
+|  torque\_map\_t | [**\_torques**](#variable-_torques)  <br> |
 
 
 ## Protected Attributes inherited from robot_dart::Robot
@@ -356,16 +356,16 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; | [**\_axis\_shapes**](classrobot__dart_1_1Robot.md#variable-_axis_shapes)  <br> |
-|  bool | [**\_cast\_shadows**](classrobot__dart_1_1Robot.md#variable-_cast_shadows)  <br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**\_controllers**](classrobot__dart_1_1Robot.md#variable-_controllers)  <br> |
-|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_dof\_map**](classrobot__dart_1_1Robot.md#variable-_dof_map)  <br> |
-|  bool | [**\_is\_ghost**](classrobot__dart_1_1Robot.md#variable-_is_ghost)  <br> |
-|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_joint\_map**](classrobot__dart_1_1Robot.md#variable-_joint_map)  <br> |
-|  std::string | [**\_model\_filename**](classrobot__dart_1_1Robot.md#variable-_model_filename)  <br> |
-|  std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; | [**\_packages**](classrobot__dart_1_1Robot.md#variable-_packages)  <br> |
-|  std::string | [**\_robot\_name**](classrobot__dart_1_1Robot.md#variable-_robot_name)  <br> |
-|  dart::dynamics::SkeletonPtr | [**\_skeleton**](classrobot__dart_1_1Robot.md#variable-_skeleton)  <br> |
+|  std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; | [**\_axis\_shapes**](#variable-_axis_shapes)  <br> |
+|  bool | [**\_cast\_shadows**](#variable-_cast_shadows)  <br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**\_controllers**](#variable-_controllers)  <br> |
+|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_dof\_map**](#variable-_dof_map)  <br> |
+|  bool | [**\_is\_ghost**](#variable-_is_ghost)  <br> |
+|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_joint\_map**](#variable-_joint_map)  <br> |
+|  std::string | [**\_model\_filename**](#variable-_model_filename)  <br> |
+|  std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; | [**\_packages**](#variable-_packages)  <br> |
+|  std::string | [**\_robot\_name**](#variable-_robot_name)  <br> |
+|  dart::dynamics::SkeletonPtr | [**\_skeleton**](#variable-_skeleton)  <br> |
 
 
 
@@ -423,8 +423,8 @@ See [robot\_dart::robots::Talos](classrobot__dart_1_1robots_1_1Talos.md)
 
 | Type | Name |
 | ---: | :--- |
-| virtual void | [**\_post\_addition**](classrobot__dart_1_1robots_1_1Talos.md#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) override<br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
-| virtual void | [**\_post\_removal**](classrobot__dart_1_1robots_1_1Talos.md#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) override<br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
+| virtual void | [**\_post\_addition**](#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) override<br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
+| virtual void | [**\_post\_removal**](#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) override<br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
 
 
 ## Protected Functions inherited from robot_dart::Robot
@@ -433,19 +433,19 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  dart::dynamics::Joint::ActuatorType | [**\_actuator\_type**](classrobot__dart_1_1Robot.md#function-_actuator_type) (size\_t joint\_index) const<br> |
-|  std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; | [**\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_actuator_types) () const<br> |
-|  std::string | [**\_get\_path**](classrobot__dart_1_1Robot.md#function-_get_path) (const std::string & filename) const<br> |
-|  Eigen::MatrixXd | [**\_jacobian**](classrobot__dart_1_1Robot.md#function-_jacobian) (const Eigen::MatrixXd & full\_jacobian, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-|  dart::dynamics::SkeletonPtr | [**\_load\_model**](classrobot__dart_1_1Robot.md#function-_load_model) (const std::string & filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is\_urdf\_string=false) <br> |
-|  Eigen::MatrixXd | [**\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-_mass_matrix) (const Eigen::MatrixXd & full\_mass\_matrix, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-| virtual void | [**\_post\_addition**](classrobot__dart_1_1Robot.md#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
-| virtual void | [**\_post\_removal**](classrobot__dart_1_1Robot.md#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
-|  void | [**\_set\_actuator\_type**](classrobot__dart_1_1Robot.md#function-_set_actuator_type) (size\_t joint\_index, dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_set_actuator_types-12) (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; & types, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_set_actuator_types-22) (dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_color\_mode**](classrobot__dart_1_1Robot.md#function-_set_color_mode-12) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::SkeletonPtr skel) <br> |
-|  void | [**\_set\_color\_mode**](classrobot__dart_1_1Robot.md#function-_set_color_mode-22) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::ShapeNode \* sn) <br> |
+|  dart::dynamics::Joint::ActuatorType | [**\_actuator\_type**](#function-_actuator_type) (size\_t joint\_index) const<br> |
+|  std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; | [**\_actuator\_types**](#function-_actuator_types) () const<br> |
+|  std::string | [**\_get\_path**](#function-_get_path) (const std::string & filename) const<br> |
+|  Eigen::MatrixXd | [**\_jacobian**](#function-_jacobian) (const Eigen::MatrixXd & full\_jacobian, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+|  dart::dynamics::SkeletonPtr | [**\_load\_model**](#function-_load_model) (const std::string & filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is\_urdf\_string=false) <br> |
+|  Eigen::MatrixXd | [**\_mass\_matrix**](#function-_mass_matrix) (const Eigen::MatrixXd & full\_mass\_matrix, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+| virtual void | [**\_post\_addition**](#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
+| virtual void | [**\_post\_removal**](#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
+|  void | [**\_set\_actuator\_type**](#function-_set_actuator_type) (size\_t joint\_index, dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_actuator\_types**](#function-_set_actuator_types-12) (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; & types, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_actuator\_types**](#function-_set_actuator_types-22) (dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_color\_mode**](#function-_set_color_mode-12) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::SkeletonPtr skel) <br> |
+|  void | [**\_set\_color\_mode**](#function-_set_color_mode-22) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::ShapeNode \* sn) <br> |
 
 
 
diff --git a/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1TalosLight.md b/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1TalosLight.md
index 80af0aa8..9ea2662b 100644
--- a/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1TalosLight.md
+++ b/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1TalosLight.md
@@ -36,7 +36,7 @@ See [robot\_dart::robots::Talos](classrobot__dart_1_1robots_1_1Talos.md)
 
 | Type | Name |
 | ---: | :--- |
-| typedef std::unordered\_map&lt; std::string, std::shared\_ptr&lt; [**sensor::Torque**](classrobot__dart_1_1sensor_1_1Torque.md) &gt; &gt; | [**torque\_map\_t**](classrobot__dart_1_1robots_1_1Talos.md#typedef-torque_map_t)  <br> |
+| typedef std::unordered\_map&lt; std::string, std::shared\_ptr&lt; [**sensor::Torque**](classrobot__dart_1_1sensor_1_1Torque.md) &gt; &gt; | [**torque\_map\_t**](#typedef-torque_map_t)  <br> |
 
 
 
@@ -108,14 +108,14 @@ See [robot\_dart::robots::Talos](classrobot__dart_1_1robots_1_1Talos.md)
 
 | Type | Name |
 | ---: | :--- |
-|   | [**Talos**](classrobot__dart_1_1robots_1_1Talos.md#function-talos) (size\_t frequency=1000, const std::string & urdf="talos/talos.urdf", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages={{"talos\_description", "talos/talos\_description"}}) <br> |
-|  const [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) & | [**ft\_foot\_left**](classrobot__dart_1_1robots_1_1Talos.md#function-ft_foot_left) () const<br> |
-|  const [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) & | [**ft\_foot\_right**](classrobot__dart_1_1robots_1_1Talos.md#function-ft_foot_right) () const<br> |
-|  const [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) & | [**ft\_wrist\_left**](classrobot__dart_1_1robots_1_1Talos.md#function-ft_wrist_left) () const<br> |
-|  const [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) & | [**ft\_wrist\_right**](classrobot__dart_1_1robots_1_1Talos.md#function-ft_wrist_right) () const<br> |
-|  const [**sensor::IMU**](classrobot__dart_1_1sensor_1_1IMU.md) & | [**imu**](classrobot__dart_1_1robots_1_1Talos.md#function-imu) () const<br> |
-| virtual void | [**reset**](classrobot__dart_1_1robots_1_1Talos.md#function-reset) () override<br> |
-|  const torque\_map\_t & | [**torques**](classrobot__dart_1_1robots_1_1Talos.md#function-torques) () const<br> |
+|   | [**Talos**](#function-talos) (size\_t frequency=1000, const std::string & urdf="talos/talos.urdf", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages={{"talos\_description", "talos/talos\_description"}}) <br> |
+|  const [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) & | [**ft\_foot\_left**](#function-ft_foot_left) () const<br> |
+|  const [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) & | [**ft\_foot\_right**](#function-ft_foot_right) () const<br> |
+|  const [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) & | [**ft\_wrist\_left**](#function-ft_wrist_left) () const<br> |
+|  const [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) & | [**ft\_wrist\_right**](#function-ft_wrist_right) () const<br> |
+|  const [**sensor::IMU**](classrobot__dart_1_1sensor_1_1IMU.md) & | [**imu**](#function-imu) () const<br> |
+| virtual void | [**reset**](#function-reset) () override<br> |
+|  const torque\_map\_t & | [**torques**](#function-torques) () const<br> |
 
 
 ## Public Functions inherited from robot_dart::Robot
@@ -124,180 +124,180 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-13) (const std::string & model\_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-23) (const std::string & model\_file, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-33) (dart::dynamics::SkeletonPtr skeleton, const std::string & robot\_name="robot", bool cast\_shadows=true) <br> |
-|  Eigen::VectorXd | [**acceleration\_lower\_limits**](classrobot__dart_1_1Robot.md#function-acceleration_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**acceleration\_upper\_limits**](classrobot__dart_1_1Robot.md#function-acceleration_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**accelerations**](classrobot__dart_1_1Robot.md#function-accelerations) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**active\_controllers**](classrobot__dart_1_1Robot.md#function-active_controllers) () const<br> |
-|  std::string | [**actuator\_type**](classrobot__dart_1_1Robot.md#function-actuator_type) (const std::string & joint\_name) const<br> |
-|  std::vector&lt; std::string &gt; | [**actuator\_types**](classrobot__dart_1_1Robot.md#function-actuator_types) (const std::vector&lt; std::string &gt; & joint\_names={}) const<br> |
-|  void | [**add\_body\_mass**](classrobot__dart_1_1Robot.md#function-add_body_mass-12) (const std::string & body\_name, double mass) <br> |
-|  void | [**add\_body\_mass**](classrobot__dart_1_1Robot.md#function-add_body_mass-22) (size\_t body\_index, double mass) <br> |
-|  void | [**add\_controller**](classrobot__dart_1_1Robot.md#function-add_controller) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller, double weight=1.0) <br> |
-|  void | [**add\_external\_force**](classrobot__dart_1_1Robot.md#function-add_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**add\_external\_force**](classrobot__dart_1_1Robot.md#function-add_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**add\_external\_torque**](classrobot__dart_1_1Robot.md#function-add_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**add\_external\_torque**](classrobot__dart_1_1Robot.md#function-add_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  bool | [**adjacent\_colliding**](classrobot__dart_1_1Robot.md#function-adjacent_colliding) () const<br> |
-|  Eigen::MatrixXd | [**aug\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::Isometry3d | [**base\_pose**](classrobot__dart_1_1Robot.md#function-base_pose) () const<br> |
-|  Eigen::Vector6d | [**base\_pose\_vec**](classrobot__dart_1_1Robot.md#function-base_pose_vec) () const<br> |
-|  Eigen::Vector6d | [**body\_acceleration**](classrobot__dart_1_1Robot.md#function-body_acceleration-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_acceleration**](classrobot__dart_1_1Robot.md#function-body_acceleration-22) (size\_t body\_index) const<br> |
-|  size\_t | [**body\_index**](classrobot__dart_1_1Robot.md#function-body_index) (const std::string & body\_name) const<br> |
-|  double | [**body\_mass**](classrobot__dart_1_1Robot.md#function-body_mass-12) (const std::string & body\_name) const<br> |
-|  double | [**body\_mass**](classrobot__dart_1_1Robot.md#function-body_mass-22) (size\_t body\_index) const<br> |
-|  std::string | [**body\_name**](classrobot__dart_1_1Robot.md#function-body_name) (size\_t body\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**body\_names**](classrobot__dart_1_1Robot.md#function-body_names) () const<br> |
-|  dart::dynamics::BodyNode \* | [**body\_node**](classrobot__dart_1_1Robot.md#function-body_node-12) (const std::string & body\_name) <br> |
-|  dart::dynamics::BodyNode \* | [**body\_node**](classrobot__dart_1_1Robot.md#function-body_node-22) (size\_t body\_index) <br> |
-|  Eigen::Isometry3d | [**body\_pose**](classrobot__dart_1_1Robot.md#function-body_pose-12) (const std::string & body\_name) const<br> |
-|  Eigen::Isometry3d | [**body\_pose**](classrobot__dart_1_1Robot.md#function-body_pose-22) (size\_t body\_index) const<br> |
-|  Eigen::Vector6d | [**body\_pose\_vec**](classrobot__dart_1_1Robot.md#function-body_pose_vec-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_pose\_vec**](classrobot__dart_1_1Robot.md#function-body_pose_vec-22) (size\_t body\_index) const<br> |
-|  Eigen::Vector6d | [**body\_velocity**](classrobot__dart_1_1Robot.md#function-body_velocity-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_velocity**](classrobot__dart_1_1Robot.md#function-body_velocity-22) (size\_t body\_index) const<br> |
-|  bool | [**cast\_shadows**](classrobot__dart_1_1Robot.md#function-cast_shadows) () const<br> |
-|  void | [**clear\_controllers**](classrobot__dart_1_1Robot.md#function-clear_controllers) () <br> |
-|  void | [**clear\_external\_forces**](classrobot__dart_1_1Robot.md#function-clear_external_forces) () <br> |
-|  void | [**clear\_internal\_forces**](classrobot__dart_1_1Robot.md#function-clear_internal_forces) () <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone**](classrobot__dart_1_1Robot.md#function-clone) () const<br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone\_ghost**](classrobot__dart_1_1Robot.md#function-clone_ghost) (const std::string & ghost\_name="ghost", const Eigen::Vector4d & ghost\_color={0.3, 0.3, 0.3, 0.7}) const<br> |
-|  Eigen::Vector3d | [**com**](classrobot__dart_1_1Robot.md#function-com) () const<br> |
-|  Eigen::Vector6d | [**com\_acceleration**](classrobot__dart_1_1Robot.md#function-com_acceleration) () const<br> |
-|  Eigen::MatrixXd | [**com\_jacobian**](classrobot__dart_1_1Robot.md#function-com_jacobian) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**com\_jacobian\_deriv**](classrobot__dart_1_1Robot.md#function-com_jacobian_deriv) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::Vector6d | [**com\_velocity**](classrobot__dart_1_1Robot.md#function-com_velocity) () const<br> |
-|  Eigen::VectorXd | [**commands**](classrobot__dart_1_1Robot.md#function-commands) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**constraint\_forces**](classrobot__dart_1_1Robot.md#function-constraint_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**controller**](classrobot__dart_1_1Robot.md#function-controller) (size\_t index) const<br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**controllers**](classrobot__dart_1_1Robot.md#function-controllers) () const<br> |
-|  Eigen::VectorXd | [**coriolis\_forces**](classrobot__dart_1_1Robot.md#function-coriolis_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**coriolis\_gravity\_forces**](classrobot__dart_1_1Robot.md#function-coriolis_gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; double &gt; | [**coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-coulomb_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; double &gt; | [**damping\_coeffs**](classrobot__dart_1_1Robot.md#function-damping_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  dart::dynamics::DegreeOfFreedom \* | [**dof**](classrobot__dart_1_1Robot.md#function-dof-12) (const std::string & dof\_name) <br> |
-|  dart::dynamics::DegreeOfFreedom \* | [**dof**](classrobot__dart_1_1Robot.md#function-dof-22) (size\_t dof\_index) <br> |
-|  size\_t | [**dof\_index**](classrobot__dart_1_1Robot.md#function-dof_index) (const std::string & dof\_name) const<br> |
-|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**dof\_map**](classrobot__dart_1_1Robot.md#function-dof_map) () const<br> |
-|  std::string | [**dof\_name**](classrobot__dart_1_1Robot.md#function-dof_name) (size\_t dof\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**dof\_names**](classrobot__dart_1_1Robot.md#function-dof_names) (bool filter\_mimics=false, bool filter\_locked=false, bool filter\_passive=false) const<br> |
-|  const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; & | [**drawing\_axes**](classrobot__dart_1_1Robot.md#function-drawing_axes) () const<br> |
-|  Eigen::Vector6d | [**external\_forces**](classrobot__dart_1_1Robot.md#function-external_forces-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**external\_forces**](classrobot__dart_1_1Robot.md#function-external_forces-22) (size\_t body\_index) const<br> |
-|  void | [**fix\_to\_world**](classrobot__dart_1_1Robot.md#function-fix_to_world) () <br> |
-|  bool | [**fixed**](classrobot__dart_1_1Robot.md#function-fixed) () const<br> |
-|  Eigen::VectorXd | [**force\_lower\_limits**](classrobot__dart_1_1Robot.md#function-force_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**force\_position\_bounds**](classrobot__dart_1_1Robot.md#function-force_position_bounds) () <br> |
-|  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; | [**force\_torque**](classrobot__dart_1_1Robot.md#function-force_torque) (size\_t joint\_index) const<br> |
-|  Eigen::VectorXd | [**force\_upper\_limits**](classrobot__dart_1_1Robot.md#function-force_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**forces**](classrobot__dart_1_1Robot.md#function-forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  bool | [**free**](classrobot__dart_1_1Robot.md#function-free) () const<br> |
-|  void | [**free\_from\_world**](classrobot__dart_1_1Robot.md#function-free_from_world) (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) <br> |
-|  double | [**friction\_coeff**](classrobot__dart_1_1Robot.md#function-friction_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**friction\_coeff**](classrobot__dart_1_1Robot.md#function-friction_coeff-22) (size\_t body\_index) <br> |
-|  Eigen::Vector3d | [**friction\_dir**](classrobot__dart_1_1Robot.md#function-friction_dir-12) (const std::string & body\_name) <br> |
-|  Eigen::Vector3d | [**friction\_dir**](classrobot__dart_1_1Robot.md#function-friction_dir-22) (size\_t body\_index) <br> |
-|  bool | [**ghost**](classrobot__dart_1_1Robot.md#function-ghost) () const<br> |
-|  Eigen::VectorXd | [**gravity\_forces**](classrobot__dart_1_1Robot.md#function-gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**inv\_aug\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-inv_aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**inv\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-inv_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**jacobian**](classrobot__dart_1_1Robot.md#function-jacobian) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**jacobian\_deriv**](classrobot__dart_1_1Robot.md#function-jacobian_deriv) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  dart::dynamics::Joint \* | [**joint**](classrobot__dart_1_1Robot.md#function-joint-12) (const std::string & joint\_name) <br> |
-|  dart::dynamics::Joint \* | [**joint**](classrobot__dart_1_1Robot.md#function-joint-22) (size\_t joint\_index) <br> |
-|  size\_t | [**joint\_index**](classrobot__dart_1_1Robot.md#function-joint_index) (const std::string & joint\_name) const<br> |
-|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**joint\_map**](classrobot__dart_1_1Robot.md#function-joint_map) () const<br> |
-|  std::string | [**joint\_name**](classrobot__dart_1_1Robot.md#function-joint_name) (size\_t joint\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**joint\_names**](classrobot__dart_1_1Robot.md#function-joint_names) () const<br> |
-|  std::vector&lt; std::string &gt; | [**locked\_dof\_names**](classrobot__dart_1_1Robot.md#function-locked_dof_names) () const<br> |
-|  Eigen::MatrixXd | [**mass\_matrix**](classrobot__dart_1_1Robot.md#function-mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; std::string &gt; | [**mimic\_dof\_names**](classrobot__dart_1_1Robot.md#function-mimic_dof_names) () const<br> |
-|  const std::string & | [**model\_filename**](classrobot__dart_1_1Robot.md#function-model_filename) () const<br> |
-|  const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & | [**model\_packages**](classrobot__dart_1_1Robot.md#function-model_packages) () const<br> |
-|  const std::string & | [**name**](classrobot__dart_1_1Robot.md#function-name) () const<br> |
-|  size\_t | [**num\_bodies**](classrobot__dart_1_1Robot.md#function-num_bodies) () const<br> |
-|  size\_t | [**num\_controllers**](classrobot__dart_1_1Robot.md#function-num_controllers) () const<br> |
-|  size\_t | [**num\_dofs**](classrobot__dart_1_1Robot.md#function-num_dofs) () const<br> |
-|  size\_t | [**num\_joints**](classrobot__dart_1_1Robot.md#function-num_joints) () const<br> |
-|  std::vector&lt; std::string &gt; | [**passive\_dof\_names**](classrobot__dart_1_1Robot.md#function-passive_dof_names) () const<br> |
-|  std::vector&lt; bool &gt; | [**position\_enforced**](classrobot__dart_1_1Robot.md#function-position_enforced) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**position\_lower\_limits**](classrobot__dart_1_1Robot.md#function-position_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**position\_upper\_limits**](classrobot__dart_1_1Robot.md#function-position_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**positions**](classrobot__dart_1_1Robot.md#function-positions) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**reinit\_controllers**](classrobot__dart_1_1Robot.md#function-reinit_controllers) () <br> |
-|  void | [**remove\_all\_drawing\_axis**](classrobot__dart_1_1Robot.md#function-remove_all_drawing_axis) () <br> |
-|  void | [**remove\_controller**](classrobot__dart_1_1Robot.md#function-remove_controller-12) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller) <br> |
-|  void | [**remove\_controller**](classrobot__dart_1_1Robot.md#function-remove_controller-22) (size\_t index) <br> |
-| virtual void | [**reset**](classrobot__dart_1_1Robot.md#function-reset) () <br> |
-|  void | [**reset\_commands**](classrobot__dart_1_1Robot.md#function-reset_commands) () <br> |
-|  double | [**restitution\_coeff**](classrobot__dart_1_1Robot.md#function-restitution_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**restitution\_coeff**](classrobot__dart_1_1Robot.md#function-restitution_coeff-22) (size\_t body\_index) <br> |
-|  double | [**secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-secondary_friction_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-secondary_friction_coeff-22) (size\_t body\_index) <br> |
-|  bool | [**self\_colliding**](classrobot__dart_1_1Robot.md#function-self_colliding) () const<br> |
-|  void | [**set\_acceleration\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_acceleration_lower_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_acceleration\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_acceleration_upper_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_accelerations**](classrobot__dart_1_1Robot.md#function-set_accelerations) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_actuator\_type**](classrobot__dart_1_1Robot.md#function-set_actuator_type) (const std::string & type, const std::string & joint\_name, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-set_actuator_types) (const std::string & type, const std::vector&lt; std::string &gt; & joint\_names={}, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**set\_base\_pose**](classrobot__dart_1_1Robot.md#function-set_base_pose-12) (const Eigen::Isometry3d & tf) <br> |
-|  void | [**set\_base\_pose**](classrobot__dart_1_1Robot.md#function-set_base_pose-22) (const Eigen::Vector6d & pose) <br>_set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)_  |
-|  void | [**set\_body\_mass**](classrobot__dart_1_1Robot.md#function-set_body_mass-12) (const std::string & body\_name, double mass) <br> |
-|  void | [**set\_body\_mass**](classrobot__dart_1_1Robot.md#function-set_body_mass-22) (size\_t body\_index, double mass) <br> |
-|  void | [**set\_body\_name**](classrobot__dart_1_1Robot.md#function-set_body_name) (size\_t body\_index, const std::string & body\_name) <br> |
-|  void | [**set\_cast\_shadows**](classrobot__dart_1_1Robot.md#function-set_cast_shadows) (bool cast\_shadows=true) <br> |
-|  void | [**set\_color\_mode**](classrobot__dart_1_1Robot.md#function-set_color_mode-12) (const std::string & color\_mode) <br> |
-|  void | [**set\_color\_mode**](classrobot__dart_1_1Robot.md#function-set_color_mode-22) (const std::string & color\_mode, const std::string & body\_name) <br> |
-|  void | [**set\_commands**](classrobot__dart_1_1Robot.md#function-set_commands) (const Eigen::VectorXd & commands, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-set_coulomb_coeffs-12) (const std::vector&lt; double &gt; & cfrictions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-set_coulomb_coeffs-22) (double cfriction, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_damping\_coeffs**](classrobot__dart_1_1Robot.md#function-set_damping_coeffs-12) (const std::vector&lt; double &gt; & damps, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_damping\_coeffs**](classrobot__dart_1_1Robot.md#function-set_damping_coeffs-22) (double damp, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_draw\_axis**](classrobot__dart_1_1Robot.md#function-set_draw_axis) (const std::string & body\_name, double size=0.25) <br> |
-|  void | [**set\_external\_force**](classrobot__dart_1_1Robot.md#function-set_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**set\_external\_force**](classrobot__dart_1_1Robot.md#function-set_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**set\_external\_torque**](classrobot__dart_1_1Robot.md#function-set_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**set\_external\_torque**](classrobot__dart_1_1Robot.md#function-set_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**set\_force\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_force_lower_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_force\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_force_upper_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_forces**](classrobot__dart_1_1Robot.md#function-set_forces) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_friction_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_friction_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_friction\_coeffs**](classrobot__dart_1_1Robot.md#function-set_friction_coeffs) (double value) <br> |
-|  void | [**set\_friction\_dir**](classrobot__dart_1_1Robot.md#function-set_friction_dir-12) (const std::string & body\_name, const Eigen::Vector3d & direction) <br> |
-|  void | [**set\_friction\_dir**](classrobot__dart_1_1Robot.md#function-set_friction_dir-22) (size\_t body\_index, const Eigen::Vector3d & direction) <br> |
-|  void | [**set\_ghost**](classrobot__dart_1_1Robot.md#function-set_ghost) (bool ghost=true) <br> |
-|  void | [**set\_joint\_name**](classrobot__dart_1_1Robot.md#function-set_joint_name) (size\_t joint\_index, const std::string & joint\_name) <br> |
-|  void | [**set\_mimic**](classrobot__dart_1_1Robot.md#function-set_mimic) (const std::string & joint\_name, const std::string & mimic\_joint\_name, double multiplier=1., double offset=0.) <br> |
-|  void | [**set\_position\_enforced**](classrobot__dart_1_1Robot.md#function-set_position_enforced-12) (const std::vector&lt; bool &gt; & enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_enforced**](classrobot__dart_1_1Robot.md#function-set_position_enforced-22) (bool enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_position_lower_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_position_upper_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_positions**](classrobot__dart_1_1Robot.md#function-set_positions) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_restitution\_coeff**](classrobot__dart_1_1Robot.md#function-set_restitution_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_restitution\_coeff**](classrobot__dart_1_1Robot.md#function-set_restitution_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_restitution\_coeffs**](classrobot__dart_1_1Robot.md#function-set_restitution_coeffs) (double value) <br> |
-|  void | [**set\_secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_secondary\_friction\_coeffs**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeffs) (double value) <br> |
-|  void | [**set\_self\_collision**](classrobot__dart_1_1Robot.md#function-set_self_collision) (bool enable\_self\_collisions=true, bool enable\_adjacent\_collisions=false) <br> |
-|  void | [**set\_spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-set_spring_stiffnesses-12) (const std::vector&lt; double &gt; & stiffnesses, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-set_spring_stiffnesses-22) (double stiffness, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocities**](classrobot__dart_1_1Robot.md#function-set_velocities) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocity\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_velocity_lower_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocity\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_velocity_upper_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  dart::dynamics::SkeletonPtr | [**skeleton**](classrobot__dart_1_1Robot.md#function-skeleton) () <br> |
-|  std::vector&lt; double &gt; | [**spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-spring_stiffnesses) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**update**](classrobot__dart_1_1Robot.md#function-update) (double t) <br> |
-|  void | [**update\_joint\_dof\_maps**](classrobot__dart_1_1Robot.md#function-update_joint_dof_maps) () <br> |
-|  Eigen::VectorXd | [**vec\_dof**](classrobot__dart_1_1Robot.md#function-vec_dof) (const Eigen::VectorXd & vec, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-|  Eigen::VectorXd | [**velocities**](classrobot__dart_1_1Robot.md#function-velocities) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**velocity\_lower\_limits**](classrobot__dart_1_1Robot.md#function-velocity_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**velocity\_upper\_limits**](classrobot__dart_1_1Robot.md#function-velocity_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-| virtual  | [**~Robot**](classrobot__dart_1_1Robot.md#function-robot) () <br> |
+|   | [**Robot**](#function-robot-13) (const std::string & model\_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
+|   | [**Robot**](#function-robot-23) (const std::string & model\_file, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
+|   | [**Robot**](#function-robot-33) (dart::dynamics::SkeletonPtr skeleton, const std::string & robot\_name="robot", bool cast\_shadows=true) <br> |
+|  Eigen::VectorXd | [**acceleration\_lower\_limits**](#function-acceleration_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**acceleration\_upper\_limits**](#function-acceleration_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**accelerations**](#function-accelerations) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**active\_controllers**](#function-active_controllers) () const<br> |
+|  std::string | [**actuator\_type**](#function-actuator_type) (const std::string & joint\_name) const<br> |
+|  std::vector&lt; std::string &gt; | [**actuator\_types**](#function-actuator_types) (const std::vector&lt; std::string &gt; & joint\_names={}) const<br> |
+|  void | [**add\_body\_mass**](#function-add_body_mass-12) (const std::string & body\_name, double mass) <br> |
+|  void | [**add\_body\_mass**](#function-add_body_mass-22) (size\_t body\_index, double mass) <br> |
+|  void | [**add\_controller**](#function-add_controller) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller, double weight=1.0) <br> |
+|  void | [**add\_external\_force**](#function-add_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**add\_external\_force**](#function-add_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**add\_external\_torque**](#function-add_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**add\_external\_torque**](#function-add_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  bool | [**adjacent\_colliding**](#function-adjacent_colliding) () const<br> |
+|  Eigen::MatrixXd | [**aug\_mass\_matrix**](#function-aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::Isometry3d | [**base\_pose**](#function-base_pose) () const<br> |
+|  Eigen::Vector6d | [**base\_pose\_vec**](#function-base_pose_vec) () const<br> |
+|  Eigen::Vector6d | [**body\_acceleration**](#function-body_acceleration-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_acceleration**](#function-body_acceleration-22) (size\_t body\_index) const<br> |
+|  size\_t | [**body\_index**](#function-body_index) (const std::string & body\_name) const<br> |
+|  double | [**body\_mass**](#function-body_mass-12) (const std::string & body\_name) const<br> |
+|  double | [**body\_mass**](#function-body_mass-22) (size\_t body\_index) const<br> |
+|  std::string | [**body\_name**](#function-body_name) (size\_t body\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**body\_names**](#function-body_names) () const<br> |
+|  dart::dynamics::BodyNode \* | [**body\_node**](#function-body_node-12) (const std::string & body\_name) <br> |
+|  dart::dynamics::BodyNode \* | [**body\_node**](#function-body_node-22) (size\_t body\_index) <br> |
+|  Eigen::Isometry3d | [**body\_pose**](#function-body_pose-12) (const std::string & body\_name) const<br> |
+|  Eigen::Isometry3d | [**body\_pose**](#function-body_pose-22) (size\_t body\_index) const<br> |
+|  Eigen::Vector6d | [**body\_pose\_vec**](#function-body_pose_vec-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_pose\_vec**](#function-body_pose_vec-22) (size\_t body\_index) const<br> |
+|  Eigen::Vector6d | [**body\_velocity**](#function-body_velocity-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_velocity**](#function-body_velocity-22) (size\_t body\_index) const<br> |
+|  bool | [**cast\_shadows**](#function-cast_shadows) () const<br> |
+|  void | [**clear\_controllers**](#function-clear_controllers) () <br> |
+|  void | [**clear\_external\_forces**](#function-clear_external_forces) () <br> |
+|  void | [**clear\_internal\_forces**](#function-clear_internal_forces) () <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone**](#function-clone) () const<br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone\_ghost**](#function-clone_ghost) (const std::string & ghost\_name="ghost", const Eigen::Vector4d & ghost\_color={0.3, 0.3, 0.3, 0.7}) const<br> |
+|  Eigen::Vector3d | [**com**](#function-com) () const<br> |
+|  Eigen::Vector6d | [**com\_acceleration**](#function-com_acceleration) () const<br> |
+|  Eigen::MatrixXd | [**com\_jacobian**](#function-com_jacobian) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**com\_jacobian\_deriv**](#function-com_jacobian_deriv) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::Vector6d | [**com\_velocity**](#function-com_velocity) () const<br> |
+|  Eigen::VectorXd | [**commands**](#function-commands) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**constraint\_forces**](#function-constraint_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**controller**](#function-controller) (size\_t index) const<br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**controllers**](#function-controllers) () const<br> |
+|  Eigen::VectorXd | [**coriolis\_forces**](#function-coriolis_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**coriolis\_gravity\_forces**](#function-coriolis_gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; double &gt; | [**coulomb\_coeffs**](#function-coulomb_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; double &gt; | [**damping\_coeffs**](#function-damping_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  dart::dynamics::DegreeOfFreedom \* | [**dof**](#function-dof-12) (const std::string & dof\_name) <br> |
+|  dart::dynamics::DegreeOfFreedom \* | [**dof**](#function-dof-22) (size\_t dof\_index) <br> |
+|  size\_t | [**dof\_index**](#function-dof_index) (const std::string & dof\_name) const<br> |
+|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**dof\_map**](#function-dof_map) () const<br> |
+|  std::string | [**dof\_name**](#function-dof_name) (size\_t dof\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**dof\_names**](#function-dof_names) (bool filter\_mimics=false, bool filter\_locked=false, bool filter\_passive=false) const<br> |
+|  const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; & | [**drawing\_axes**](#function-drawing_axes) () const<br> |
+|  Eigen::Vector6d | [**external\_forces**](#function-external_forces-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**external\_forces**](#function-external_forces-22) (size\_t body\_index) const<br> |
+|  void | [**fix\_to\_world**](#function-fix_to_world) () <br> |
+|  bool | [**fixed**](#function-fixed) () const<br> |
+|  Eigen::VectorXd | [**force\_lower\_limits**](#function-force_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**force\_position\_bounds**](#function-force_position_bounds) () <br> |
+|  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; | [**force\_torque**](#function-force_torque) (size\_t joint\_index) const<br> |
+|  Eigen::VectorXd | [**force\_upper\_limits**](#function-force_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**forces**](#function-forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  bool | [**free**](#function-free) () const<br> |
+|  void | [**free\_from\_world**](#function-free_from_world) (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) <br> |
+|  double | [**friction\_coeff**](#function-friction_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**friction\_coeff**](#function-friction_coeff-22) (size\_t body\_index) <br> |
+|  Eigen::Vector3d | [**friction\_dir**](#function-friction_dir-12) (const std::string & body\_name) <br> |
+|  Eigen::Vector3d | [**friction\_dir**](#function-friction_dir-22) (size\_t body\_index) <br> |
+|  bool | [**ghost**](#function-ghost) () const<br> |
+|  Eigen::VectorXd | [**gravity\_forces**](#function-gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**inv\_aug\_mass\_matrix**](#function-inv_aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**inv\_mass\_matrix**](#function-inv_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**jacobian**](#function-jacobian) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**jacobian\_deriv**](#function-jacobian_deriv) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  dart::dynamics::Joint \* | [**joint**](#function-joint-12) (const std::string & joint\_name) <br> |
+|  dart::dynamics::Joint \* | [**joint**](#function-joint-22) (size\_t joint\_index) <br> |
+|  size\_t | [**joint\_index**](#function-joint_index) (const std::string & joint\_name) const<br> |
+|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**joint\_map**](#function-joint_map) () const<br> |
+|  std::string | [**joint\_name**](#function-joint_name) (size\_t joint\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**joint\_names**](#function-joint_names) () const<br> |
+|  std::vector&lt; std::string &gt; | [**locked\_dof\_names**](#function-locked_dof_names) () const<br> |
+|  Eigen::MatrixXd | [**mass\_matrix**](#function-mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; std::string &gt; | [**mimic\_dof\_names**](#function-mimic_dof_names) () const<br> |
+|  const std::string & | [**model\_filename**](#function-model_filename) () const<br> |
+|  const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & | [**model\_packages**](#function-model_packages) () const<br> |
+|  const std::string & | [**name**](#function-name) () const<br> |
+|  size\_t | [**num\_bodies**](#function-num_bodies) () const<br> |
+|  size\_t | [**num\_controllers**](#function-num_controllers) () const<br> |
+|  size\_t | [**num\_dofs**](#function-num_dofs) () const<br> |
+|  size\_t | [**num\_joints**](#function-num_joints) () const<br> |
+|  std::vector&lt; std::string &gt; | [**passive\_dof\_names**](#function-passive_dof_names) () const<br> |
+|  std::vector&lt; bool &gt; | [**position\_enforced**](#function-position_enforced) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**position\_lower\_limits**](#function-position_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**position\_upper\_limits**](#function-position_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**positions**](#function-positions) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**reinit\_controllers**](#function-reinit_controllers) () <br> |
+|  void | [**remove\_all\_drawing\_axis**](#function-remove_all_drawing_axis) () <br> |
+|  void | [**remove\_controller**](#function-remove_controller-12) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller) <br> |
+|  void | [**remove\_controller**](#function-remove_controller-22) (size\_t index) <br> |
+| virtual void | [**reset**](#function-reset) () <br> |
+|  void | [**reset\_commands**](#function-reset_commands) () <br> |
+|  double | [**restitution\_coeff**](#function-restitution_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**restitution\_coeff**](#function-restitution_coeff-22) (size\_t body\_index) <br> |
+|  double | [**secondary\_friction\_coeff**](#function-secondary_friction_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**secondary\_friction\_coeff**](#function-secondary_friction_coeff-22) (size\_t body\_index) <br> |
+|  bool | [**self\_colliding**](#function-self_colliding) () const<br> |
+|  void | [**set\_acceleration\_lower\_limits**](#function-set_acceleration_lower_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_acceleration\_upper\_limits**](#function-set_acceleration_upper_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_accelerations**](#function-set_accelerations) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_actuator\_type**](#function-set_actuator_type) (const std::string & type, const std::string & joint\_name, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**set\_actuator\_types**](#function-set_actuator_types) (const std::string & type, const std::vector&lt; std::string &gt; & joint\_names={}, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**set\_base\_pose**](#function-set_base_pose-12) (const Eigen::Isometry3d & tf) <br> |
+|  void | [**set\_base\_pose**](#function-set_base_pose-22) (const Eigen::Vector6d & pose) <br>_set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)_  |
+|  void | [**set\_body\_mass**](#function-set_body_mass-12) (const std::string & body\_name, double mass) <br> |
+|  void | [**set\_body\_mass**](#function-set_body_mass-22) (size\_t body\_index, double mass) <br> |
+|  void | [**set\_body\_name**](#function-set_body_name) (size\_t body\_index, const std::string & body\_name) <br> |
+|  void | [**set\_cast\_shadows**](#function-set_cast_shadows) (bool cast\_shadows=true) <br> |
+|  void | [**set\_color\_mode**](#function-set_color_mode-12) (const std::string & color\_mode) <br> |
+|  void | [**set\_color\_mode**](#function-set_color_mode-22) (const std::string & color\_mode, const std::string & body\_name) <br> |
+|  void | [**set\_commands**](#function-set_commands) (const Eigen::VectorXd & commands, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_coulomb\_coeffs**](#function-set_coulomb_coeffs-12) (const std::vector&lt; double &gt; & cfrictions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_coulomb\_coeffs**](#function-set_coulomb_coeffs-22) (double cfriction, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_damping\_coeffs**](#function-set_damping_coeffs-12) (const std::vector&lt; double &gt; & damps, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_damping\_coeffs**](#function-set_damping_coeffs-22) (double damp, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_draw\_axis**](#function-set_draw_axis) (const std::string & body\_name, double size=0.25) <br> |
+|  void | [**set\_external\_force**](#function-set_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**set\_external\_force**](#function-set_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**set\_external\_torque**](#function-set_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**set\_external\_torque**](#function-set_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**set\_force\_lower\_limits**](#function-set_force_lower_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_force\_upper\_limits**](#function-set_force_upper_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_forces**](#function-set_forces) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_friction\_coeff**](#function-set_friction_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_friction\_coeff**](#function-set_friction_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_friction\_coeffs**](#function-set_friction_coeffs) (double value) <br> |
+|  void | [**set\_friction\_dir**](#function-set_friction_dir-12) (const std::string & body\_name, const Eigen::Vector3d & direction) <br> |
+|  void | [**set\_friction\_dir**](#function-set_friction_dir-22) (size\_t body\_index, const Eigen::Vector3d & direction) <br> |
+|  void | [**set\_ghost**](#function-set_ghost) (bool ghost=true) <br> |
+|  void | [**set\_joint\_name**](#function-set_joint_name) (size\_t joint\_index, const std::string & joint\_name) <br> |
+|  void | [**set\_mimic**](#function-set_mimic) (const std::string & joint\_name, const std::string & mimic\_joint\_name, double multiplier=1., double offset=0.) <br> |
+|  void | [**set\_position\_enforced**](#function-set_position_enforced-12) (const std::vector&lt; bool &gt; & enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_enforced**](#function-set_position_enforced-22) (bool enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_lower\_limits**](#function-set_position_lower_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_upper\_limits**](#function-set_position_upper_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_positions**](#function-set_positions) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_restitution\_coeff**](#function-set_restitution_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_restitution\_coeff**](#function-set_restitution_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_restitution\_coeffs**](#function-set_restitution_coeffs) (double value) <br> |
+|  void | [**set\_secondary\_friction\_coeff**](#function-set_secondary_friction_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_secondary\_friction\_coeff**](#function-set_secondary_friction_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_secondary\_friction\_coeffs**](#function-set_secondary_friction_coeffs) (double value) <br> |
+|  void | [**set\_self\_collision**](#function-set_self_collision) (bool enable\_self\_collisions=true, bool enable\_adjacent\_collisions=false) <br> |
+|  void | [**set\_spring\_stiffnesses**](#function-set_spring_stiffnesses-12) (const std::vector&lt; double &gt; & stiffnesses, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_spring\_stiffnesses**](#function-set_spring_stiffnesses-22) (double stiffness, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocities**](#function-set_velocities) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocity\_lower\_limits**](#function-set_velocity_lower_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocity\_upper\_limits**](#function-set_velocity_upper_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  dart::dynamics::SkeletonPtr | [**skeleton**](#function-skeleton) () <br> |
+|  std::vector&lt; double &gt; | [**spring\_stiffnesses**](#function-spring_stiffnesses) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**update**](#function-update) (double t) <br> |
+|  void | [**update\_joint\_dof\_maps**](#function-update_joint_dof_maps) () <br> |
+|  Eigen::VectorXd | [**vec\_dof**](#function-vec_dof) (const Eigen::VectorXd & vec, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+|  Eigen::VectorXd | [**velocities**](#function-velocities) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**velocity\_lower\_limits**](#function-velocity_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**velocity\_upper\_limits**](#function-velocity_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+| virtual  | [**~Robot**](#function-robot) () <br> |
 
 
 
@@ -310,10 +310,10 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](classrobot__dart_1_1Robot.md#function-create_box-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](classrobot__dart_1_1Robot.md#function-create_box-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](classrobot__dart_1_1Robot.md#function-create_ellipsoid-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](classrobot__dart_1_1Robot.md#function-create_ellipsoid-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](#function-create_box-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](#function-create_box-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](#function-create_ellipsoid-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](#function-create_ellipsoid-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
 
 
 
@@ -336,13 +336,13 @@ See [robot\_dart::robots::Talos](classrobot__dart_1_1robots_1_1Talos.md)
 
 | Type | Name |
 | ---: | :--- |
-|  size\_t | [**\_frequency**](classrobot__dart_1_1robots_1_1Talos.md#variable-_frequency)  <br> |
-|  std::shared\_ptr&lt; [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) &gt; | [**\_ft\_foot\_left**](classrobot__dart_1_1robots_1_1Talos.md#variable-_ft_foot_left)  <br> |
-|  std::shared\_ptr&lt; [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) &gt; | [**\_ft\_foot\_right**](classrobot__dart_1_1robots_1_1Talos.md#variable-_ft_foot_right)  <br> |
-|  std::shared\_ptr&lt; [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) &gt; | [**\_ft\_wrist\_left**](classrobot__dart_1_1robots_1_1Talos.md#variable-_ft_wrist_left)  <br> |
-|  std::shared\_ptr&lt; [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) &gt; | [**\_ft\_wrist\_right**](classrobot__dart_1_1robots_1_1Talos.md#variable-_ft_wrist_right)  <br> |
-|  std::shared\_ptr&lt; [**sensor::IMU**](classrobot__dart_1_1sensor_1_1IMU.md) &gt; | [**\_imu**](classrobot__dart_1_1robots_1_1Talos.md#variable-_imu)  <br> |
-|  torque\_map\_t | [**\_torques**](classrobot__dart_1_1robots_1_1Talos.md#variable-_torques)  <br> |
+|  size\_t | [**\_frequency**](#variable-_frequency)  <br> |
+|  std::shared\_ptr&lt; [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) &gt; | [**\_ft\_foot\_left**](#variable-_ft_foot_left)  <br> |
+|  std::shared\_ptr&lt; [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) &gt; | [**\_ft\_foot\_right**](#variable-_ft_foot_right)  <br> |
+|  std::shared\_ptr&lt; [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) &gt; | [**\_ft\_wrist\_left**](#variable-_ft_wrist_left)  <br> |
+|  std::shared\_ptr&lt; [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) &gt; | [**\_ft\_wrist\_right**](#variable-_ft_wrist_right)  <br> |
+|  std::shared\_ptr&lt; [**sensor::IMU**](classrobot__dart_1_1sensor_1_1IMU.md) &gt; | [**\_imu**](#variable-_imu)  <br> |
+|  torque\_map\_t | [**\_torques**](#variable-_torques)  <br> |
 
 
 ## Protected Attributes inherited from robot_dart::Robot
@@ -351,16 +351,16 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; | [**\_axis\_shapes**](classrobot__dart_1_1Robot.md#variable-_axis_shapes)  <br> |
-|  bool | [**\_cast\_shadows**](classrobot__dart_1_1Robot.md#variable-_cast_shadows)  <br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**\_controllers**](classrobot__dart_1_1Robot.md#variable-_controllers)  <br> |
-|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_dof\_map**](classrobot__dart_1_1Robot.md#variable-_dof_map)  <br> |
-|  bool | [**\_is\_ghost**](classrobot__dart_1_1Robot.md#variable-_is_ghost)  <br> |
-|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_joint\_map**](classrobot__dart_1_1Robot.md#variable-_joint_map)  <br> |
-|  std::string | [**\_model\_filename**](classrobot__dart_1_1Robot.md#variable-_model_filename)  <br> |
-|  std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; | [**\_packages**](classrobot__dart_1_1Robot.md#variable-_packages)  <br> |
-|  std::string | [**\_robot\_name**](classrobot__dart_1_1Robot.md#variable-_robot_name)  <br> |
-|  dart::dynamics::SkeletonPtr | [**\_skeleton**](classrobot__dart_1_1Robot.md#variable-_skeleton)  <br> |
+|  std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; | [**\_axis\_shapes**](#variable-_axis_shapes)  <br> |
+|  bool | [**\_cast\_shadows**](#variable-_cast_shadows)  <br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**\_controllers**](#variable-_controllers)  <br> |
+|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_dof\_map**](#variable-_dof_map)  <br> |
+|  bool | [**\_is\_ghost**](#variable-_is_ghost)  <br> |
+|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_joint\_map**](#variable-_joint_map)  <br> |
+|  std::string | [**\_model\_filename**](#variable-_model_filename)  <br> |
+|  std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; | [**\_packages**](#variable-_packages)  <br> |
+|  std::string | [**\_robot\_name**](#variable-_robot_name)  <br> |
+|  dart::dynamics::SkeletonPtr | [**\_skeleton**](#variable-_skeleton)  <br> |
 
 
 
@@ -413,8 +413,8 @@ See [robot\_dart::robots::Talos](classrobot__dart_1_1robots_1_1Talos.md)
 
 | Type | Name |
 | ---: | :--- |
-| virtual void | [**\_post\_addition**](classrobot__dart_1_1robots_1_1Talos.md#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) override<br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
-| virtual void | [**\_post\_removal**](classrobot__dart_1_1robots_1_1Talos.md#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) override<br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
+| virtual void | [**\_post\_addition**](#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) override<br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
+| virtual void | [**\_post\_removal**](#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) override<br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
 
 
 ## Protected Functions inherited from robot_dart::Robot
@@ -423,19 +423,19 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  dart::dynamics::Joint::ActuatorType | [**\_actuator\_type**](classrobot__dart_1_1Robot.md#function-_actuator_type) (size\_t joint\_index) const<br> |
-|  std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; | [**\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_actuator_types) () const<br> |
-|  std::string | [**\_get\_path**](classrobot__dart_1_1Robot.md#function-_get_path) (const std::string & filename) const<br> |
-|  Eigen::MatrixXd | [**\_jacobian**](classrobot__dart_1_1Robot.md#function-_jacobian) (const Eigen::MatrixXd & full\_jacobian, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-|  dart::dynamics::SkeletonPtr | [**\_load\_model**](classrobot__dart_1_1Robot.md#function-_load_model) (const std::string & filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is\_urdf\_string=false) <br> |
-|  Eigen::MatrixXd | [**\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-_mass_matrix) (const Eigen::MatrixXd & full\_mass\_matrix, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-| virtual void | [**\_post\_addition**](classrobot__dart_1_1Robot.md#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
-| virtual void | [**\_post\_removal**](classrobot__dart_1_1Robot.md#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
-|  void | [**\_set\_actuator\_type**](classrobot__dart_1_1Robot.md#function-_set_actuator_type) (size\_t joint\_index, dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_set_actuator_types-12) (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; & types, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_set_actuator_types-22) (dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_color\_mode**](classrobot__dart_1_1Robot.md#function-_set_color_mode-12) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::SkeletonPtr skel) <br> |
-|  void | [**\_set\_color\_mode**](classrobot__dart_1_1Robot.md#function-_set_color_mode-22) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::ShapeNode \* sn) <br> |
+|  dart::dynamics::Joint::ActuatorType | [**\_actuator\_type**](#function-_actuator_type) (size\_t joint\_index) const<br> |
+|  std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; | [**\_actuator\_types**](#function-_actuator_types) () const<br> |
+|  std::string | [**\_get\_path**](#function-_get_path) (const std::string & filename) const<br> |
+|  Eigen::MatrixXd | [**\_jacobian**](#function-_jacobian) (const Eigen::MatrixXd & full\_jacobian, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+|  dart::dynamics::SkeletonPtr | [**\_load\_model**](#function-_load_model) (const std::string & filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is\_urdf\_string=false) <br> |
+|  Eigen::MatrixXd | [**\_mass\_matrix**](#function-_mass_matrix) (const Eigen::MatrixXd & full\_mass\_matrix, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+| virtual void | [**\_post\_addition**](#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
+| virtual void | [**\_post\_removal**](#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
+|  void | [**\_set\_actuator\_type**](#function-_set_actuator_type) (size\_t joint\_index, dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_actuator\_types**](#function-_set_actuator_types-12) (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; & types, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_actuator\_types**](#function-_set_actuator_types-22) (dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_color\_mode**](#function-_set_color_mode-12) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::SkeletonPtr skel) <br> |
+|  void | [**\_set\_color\_mode**](#function-_set_color_mode-22) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::ShapeNode \* sn) <br> |
 
 
 
diff --git a/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Tiago.md b/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Tiago.md
index d76fd925..bbae6fce 100644
--- a/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Tiago.md
+++ b/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Tiago.md
@@ -87,180 +87,180 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-13) (const std::string & model\_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-23) (const std::string & model\_file, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-33) (dart::dynamics::SkeletonPtr skeleton, const std::string & robot\_name="robot", bool cast\_shadows=true) <br> |
-|  Eigen::VectorXd | [**acceleration\_lower\_limits**](classrobot__dart_1_1Robot.md#function-acceleration_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**acceleration\_upper\_limits**](classrobot__dart_1_1Robot.md#function-acceleration_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**accelerations**](classrobot__dart_1_1Robot.md#function-accelerations) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**active\_controllers**](classrobot__dart_1_1Robot.md#function-active_controllers) () const<br> |
-|  std::string | [**actuator\_type**](classrobot__dart_1_1Robot.md#function-actuator_type) (const std::string & joint\_name) const<br> |
-|  std::vector&lt; std::string &gt; | [**actuator\_types**](classrobot__dart_1_1Robot.md#function-actuator_types) (const std::vector&lt; std::string &gt; & joint\_names={}) const<br> |
-|  void | [**add\_body\_mass**](classrobot__dart_1_1Robot.md#function-add_body_mass-12) (const std::string & body\_name, double mass) <br> |
-|  void | [**add\_body\_mass**](classrobot__dart_1_1Robot.md#function-add_body_mass-22) (size\_t body\_index, double mass) <br> |
-|  void | [**add\_controller**](classrobot__dart_1_1Robot.md#function-add_controller) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller, double weight=1.0) <br> |
-|  void | [**add\_external\_force**](classrobot__dart_1_1Robot.md#function-add_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**add\_external\_force**](classrobot__dart_1_1Robot.md#function-add_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**add\_external\_torque**](classrobot__dart_1_1Robot.md#function-add_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**add\_external\_torque**](classrobot__dart_1_1Robot.md#function-add_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  bool | [**adjacent\_colliding**](classrobot__dart_1_1Robot.md#function-adjacent_colliding) () const<br> |
-|  Eigen::MatrixXd | [**aug\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::Isometry3d | [**base\_pose**](classrobot__dart_1_1Robot.md#function-base_pose) () const<br> |
-|  Eigen::Vector6d | [**base\_pose\_vec**](classrobot__dart_1_1Robot.md#function-base_pose_vec) () const<br> |
-|  Eigen::Vector6d | [**body\_acceleration**](classrobot__dart_1_1Robot.md#function-body_acceleration-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_acceleration**](classrobot__dart_1_1Robot.md#function-body_acceleration-22) (size\_t body\_index) const<br> |
-|  size\_t | [**body\_index**](classrobot__dart_1_1Robot.md#function-body_index) (const std::string & body\_name) const<br> |
-|  double | [**body\_mass**](classrobot__dart_1_1Robot.md#function-body_mass-12) (const std::string & body\_name) const<br> |
-|  double | [**body\_mass**](classrobot__dart_1_1Robot.md#function-body_mass-22) (size\_t body\_index) const<br> |
-|  std::string | [**body\_name**](classrobot__dart_1_1Robot.md#function-body_name) (size\_t body\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**body\_names**](classrobot__dart_1_1Robot.md#function-body_names) () const<br> |
-|  dart::dynamics::BodyNode \* | [**body\_node**](classrobot__dart_1_1Robot.md#function-body_node-12) (const std::string & body\_name) <br> |
-|  dart::dynamics::BodyNode \* | [**body\_node**](classrobot__dart_1_1Robot.md#function-body_node-22) (size\_t body\_index) <br> |
-|  Eigen::Isometry3d | [**body\_pose**](classrobot__dart_1_1Robot.md#function-body_pose-12) (const std::string & body\_name) const<br> |
-|  Eigen::Isometry3d | [**body\_pose**](classrobot__dart_1_1Robot.md#function-body_pose-22) (size\_t body\_index) const<br> |
-|  Eigen::Vector6d | [**body\_pose\_vec**](classrobot__dart_1_1Robot.md#function-body_pose_vec-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_pose\_vec**](classrobot__dart_1_1Robot.md#function-body_pose_vec-22) (size\_t body\_index) const<br> |
-|  Eigen::Vector6d | [**body\_velocity**](classrobot__dart_1_1Robot.md#function-body_velocity-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_velocity**](classrobot__dart_1_1Robot.md#function-body_velocity-22) (size\_t body\_index) const<br> |
-|  bool | [**cast\_shadows**](classrobot__dart_1_1Robot.md#function-cast_shadows) () const<br> |
-|  void | [**clear\_controllers**](classrobot__dart_1_1Robot.md#function-clear_controllers) () <br> |
-|  void | [**clear\_external\_forces**](classrobot__dart_1_1Robot.md#function-clear_external_forces) () <br> |
-|  void | [**clear\_internal\_forces**](classrobot__dart_1_1Robot.md#function-clear_internal_forces) () <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone**](classrobot__dart_1_1Robot.md#function-clone) () const<br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone\_ghost**](classrobot__dart_1_1Robot.md#function-clone_ghost) (const std::string & ghost\_name="ghost", const Eigen::Vector4d & ghost\_color={0.3, 0.3, 0.3, 0.7}) const<br> |
-|  Eigen::Vector3d | [**com**](classrobot__dart_1_1Robot.md#function-com) () const<br> |
-|  Eigen::Vector6d | [**com\_acceleration**](classrobot__dart_1_1Robot.md#function-com_acceleration) () const<br> |
-|  Eigen::MatrixXd | [**com\_jacobian**](classrobot__dart_1_1Robot.md#function-com_jacobian) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**com\_jacobian\_deriv**](classrobot__dart_1_1Robot.md#function-com_jacobian_deriv) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::Vector6d | [**com\_velocity**](classrobot__dart_1_1Robot.md#function-com_velocity) () const<br> |
-|  Eigen::VectorXd | [**commands**](classrobot__dart_1_1Robot.md#function-commands) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**constraint\_forces**](classrobot__dart_1_1Robot.md#function-constraint_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**controller**](classrobot__dart_1_1Robot.md#function-controller) (size\_t index) const<br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**controllers**](classrobot__dart_1_1Robot.md#function-controllers) () const<br> |
-|  Eigen::VectorXd | [**coriolis\_forces**](classrobot__dart_1_1Robot.md#function-coriolis_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**coriolis\_gravity\_forces**](classrobot__dart_1_1Robot.md#function-coriolis_gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; double &gt; | [**coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-coulomb_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; double &gt; | [**damping\_coeffs**](classrobot__dart_1_1Robot.md#function-damping_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  dart::dynamics::DegreeOfFreedom \* | [**dof**](classrobot__dart_1_1Robot.md#function-dof-12) (const std::string & dof\_name) <br> |
-|  dart::dynamics::DegreeOfFreedom \* | [**dof**](classrobot__dart_1_1Robot.md#function-dof-22) (size\_t dof\_index) <br> |
-|  size\_t | [**dof\_index**](classrobot__dart_1_1Robot.md#function-dof_index) (const std::string & dof\_name) const<br> |
-|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**dof\_map**](classrobot__dart_1_1Robot.md#function-dof_map) () const<br> |
-|  std::string | [**dof\_name**](classrobot__dart_1_1Robot.md#function-dof_name) (size\_t dof\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**dof\_names**](classrobot__dart_1_1Robot.md#function-dof_names) (bool filter\_mimics=false, bool filter\_locked=false, bool filter\_passive=false) const<br> |
-|  const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; & | [**drawing\_axes**](classrobot__dart_1_1Robot.md#function-drawing_axes) () const<br> |
-|  Eigen::Vector6d | [**external\_forces**](classrobot__dart_1_1Robot.md#function-external_forces-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**external\_forces**](classrobot__dart_1_1Robot.md#function-external_forces-22) (size\_t body\_index) const<br> |
-|  void | [**fix\_to\_world**](classrobot__dart_1_1Robot.md#function-fix_to_world) () <br> |
-|  bool | [**fixed**](classrobot__dart_1_1Robot.md#function-fixed) () const<br> |
-|  Eigen::VectorXd | [**force\_lower\_limits**](classrobot__dart_1_1Robot.md#function-force_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**force\_position\_bounds**](classrobot__dart_1_1Robot.md#function-force_position_bounds) () <br> |
-|  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; | [**force\_torque**](classrobot__dart_1_1Robot.md#function-force_torque) (size\_t joint\_index) const<br> |
-|  Eigen::VectorXd | [**force\_upper\_limits**](classrobot__dart_1_1Robot.md#function-force_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**forces**](classrobot__dart_1_1Robot.md#function-forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  bool | [**free**](classrobot__dart_1_1Robot.md#function-free) () const<br> |
-|  void | [**free\_from\_world**](classrobot__dart_1_1Robot.md#function-free_from_world) (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) <br> |
-|  double | [**friction\_coeff**](classrobot__dart_1_1Robot.md#function-friction_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**friction\_coeff**](classrobot__dart_1_1Robot.md#function-friction_coeff-22) (size\_t body\_index) <br> |
-|  Eigen::Vector3d | [**friction\_dir**](classrobot__dart_1_1Robot.md#function-friction_dir-12) (const std::string & body\_name) <br> |
-|  Eigen::Vector3d | [**friction\_dir**](classrobot__dart_1_1Robot.md#function-friction_dir-22) (size\_t body\_index) <br> |
-|  bool | [**ghost**](classrobot__dart_1_1Robot.md#function-ghost) () const<br> |
-|  Eigen::VectorXd | [**gravity\_forces**](classrobot__dart_1_1Robot.md#function-gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**inv\_aug\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-inv_aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**inv\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-inv_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**jacobian**](classrobot__dart_1_1Robot.md#function-jacobian) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**jacobian\_deriv**](classrobot__dart_1_1Robot.md#function-jacobian_deriv) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  dart::dynamics::Joint \* | [**joint**](classrobot__dart_1_1Robot.md#function-joint-12) (const std::string & joint\_name) <br> |
-|  dart::dynamics::Joint \* | [**joint**](classrobot__dart_1_1Robot.md#function-joint-22) (size\_t joint\_index) <br> |
-|  size\_t | [**joint\_index**](classrobot__dart_1_1Robot.md#function-joint_index) (const std::string & joint\_name) const<br> |
-|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**joint\_map**](classrobot__dart_1_1Robot.md#function-joint_map) () const<br> |
-|  std::string | [**joint\_name**](classrobot__dart_1_1Robot.md#function-joint_name) (size\_t joint\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**joint\_names**](classrobot__dart_1_1Robot.md#function-joint_names) () const<br> |
-|  std::vector&lt; std::string &gt; | [**locked\_dof\_names**](classrobot__dart_1_1Robot.md#function-locked_dof_names) () const<br> |
-|  Eigen::MatrixXd | [**mass\_matrix**](classrobot__dart_1_1Robot.md#function-mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; std::string &gt; | [**mimic\_dof\_names**](classrobot__dart_1_1Robot.md#function-mimic_dof_names) () const<br> |
-|  const std::string & | [**model\_filename**](classrobot__dart_1_1Robot.md#function-model_filename) () const<br> |
-|  const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & | [**model\_packages**](classrobot__dart_1_1Robot.md#function-model_packages) () const<br> |
-|  const std::string & | [**name**](classrobot__dart_1_1Robot.md#function-name) () const<br> |
-|  size\_t | [**num\_bodies**](classrobot__dart_1_1Robot.md#function-num_bodies) () const<br> |
-|  size\_t | [**num\_controllers**](classrobot__dart_1_1Robot.md#function-num_controllers) () const<br> |
-|  size\_t | [**num\_dofs**](classrobot__dart_1_1Robot.md#function-num_dofs) () const<br> |
-|  size\_t | [**num\_joints**](classrobot__dart_1_1Robot.md#function-num_joints) () const<br> |
-|  std::vector&lt; std::string &gt; | [**passive\_dof\_names**](classrobot__dart_1_1Robot.md#function-passive_dof_names) () const<br> |
-|  std::vector&lt; bool &gt; | [**position\_enforced**](classrobot__dart_1_1Robot.md#function-position_enforced) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**position\_lower\_limits**](classrobot__dart_1_1Robot.md#function-position_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**position\_upper\_limits**](classrobot__dart_1_1Robot.md#function-position_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**positions**](classrobot__dart_1_1Robot.md#function-positions) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**reinit\_controllers**](classrobot__dart_1_1Robot.md#function-reinit_controllers) () <br> |
-|  void | [**remove\_all\_drawing\_axis**](classrobot__dart_1_1Robot.md#function-remove_all_drawing_axis) () <br> |
-|  void | [**remove\_controller**](classrobot__dart_1_1Robot.md#function-remove_controller-12) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller) <br> |
-|  void | [**remove\_controller**](classrobot__dart_1_1Robot.md#function-remove_controller-22) (size\_t index) <br> |
-| virtual void | [**reset**](classrobot__dart_1_1Robot.md#function-reset) () <br> |
-|  void | [**reset\_commands**](classrobot__dart_1_1Robot.md#function-reset_commands) () <br> |
-|  double | [**restitution\_coeff**](classrobot__dart_1_1Robot.md#function-restitution_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**restitution\_coeff**](classrobot__dart_1_1Robot.md#function-restitution_coeff-22) (size\_t body\_index) <br> |
-|  double | [**secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-secondary_friction_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-secondary_friction_coeff-22) (size\_t body\_index) <br> |
-|  bool | [**self\_colliding**](classrobot__dart_1_1Robot.md#function-self_colliding) () const<br> |
-|  void | [**set\_acceleration\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_acceleration_lower_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_acceleration\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_acceleration_upper_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_accelerations**](classrobot__dart_1_1Robot.md#function-set_accelerations) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_actuator\_type**](classrobot__dart_1_1Robot.md#function-set_actuator_type) (const std::string & type, const std::string & joint\_name, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-set_actuator_types) (const std::string & type, const std::vector&lt; std::string &gt; & joint\_names={}, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**set\_base\_pose**](classrobot__dart_1_1Robot.md#function-set_base_pose-12) (const Eigen::Isometry3d & tf) <br> |
-|  void | [**set\_base\_pose**](classrobot__dart_1_1Robot.md#function-set_base_pose-22) (const Eigen::Vector6d & pose) <br>_set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)_  |
-|  void | [**set\_body\_mass**](classrobot__dart_1_1Robot.md#function-set_body_mass-12) (const std::string & body\_name, double mass) <br> |
-|  void | [**set\_body\_mass**](classrobot__dart_1_1Robot.md#function-set_body_mass-22) (size\_t body\_index, double mass) <br> |
-|  void | [**set\_body\_name**](classrobot__dart_1_1Robot.md#function-set_body_name) (size\_t body\_index, const std::string & body\_name) <br> |
-|  void | [**set\_cast\_shadows**](classrobot__dart_1_1Robot.md#function-set_cast_shadows) (bool cast\_shadows=true) <br> |
-|  void | [**set\_color\_mode**](classrobot__dart_1_1Robot.md#function-set_color_mode-12) (const std::string & color\_mode) <br> |
-|  void | [**set\_color\_mode**](classrobot__dart_1_1Robot.md#function-set_color_mode-22) (const std::string & color\_mode, const std::string & body\_name) <br> |
-|  void | [**set\_commands**](classrobot__dart_1_1Robot.md#function-set_commands) (const Eigen::VectorXd & commands, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-set_coulomb_coeffs-12) (const std::vector&lt; double &gt; & cfrictions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-set_coulomb_coeffs-22) (double cfriction, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_damping\_coeffs**](classrobot__dart_1_1Robot.md#function-set_damping_coeffs-12) (const std::vector&lt; double &gt; & damps, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_damping\_coeffs**](classrobot__dart_1_1Robot.md#function-set_damping_coeffs-22) (double damp, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_draw\_axis**](classrobot__dart_1_1Robot.md#function-set_draw_axis) (const std::string & body\_name, double size=0.25) <br> |
-|  void | [**set\_external\_force**](classrobot__dart_1_1Robot.md#function-set_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**set\_external\_force**](classrobot__dart_1_1Robot.md#function-set_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**set\_external\_torque**](classrobot__dart_1_1Robot.md#function-set_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**set\_external\_torque**](classrobot__dart_1_1Robot.md#function-set_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**set\_force\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_force_lower_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_force\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_force_upper_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_forces**](classrobot__dart_1_1Robot.md#function-set_forces) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_friction_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_friction_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_friction\_coeffs**](classrobot__dart_1_1Robot.md#function-set_friction_coeffs) (double value) <br> |
-|  void | [**set\_friction\_dir**](classrobot__dart_1_1Robot.md#function-set_friction_dir-12) (const std::string & body\_name, const Eigen::Vector3d & direction) <br> |
-|  void | [**set\_friction\_dir**](classrobot__dart_1_1Robot.md#function-set_friction_dir-22) (size\_t body\_index, const Eigen::Vector3d & direction) <br> |
-|  void | [**set\_ghost**](classrobot__dart_1_1Robot.md#function-set_ghost) (bool ghost=true) <br> |
-|  void | [**set\_joint\_name**](classrobot__dart_1_1Robot.md#function-set_joint_name) (size\_t joint\_index, const std::string & joint\_name) <br> |
-|  void | [**set\_mimic**](classrobot__dart_1_1Robot.md#function-set_mimic) (const std::string & joint\_name, const std::string & mimic\_joint\_name, double multiplier=1., double offset=0.) <br> |
-|  void | [**set\_position\_enforced**](classrobot__dart_1_1Robot.md#function-set_position_enforced-12) (const std::vector&lt; bool &gt; & enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_enforced**](classrobot__dart_1_1Robot.md#function-set_position_enforced-22) (bool enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_position_lower_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_position_upper_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_positions**](classrobot__dart_1_1Robot.md#function-set_positions) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_restitution\_coeff**](classrobot__dart_1_1Robot.md#function-set_restitution_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_restitution\_coeff**](classrobot__dart_1_1Robot.md#function-set_restitution_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_restitution\_coeffs**](classrobot__dart_1_1Robot.md#function-set_restitution_coeffs) (double value) <br> |
-|  void | [**set\_secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_secondary\_friction\_coeffs**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeffs) (double value) <br> |
-|  void | [**set\_self\_collision**](classrobot__dart_1_1Robot.md#function-set_self_collision) (bool enable\_self\_collisions=true, bool enable\_adjacent\_collisions=false) <br> |
-|  void | [**set\_spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-set_spring_stiffnesses-12) (const std::vector&lt; double &gt; & stiffnesses, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-set_spring_stiffnesses-22) (double stiffness, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocities**](classrobot__dart_1_1Robot.md#function-set_velocities) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocity\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_velocity_lower_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocity\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_velocity_upper_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  dart::dynamics::SkeletonPtr | [**skeleton**](classrobot__dart_1_1Robot.md#function-skeleton) () <br> |
-|  std::vector&lt; double &gt; | [**spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-spring_stiffnesses) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**update**](classrobot__dart_1_1Robot.md#function-update) (double t) <br> |
-|  void | [**update\_joint\_dof\_maps**](classrobot__dart_1_1Robot.md#function-update_joint_dof_maps) () <br> |
-|  Eigen::VectorXd | [**vec\_dof**](classrobot__dart_1_1Robot.md#function-vec_dof) (const Eigen::VectorXd & vec, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-|  Eigen::VectorXd | [**velocities**](classrobot__dart_1_1Robot.md#function-velocities) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**velocity\_lower\_limits**](classrobot__dart_1_1Robot.md#function-velocity_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**velocity\_upper\_limits**](classrobot__dart_1_1Robot.md#function-velocity_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-| virtual  | [**~Robot**](classrobot__dart_1_1Robot.md#function-robot) () <br> |
+|   | [**Robot**](#function-robot-13) (const std::string & model\_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
+|   | [**Robot**](#function-robot-23) (const std::string & model\_file, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
+|   | [**Robot**](#function-robot-33) (dart::dynamics::SkeletonPtr skeleton, const std::string & robot\_name="robot", bool cast\_shadows=true) <br> |
+|  Eigen::VectorXd | [**acceleration\_lower\_limits**](#function-acceleration_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**acceleration\_upper\_limits**](#function-acceleration_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**accelerations**](#function-accelerations) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**active\_controllers**](#function-active_controllers) () const<br> |
+|  std::string | [**actuator\_type**](#function-actuator_type) (const std::string & joint\_name) const<br> |
+|  std::vector&lt; std::string &gt; | [**actuator\_types**](#function-actuator_types) (const std::vector&lt; std::string &gt; & joint\_names={}) const<br> |
+|  void | [**add\_body\_mass**](#function-add_body_mass-12) (const std::string & body\_name, double mass) <br> |
+|  void | [**add\_body\_mass**](#function-add_body_mass-22) (size\_t body\_index, double mass) <br> |
+|  void | [**add\_controller**](#function-add_controller) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller, double weight=1.0) <br> |
+|  void | [**add\_external\_force**](#function-add_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**add\_external\_force**](#function-add_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**add\_external\_torque**](#function-add_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**add\_external\_torque**](#function-add_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  bool | [**adjacent\_colliding**](#function-adjacent_colliding) () const<br> |
+|  Eigen::MatrixXd | [**aug\_mass\_matrix**](#function-aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::Isometry3d | [**base\_pose**](#function-base_pose) () const<br> |
+|  Eigen::Vector6d | [**base\_pose\_vec**](#function-base_pose_vec) () const<br> |
+|  Eigen::Vector6d | [**body\_acceleration**](#function-body_acceleration-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_acceleration**](#function-body_acceleration-22) (size\_t body\_index) const<br> |
+|  size\_t | [**body\_index**](#function-body_index) (const std::string & body\_name) const<br> |
+|  double | [**body\_mass**](#function-body_mass-12) (const std::string & body\_name) const<br> |
+|  double | [**body\_mass**](#function-body_mass-22) (size\_t body\_index) const<br> |
+|  std::string | [**body\_name**](#function-body_name) (size\_t body\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**body\_names**](#function-body_names) () const<br> |
+|  dart::dynamics::BodyNode \* | [**body\_node**](#function-body_node-12) (const std::string & body\_name) <br> |
+|  dart::dynamics::BodyNode \* | [**body\_node**](#function-body_node-22) (size\_t body\_index) <br> |
+|  Eigen::Isometry3d | [**body\_pose**](#function-body_pose-12) (const std::string & body\_name) const<br> |
+|  Eigen::Isometry3d | [**body\_pose**](#function-body_pose-22) (size\_t body\_index) const<br> |
+|  Eigen::Vector6d | [**body\_pose\_vec**](#function-body_pose_vec-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_pose\_vec**](#function-body_pose_vec-22) (size\_t body\_index) const<br> |
+|  Eigen::Vector6d | [**body\_velocity**](#function-body_velocity-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_velocity**](#function-body_velocity-22) (size\_t body\_index) const<br> |
+|  bool | [**cast\_shadows**](#function-cast_shadows) () const<br> |
+|  void | [**clear\_controllers**](#function-clear_controllers) () <br> |
+|  void | [**clear\_external\_forces**](#function-clear_external_forces) () <br> |
+|  void | [**clear\_internal\_forces**](#function-clear_internal_forces) () <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone**](#function-clone) () const<br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone\_ghost**](#function-clone_ghost) (const std::string & ghost\_name="ghost", const Eigen::Vector4d & ghost\_color={0.3, 0.3, 0.3, 0.7}) const<br> |
+|  Eigen::Vector3d | [**com**](#function-com) () const<br> |
+|  Eigen::Vector6d | [**com\_acceleration**](#function-com_acceleration) () const<br> |
+|  Eigen::MatrixXd | [**com\_jacobian**](#function-com_jacobian) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**com\_jacobian\_deriv**](#function-com_jacobian_deriv) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::Vector6d | [**com\_velocity**](#function-com_velocity) () const<br> |
+|  Eigen::VectorXd | [**commands**](#function-commands) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**constraint\_forces**](#function-constraint_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**controller**](#function-controller) (size\_t index) const<br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**controllers**](#function-controllers) () const<br> |
+|  Eigen::VectorXd | [**coriolis\_forces**](#function-coriolis_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**coriolis\_gravity\_forces**](#function-coriolis_gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; double &gt; | [**coulomb\_coeffs**](#function-coulomb_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; double &gt; | [**damping\_coeffs**](#function-damping_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  dart::dynamics::DegreeOfFreedom \* | [**dof**](#function-dof-12) (const std::string & dof\_name) <br> |
+|  dart::dynamics::DegreeOfFreedom \* | [**dof**](#function-dof-22) (size\_t dof\_index) <br> |
+|  size\_t | [**dof\_index**](#function-dof_index) (const std::string & dof\_name) const<br> |
+|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**dof\_map**](#function-dof_map) () const<br> |
+|  std::string | [**dof\_name**](#function-dof_name) (size\_t dof\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**dof\_names**](#function-dof_names) (bool filter\_mimics=false, bool filter\_locked=false, bool filter\_passive=false) const<br> |
+|  const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; & | [**drawing\_axes**](#function-drawing_axes) () const<br> |
+|  Eigen::Vector6d | [**external\_forces**](#function-external_forces-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**external\_forces**](#function-external_forces-22) (size\_t body\_index) const<br> |
+|  void | [**fix\_to\_world**](#function-fix_to_world) () <br> |
+|  bool | [**fixed**](#function-fixed) () const<br> |
+|  Eigen::VectorXd | [**force\_lower\_limits**](#function-force_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**force\_position\_bounds**](#function-force_position_bounds) () <br> |
+|  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; | [**force\_torque**](#function-force_torque) (size\_t joint\_index) const<br> |
+|  Eigen::VectorXd | [**force\_upper\_limits**](#function-force_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**forces**](#function-forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  bool | [**free**](#function-free) () const<br> |
+|  void | [**free\_from\_world**](#function-free_from_world) (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) <br> |
+|  double | [**friction\_coeff**](#function-friction_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**friction\_coeff**](#function-friction_coeff-22) (size\_t body\_index) <br> |
+|  Eigen::Vector3d | [**friction\_dir**](#function-friction_dir-12) (const std::string & body\_name) <br> |
+|  Eigen::Vector3d | [**friction\_dir**](#function-friction_dir-22) (size\_t body\_index) <br> |
+|  bool | [**ghost**](#function-ghost) () const<br> |
+|  Eigen::VectorXd | [**gravity\_forces**](#function-gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**inv\_aug\_mass\_matrix**](#function-inv_aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**inv\_mass\_matrix**](#function-inv_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**jacobian**](#function-jacobian) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**jacobian\_deriv**](#function-jacobian_deriv) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  dart::dynamics::Joint \* | [**joint**](#function-joint-12) (const std::string & joint\_name) <br> |
+|  dart::dynamics::Joint \* | [**joint**](#function-joint-22) (size\_t joint\_index) <br> |
+|  size\_t | [**joint\_index**](#function-joint_index) (const std::string & joint\_name) const<br> |
+|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**joint\_map**](#function-joint_map) () const<br> |
+|  std::string | [**joint\_name**](#function-joint_name) (size\_t joint\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**joint\_names**](#function-joint_names) () const<br> |
+|  std::vector&lt; std::string &gt; | [**locked\_dof\_names**](#function-locked_dof_names) () const<br> |
+|  Eigen::MatrixXd | [**mass\_matrix**](#function-mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; std::string &gt; | [**mimic\_dof\_names**](#function-mimic_dof_names) () const<br> |
+|  const std::string & | [**model\_filename**](#function-model_filename) () const<br> |
+|  const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & | [**model\_packages**](#function-model_packages) () const<br> |
+|  const std::string & | [**name**](#function-name) () const<br> |
+|  size\_t | [**num\_bodies**](#function-num_bodies) () const<br> |
+|  size\_t | [**num\_controllers**](#function-num_controllers) () const<br> |
+|  size\_t | [**num\_dofs**](#function-num_dofs) () const<br> |
+|  size\_t | [**num\_joints**](#function-num_joints) () const<br> |
+|  std::vector&lt; std::string &gt; | [**passive\_dof\_names**](#function-passive_dof_names) () const<br> |
+|  std::vector&lt; bool &gt; | [**position\_enforced**](#function-position_enforced) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**position\_lower\_limits**](#function-position_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**position\_upper\_limits**](#function-position_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**positions**](#function-positions) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**reinit\_controllers**](#function-reinit_controllers) () <br> |
+|  void | [**remove\_all\_drawing\_axis**](#function-remove_all_drawing_axis) () <br> |
+|  void | [**remove\_controller**](#function-remove_controller-12) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller) <br> |
+|  void | [**remove\_controller**](#function-remove_controller-22) (size\_t index) <br> |
+| virtual void | [**reset**](#function-reset) () <br> |
+|  void | [**reset\_commands**](#function-reset_commands) () <br> |
+|  double | [**restitution\_coeff**](#function-restitution_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**restitution\_coeff**](#function-restitution_coeff-22) (size\_t body\_index) <br> |
+|  double | [**secondary\_friction\_coeff**](#function-secondary_friction_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**secondary\_friction\_coeff**](#function-secondary_friction_coeff-22) (size\_t body\_index) <br> |
+|  bool | [**self\_colliding**](#function-self_colliding) () const<br> |
+|  void | [**set\_acceleration\_lower\_limits**](#function-set_acceleration_lower_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_acceleration\_upper\_limits**](#function-set_acceleration_upper_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_accelerations**](#function-set_accelerations) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_actuator\_type**](#function-set_actuator_type) (const std::string & type, const std::string & joint\_name, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**set\_actuator\_types**](#function-set_actuator_types) (const std::string & type, const std::vector&lt; std::string &gt; & joint\_names={}, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**set\_base\_pose**](#function-set_base_pose-12) (const Eigen::Isometry3d & tf) <br> |
+|  void | [**set\_base\_pose**](#function-set_base_pose-22) (const Eigen::Vector6d & pose) <br>_set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)_  |
+|  void | [**set\_body\_mass**](#function-set_body_mass-12) (const std::string & body\_name, double mass) <br> |
+|  void | [**set\_body\_mass**](#function-set_body_mass-22) (size\_t body\_index, double mass) <br> |
+|  void | [**set\_body\_name**](#function-set_body_name) (size\_t body\_index, const std::string & body\_name) <br> |
+|  void | [**set\_cast\_shadows**](#function-set_cast_shadows) (bool cast\_shadows=true) <br> |
+|  void | [**set\_color\_mode**](#function-set_color_mode-12) (const std::string & color\_mode) <br> |
+|  void | [**set\_color\_mode**](#function-set_color_mode-22) (const std::string & color\_mode, const std::string & body\_name) <br> |
+|  void | [**set\_commands**](#function-set_commands) (const Eigen::VectorXd & commands, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_coulomb\_coeffs**](#function-set_coulomb_coeffs-12) (const std::vector&lt; double &gt; & cfrictions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_coulomb\_coeffs**](#function-set_coulomb_coeffs-22) (double cfriction, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_damping\_coeffs**](#function-set_damping_coeffs-12) (const std::vector&lt; double &gt; & damps, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_damping\_coeffs**](#function-set_damping_coeffs-22) (double damp, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_draw\_axis**](#function-set_draw_axis) (const std::string & body\_name, double size=0.25) <br> |
+|  void | [**set\_external\_force**](#function-set_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**set\_external\_force**](#function-set_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**set\_external\_torque**](#function-set_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**set\_external\_torque**](#function-set_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**set\_force\_lower\_limits**](#function-set_force_lower_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_force\_upper\_limits**](#function-set_force_upper_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_forces**](#function-set_forces) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_friction\_coeff**](#function-set_friction_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_friction\_coeff**](#function-set_friction_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_friction\_coeffs**](#function-set_friction_coeffs) (double value) <br> |
+|  void | [**set\_friction\_dir**](#function-set_friction_dir-12) (const std::string & body\_name, const Eigen::Vector3d & direction) <br> |
+|  void | [**set\_friction\_dir**](#function-set_friction_dir-22) (size\_t body\_index, const Eigen::Vector3d & direction) <br> |
+|  void | [**set\_ghost**](#function-set_ghost) (bool ghost=true) <br> |
+|  void | [**set\_joint\_name**](#function-set_joint_name) (size\_t joint\_index, const std::string & joint\_name) <br> |
+|  void | [**set\_mimic**](#function-set_mimic) (const std::string & joint\_name, const std::string & mimic\_joint\_name, double multiplier=1., double offset=0.) <br> |
+|  void | [**set\_position\_enforced**](#function-set_position_enforced-12) (const std::vector&lt; bool &gt; & enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_enforced**](#function-set_position_enforced-22) (bool enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_lower\_limits**](#function-set_position_lower_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_upper\_limits**](#function-set_position_upper_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_positions**](#function-set_positions) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_restitution\_coeff**](#function-set_restitution_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_restitution\_coeff**](#function-set_restitution_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_restitution\_coeffs**](#function-set_restitution_coeffs) (double value) <br> |
+|  void | [**set\_secondary\_friction\_coeff**](#function-set_secondary_friction_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_secondary\_friction\_coeff**](#function-set_secondary_friction_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_secondary\_friction\_coeffs**](#function-set_secondary_friction_coeffs) (double value) <br> |
+|  void | [**set\_self\_collision**](#function-set_self_collision) (bool enable\_self\_collisions=true, bool enable\_adjacent\_collisions=false) <br> |
+|  void | [**set\_spring\_stiffnesses**](#function-set_spring_stiffnesses-12) (const std::vector&lt; double &gt; & stiffnesses, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_spring\_stiffnesses**](#function-set_spring_stiffnesses-22) (double stiffness, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocities**](#function-set_velocities) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocity\_lower\_limits**](#function-set_velocity_lower_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocity\_upper\_limits**](#function-set_velocity_upper_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  dart::dynamics::SkeletonPtr | [**skeleton**](#function-skeleton) () <br> |
+|  std::vector&lt; double &gt; | [**spring\_stiffnesses**](#function-spring_stiffnesses) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**update**](#function-update) (double t) <br> |
+|  void | [**update\_joint\_dof\_maps**](#function-update_joint_dof_maps) () <br> |
+|  Eigen::VectorXd | [**vec\_dof**](#function-vec_dof) (const Eigen::VectorXd & vec, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+|  Eigen::VectorXd | [**velocities**](#function-velocities) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**velocity\_lower\_limits**](#function-velocity_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**velocity\_upper\_limits**](#function-velocity_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+| virtual  | [**~Robot**](#function-robot) () <br> |
 
 
 
@@ -271,10 +271,10 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](classrobot__dart_1_1Robot.md#function-create_box-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](classrobot__dart_1_1Robot.md#function-create_box-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](classrobot__dart_1_1Robot.md#function-create_ellipsoid-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](classrobot__dart_1_1Robot.md#function-create_ellipsoid-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](#function-create_box-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](#function-create_box-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](#function-create_ellipsoid-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](#function-create_ellipsoid-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
 
 
 
@@ -298,16 +298,16 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; | [**\_axis\_shapes**](classrobot__dart_1_1Robot.md#variable-_axis_shapes)  <br> |
-|  bool | [**\_cast\_shadows**](classrobot__dart_1_1Robot.md#variable-_cast_shadows)  <br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**\_controllers**](classrobot__dart_1_1Robot.md#variable-_controllers)  <br> |
-|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_dof\_map**](classrobot__dart_1_1Robot.md#variable-_dof_map)  <br> |
-|  bool | [**\_is\_ghost**](classrobot__dart_1_1Robot.md#variable-_is_ghost)  <br> |
-|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_joint\_map**](classrobot__dart_1_1Robot.md#variable-_joint_map)  <br> |
-|  std::string | [**\_model\_filename**](classrobot__dart_1_1Robot.md#variable-_model_filename)  <br> |
-|  std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; | [**\_packages**](classrobot__dart_1_1Robot.md#variable-_packages)  <br> |
-|  std::string | [**\_robot\_name**](classrobot__dart_1_1Robot.md#variable-_robot_name)  <br> |
-|  dart::dynamics::SkeletonPtr | [**\_skeleton**](classrobot__dart_1_1Robot.md#variable-_skeleton)  <br> |
+|  std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; | [**\_axis\_shapes**](#variable-_axis_shapes)  <br> |
+|  bool | [**\_cast\_shadows**](#variable-_cast_shadows)  <br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**\_controllers**](#variable-_controllers)  <br> |
+|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_dof\_map**](#variable-_dof_map)  <br> |
+|  bool | [**\_is\_ghost**](#variable-_is_ghost)  <br> |
+|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_joint\_map**](#variable-_joint_map)  <br> |
+|  std::string | [**\_model\_filename**](#variable-_model_filename)  <br> |
+|  std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; | [**\_packages**](#variable-_packages)  <br> |
+|  std::string | [**\_robot\_name**](#variable-_robot_name)  <br> |
+|  dart::dynamics::SkeletonPtr | [**\_skeleton**](#variable-_skeleton)  <br> |
 
 
 
@@ -352,19 +352,19 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  dart::dynamics::Joint::ActuatorType | [**\_actuator\_type**](classrobot__dart_1_1Robot.md#function-_actuator_type) (size\_t joint\_index) const<br> |
-|  std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; | [**\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_actuator_types) () const<br> |
-|  std::string | [**\_get\_path**](classrobot__dart_1_1Robot.md#function-_get_path) (const std::string & filename) const<br> |
-|  Eigen::MatrixXd | [**\_jacobian**](classrobot__dart_1_1Robot.md#function-_jacobian) (const Eigen::MatrixXd & full\_jacobian, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-|  dart::dynamics::SkeletonPtr | [**\_load\_model**](classrobot__dart_1_1Robot.md#function-_load_model) (const std::string & filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is\_urdf\_string=false) <br> |
-|  Eigen::MatrixXd | [**\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-_mass_matrix) (const Eigen::MatrixXd & full\_mass\_matrix, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-| virtual void | [**\_post\_addition**](classrobot__dart_1_1Robot.md#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
-| virtual void | [**\_post\_removal**](classrobot__dart_1_1Robot.md#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
-|  void | [**\_set\_actuator\_type**](classrobot__dart_1_1Robot.md#function-_set_actuator_type) (size\_t joint\_index, dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_set_actuator_types-12) (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; & types, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_set_actuator_types-22) (dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_color\_mode**](classrobot__dart_1_1Robot.md#function-_set_color_mode-12) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::SkeletonPtr skel) <br> |
-|  void | [**\_set\_color\_mode**](classrobot__dart_1_1Robot.md#function-_set_color_mode-22) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::ShapeNode \* sn) <br> |
+|  dart::dynamics::Joint::ActuatorType | [**\_actuator\_type**](#function-_actuator_type) (size\_t joint\_index) const<br> |
+|  std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; | [**\_actuator\_types**](#function-_actuator_types) () const<br> |
+|  std::string | [**\_get\_path**](#function-_get_path) (const std::string & filename) const<br> |
+|  Eigen::MatrixXd | [**\_jacobian**](#function-_jacobian) (const Eigen::MatrixXd & full\_jacobian, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+|  dart::dynamics::SkeletonPtr | [**\_load\_model**](#function-_load_model) (const std::string & filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is\_urdf\_string=false) <br> |
+|  Eigen::MatrixXd | [**\_mass\_matrix**](#function-_mass_matrix) (const Eigen::MatrixXd & full\_mass\_matrix, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+| virtual void | [**\_post\_addition**](#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
+| virtual void | [**\_post\_removal**](#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
+|  void | [**\_set\_actuator\_type**](#function-_set_actuator_type) (size\_t joint\_index, dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_actuator\_types**](#function-_set_actuator_types-12) (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; & types, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_actuator\_types**](#function-_set_actuator_types-22) (dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_color\_mode**](#function-_set_color_mode-12) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::SkeletonPtr skel) <br> |
+|  void | [**\_set\_color\_mode**](#function-_set_color_mode-22) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::ShapeNode \* sn) <br> |
 
 
 
diff --git a/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Ur3e.md b/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Ur3e.md
index 5157dad4..c344ef31 100644
--- a/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Ur3e.md
+++ b/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Ur3e.md
@@ -83,180 +83,180 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-13) (const std::string & model\_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-23) (const std::string & model\_file, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-33) (dart::dynamics::SkeletonPtr skeleton, const std::string & robot\_name="robot", bool cast\_shadows=true) <br> |
-|  Eigen::VectorXd | [**acceleration\_lower\_limits**](classrobot__dart_1_1Robot.md#function-acceleration_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**acceleration\_upper\_limits**](classrobot__dart_1_1Robot.md#function-acceleration_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**accelerations**](classrobot__dart_1_1Robot.md#function-accelerations) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**active\_controllers**](classrobot__dart_1_1Robot.md#function-active_controllers) () const<br> |
-|  std::string | [**actuator\_type**](classrobot__dart_1_1Robot.md#function-actuator_type) (const std::string & joint\_name) const<br> |
-|  std::vector&lt; std::string &gt; | [**actuator\_types**](classrobot__dart_1_1Robot.md#function-actuator_types) (const std::vector&lt; std::string &gt; & joint\_names={}) const<br> |
-|  void | [**add\_body\_mass**](classrobot__dart_1_1Robot.md#function-add_body_mass-12) (const std::string & body\_name, double mass) <br> |
-|  void | [**add\_body\_mass**](classrobot__dart_1_1Robot.md#function-add_body_mass-22) (size\_t body\_index, double mass) <br> |
-|  void | [**add\_controller**](classrobot__dart_1_1Robot.md#function-add_controller) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller, double weight=1.0) <br> |
-|  void | [**add\_external\_force**](classrobot__dart_1_1Robot.md#function-add_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**add\_external\_force**](classrobot__dart_1_1Robot.md#function-add_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**add\_external\_torque**](classrobot__dart_1_1Robot.md#function-add_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**add\_external\_torque**](classrobot__dart_1_1Robot.md#function-add_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  bool | [**adjacent\_colliding**](classrobot__dart_1_1Robot.md#function-adjacent_colliding) () const<br> |
-|  Eigen::MatrixXd | [**aug\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::Isometry3d | [**base\_pose**](classrobot__dart_1_1Robot.md#function-base_pose) () const<br> |
-|  Eigen::Vector6d | [**base\_pose\_vec**](classrobot__dart_1_1Robot.md#function-base_pose_vec) () const<br> |
-|  Eigen::Vector6d | [**body\_acceleration**](classrobot__dart_1_1Robot.md#function-body_acceleration-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_acceleration**](classrobot__dart_1_1Robot.md#function-body_acceleration-22) (size\_t body\_index) const<br> |
-|  size\_t | [**body\_index**](classrobot__dart_1_1Robot.md#function-body_index) (const std::string & body\_name) const<br> |
-|  double | [**body\_mass**](classrobot__dart_1_1Robot.md#function-body_mass-12) (const std::string & body\_name) const<br> |
-|  double | [**body\_mass**](classrobot__dart_1_1Robot.md#function-body_mass-22) (size\_t body\_index) const<br> |
-|  std::string | [**body\_name**](classrobot__dart_1_1Robot.md#function-body_name) (size\_t body\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**body\_names**](classrobot__dart_1_1Robot.md#function-body_names) () const<br> |
-|  dart::dynamics::BodyNode \* | [**body\_node**](classrobot__dart_1_1Robot.md#function-body_node-12) (const std::string & body\_name) <br> |
-|  dart::dynamics::BodyNode \* | [**body\_node**](classrobot__dart_1_1Robot.md#function-body_node-22) (size\_t body\_index) <br> |
-|  Eigen::Isometry3d | [**body\_pose**](classrobot__dart_1_1Robot.md#function-body_pose-12) (const std::string & body\_name) const<br> |
-|  Eigen::Isometry3d | [**body\_pose**](classrobot__dart_1_1Robot.md#function-body_pose-22) (size\_t body\_index) const<br> |
-|  Eigen::Vector6d | [**body\_pose\_vec**](classrobot__dart_1_1Robot.md#function-body_pose_vec-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_pose\_vec**](classrobot__dart_1_1Robot.md#function-body_pose_vec-22) (size\_t body\_index) const<br> |
-|  Eigen::Vector6d | [**body\_velocity**](classrobot__dart_1_1Robot.md#function-body_velocity-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_velocity**](classrobot__dart_1_1Robot.md#function-body_velocity-22) (size\_t body\_index) const<br> |
-|  bool | [**cast\_shadows**](classrobot__dart_1_1Robot.md#function-cast_shadows) () const<br> |
-|  void | [**clear\_controllers**](classrobot__dart_1_1Robot.md#function-clear_controllers) () <br> |
-|  void | [**clear\_external\_forces**](classrobot__dart_1_1Robot.md#function-clear_external_forces) () <br> |
-|  void | [**clear\_internal\_forces**](classrobot__dart_1_1Robot.md#function-clear_internal_forces) () <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone**](classrobot__dart_1_1Robot.md#function-clone) () const<br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone\_ghost**](classrobot__dart_1_1Robot.md#function-clone_ghost) (const std::string & ghost\_name="ghost", const Eigen::Vector4d & ghost\_color={0.3, 0.3, 0.3, 0.7}) const<br> |
-|  Eigen::Vector3d | [**com**](classrobot__dart_1_1Robot.md#function-com) () const<br> |
-|  Eigen::Vector6d | [**com\_acceleration**](classrobot__dart_1_1Robot.md#function-com_acceleration) () const<br> |
-|  Eigen::MatrixXd | [**com\_jacobian**](classrobot__dart_1_1Robot.md#function-com_jacobian) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**com\_jacobian\_deriv**](classrobot__dart_1_1Robot.md#function-com_jacobian_deriv) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::Vector6d | [**com\_velocity**](classrobot__dart_1_1Robot.md#function-com_velocity) () const<br> |
-|  Eigen::VectorXd | [**commands**](classrobot__dart_1_1Robot.md#function-commands) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**constraint\_forces**](classrobot__dart_1_1Robot.md#function-constraint_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**controller**](classrobot__dart_1_1Robot.md#function-controller) (size\_t index) const<br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**controllers**](classrobot__dart_1_1Robot.md#function-controllers) () const<br> |
-|  Eigen::VectorXd | [**coriolis\_forces**](classrobot__dart_1_1Robot.md#function-coriolis_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**coriolis\_gravity\_forces**](classrobot__dart_1_1Robot.md#function-coriolis_gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; double &gt; | [**coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-coulomb_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; double &gt; | [**damping\_coeffs**](classrobot__dart_1_1Robot.md#function-damping_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  dart::dynamics::DegreeOfFreedom \* | [**dof**](classrobot__dart_1_1Robot.md#function-dof-12) (const std::string & dof\_name) <br> |
-|  dart::dynamics::DegreeOfFreedom \* | [**dof**](classrobot__dart_1_1Robot.md#function-dof-22) (size\_t dof\_index) <br> |
-|  size\_t | [**dof\_index**](classrobot__dart_1_1Robot.md#function-dof_index) (const std::string & dof\_name) const<br> |
-|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**dof\_map**](classrobot__dart_1_1Robot.md#function-dof_map) () const<br> |
-|  std::string | [**dof\_name**](classrobot__dart_1_1Robot.md#function-dof_name) (size\_t dof\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**dof\_names**](classrobot__dart_1_1Robot.md#function-dof_names) (bool filter\_mimics=false, bool filter\_locked=false, bool filter\_passive=false) const<br> |
-|  const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; & | [**drawing\_axes**](classrobot__dart_1_1Robot.md#function-drawing_axes) () const<br> |
-|  Eigen::Vector6d | [**external\_forces**](classrobot__dart_1_1Robot.md#function-external_forces-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**external\_forces**](classrobot__dart_1_1Robot.md#function-external_forces-22) (size\_t body\_index) const<br> |
-|  void | [**fix\_to\_world**](classrobot__dart_1_1Robot.md#function-fix_to_world) () <br> |
-|  bool | [**fixed**](classrobot__dart_1_1Robot.md#function-fixed) () const<br> |
-|  Eigen::VectorXd | [**force\_lower\_limits**](classrobot__dart_1_1Robot.md#function-force_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**force\_position\_bounds**](classrobot__dart_1_1Robot.md#function-force_position_bounds) () <br> |
-|  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; | [**force\_torque**](classrobot__dart_1_1Robot.md#function-force_torque) (size\_t joint\_index) const<br> |
-|  Eigen::VectorXd | [**force\_upper\_limits**](classrobot__dart_1_1Robot.md#function-force_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**forces**](classrobot__dart_1_1Robot.md#function-forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  bool | [**free**](classrobot__dart_1_1Robot.md#function-free) () const<br> |
-|  void | [**free\_from\_world**](classrobot__dart_1_1Robot.md#function-free_from_world) (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) <br> |
-|  double | [**friction\_coeff**](classrobot__dart_1_1Robot.md#function-friction_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**friction\_coeff**](classrobot__dart_1_1Robot.md#function-friction_coeff-22) (size\_t body\_index) <br> |
-|  Eigen::Vector3d | [**friction\_dir**](classrobot__dart_1_1Robot.md#function-friction_dir-12) (const std::string & body\_name) <br> |
-|  Eigen::Vector3d | [**friction\_dir**](classrobot__dart_1_1Robot.md#function-friction_dir-22) (size\_t body\_index) <br> |
-|  bool | [**ghost**](classrobot__dart_1_1Robot.md#function-ghost) () const<br> |
-|  Eigen::VectorXd | [**gravity\_forces**](classrobot__dart_1_1Robot.md#function-gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**inv\_aug\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-inv_aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**inv\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-inv_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**jacobian**](classrobot__dart_1_1Robot.md#function-jacobian) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**jacobian\_deriv**](classrobot__dart_1_1Robot.md#function-jacobian_deriv) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  dart::dynamics::Joint \* | [**joint**](classrobot__dart_1_1Robot.md#function-joint-12) (const std::string & joint\_name) <br> |
-|  dart::dynamics::Joint \* | [**joint**](classrobot__dart_1_1Robot.md#function-joint-22) (size\_t joint\_index) <br> |
-|  size\_t | [**joint\_index**](classrobot__dart_1_1Robot.md#function-joint_index) (const std::string & joint\_name) const<br> |
-|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**joint\_map**](classrobot__dart_1_1Robot.md#function-joint_map) () const<br> |
-|  std::string | [**joint\_name**](classrobot__dart_1_1Robot.md#function-joint_name) (size\_t joint\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**joint\_names**](classrobot__dart_1_1Robot.md#function-joint_names) () const<br> |
-|  std::vector&lt; std::string &gt; | [**locked\_dof\_names**](classrobot__dart_1_1Robot.md#function-locked_dof_names) () const<br> |
-|  Eigen::MatrixXd | [**mass\_matrix**](classrobot__dart_1_1Robot.md#function-mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; std::string &gt; | [**mimic\_dof\_names**](classrobot__dart_1_1Robot.md#function-mimic_dof_names) () const<br> |
-|  const std::string & | [**model\_filename**](classrobot__dart_1_1Robot.md#function-model_filename) () const<br> |
-|  const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & | [**model\_packages**](classrobot__dart_1_1Robot.md#function-model_packages) () const<br> |
-|  const std::string & | [**name**](classrobot__dart_1_1Robot.md#function-name) () const<br> |
-|  size\_t | [**num\_bodies**](classrobot__dart_1_1Robot.md#function-num_bodies) () const<br> |
-|  size\_t | [**num\_controllers**](classrobot__dart_1_1Robot.md#function-num_controllers) () const<br> |
-|  size\_t | [**num\_dofs**](classrobot__dart_1_1Robot.md#function-num_dofs) () const<br> |
-|  size\_t | [**num\_joints**](classrobot__dart_1_1Robot.md#function-num_joints) () const<br> |
-|  std::vector&lt; std::string &gt; | [**passive\_dof\_names**](classrobot__dart_1_1Robot.md#function-passive_dof_names) () const<br> |
-|  std::vector&lt; bool &gt; | [**position\_enforced**](classrobot__dart_1_1Robot.md#function-position_enforced) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**position\_lower\_limits**](classrobot__dart_1_1Robot.md#function-position_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**position\_upper\_limits**](classrobot__dart_1_1Robot.md#function-position_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**positions**](classrobot__dart_1_1Robot.md#function-positions) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**reinit\_controllers**](classrobot__dart_1_1Robot.md#function-reinit_controllers) () <br> |
-|  void | [**remove\_all\_drawing\_axis**](classrobot__dart_1_1Robot.md#function-remove_all_drawing_axis) () <br> |
-|  void | [**remove\_controller**](classrobot__dart_1_1Robot.md#function-remove_controller-12) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller) <br> |
-|  void | [**remove\_controller**](classrobot__dart_1_1Robot.md#function-remove_controller-22) (size\_t index) <br> |
-| virtual void | [**reset**](classrobot__dart_1_1Robot.md#function-reset) () <br> |
-|  void | [**reset\_commands**](classrobot__dart_1_1Robot.md#function-reset_commands) () <br> |
-|  double | [**restitution\_coeff**](classrobot__dart_1_1Robot.md#function-restitution_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**restitution\_coeff**](classrobot__dart_1_1Robot.md#function-restitution_coeff-22) (size\_t body\_index) <br> |
-|  double | [**secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-secondary_friction_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-secondary_friction_coeff-22) (size\_t body\_index) <br> |
-|  bool | [**self\_colliding**](classrobot__dart_1_1Robot.md#function-self_colliding) () const<br> |
-|  void | [**set\_acceleration\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_acceleration_lower_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_acceleration\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_acceleration_upper_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_accelerations**](classrobot__dart_1_1Robot.md#function-set_accelerations) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_actuator\_type**](classrobot__dart_1_1Robot.md#function-set_actuator_type) (const std::string & type, const std::string & joint\_name, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-set_actuator_types) (const std::string & type, const std::vector&lt; std::string &gt; & joint\_names={}, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**set\_base\_pose**](classrobot__dart_1_1Robot.md#function-set_base_pose-12) (const Eigen::Isometry3d & tf) <br> |
-|  void | [**set\_base\_pose**](classrobot__dart_1_1Robot.md#function-set_base_pose-22) (const Eigen::Vector6d & pose) <br>_set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)_  |
-|  void | [**set\_body\_mass**](classrobot__dart_1_1Robot.md#function-set_body_mass-12) (const std::string & body\_name, double mass) <br> |
-|  void | [**set\_body\_mass**](classrobot__dart_1_1Robot.md#function-set_body_mass-22) (size\_t body\_index, double mass) <br> |
-|  void | [**set\_body\_name**](classrobot__dart_1_1Robot.md#function-set_body_name) (size\_t body\_index, const std::string & body\_name) <br> |
-|  void | [**set\_cast\_shadows**](classrobot__dart_1_1Robot.md#function-set_cast_shadows) (bool cast\_shadows=true) <br> |
-|  void | [**set\_color\_mode**](classrobot__dart_1_1Robot.md#function-set_color_mode-12) (const std::string & color\_mode) <br> |
-|  void | [**set\_color\_mode**](classrobot__dart_1_1Robot.md#function-set_color_mode-22) (const std::string & color\_mode, const std::string & body\_name) <br> |
-|  void | [**set\_commands**](classrobot__dart_1_1Robot.md#function-set_commands) (const Eigen::VectorXd & commands, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-set_coulomb_coeffs-12) (const std::vector&lt; double &gt; & cfrictions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-set_coulomb_coeffs-22) (double cfriction, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_damping\_coeffs**](classrobot__dart_1_1Robot.md#function-set_damping_coeffs-12) (const std::vector&lt; double &gt; & damps, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_damping\_coeffs**](classrobot__dart_1_1Robot.md#function-set_damping_coeffs-22) (double damp, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_draw\_axis**](classrobot__dart_1_1Robot.md#function-set_draw_axis) (const std::string & body\_name, double size=0.25) <br> |
-|  void | [**set\_external\_force**](classrobot__dart_1_1Robot.md#function-set_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**set\_external\_force**](classrobot__dart_1_1Robot.md#function-set_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**set\_external\_torque**](classrobot__dart_1_1Robot.md#function-set_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**set\_external\_torque**](classrobot__dart_1_1Robot.md#function-set_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**set\_force\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_force_lower_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_force\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_force_upper_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_forces**](classrobot__dart_1_1Robot.md#function-set_forces) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_friction_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_friction_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_friction\_coeffs**](classrobot__dart_1_1Robot.md#function-set_friction_coeffs) (double value) <br> |
-|  void | [**set\_friction\_dir**](classrobot__dart_1_1Robot.md#function-set_friction_dir-12) (const std::string & body\_name, const Eigen::Vector3d & direction) <br> |
-|  void | [**set\_friction\_dir**](classrobot__dart_1_1Robot.md#function-set_friction_dir-22) (size\_t body\_index, const Eigen::Vector3d & direction) <br> |
-|  void | [**set\_ghost**](classrobot__dart_1_1Robot.md#function-set_ghost) (bool ghost=true) <br> |
-|  void | [**set\_joint\_name**](classrobot__dart_1_1Robot.md#function-set_joint_name) (size\_t joint\_index, const std::string & joint\_name) <br> |
-|  void | [**set\_mimic**](classrobot__dart_1_1Robot.md#function-set_mimic) (const std::string & joint\_name, const std::string & mimic\_joint\_name, double multiplier=1., double offset=0.) <br> |
-|  void | [**set\_position\_enforced**](classrobot__dart_1_1Robot.md#function-set_position_enforced-12) (const std::vector&lt; bool &gt; & enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_enforced**](classrobot__dart_1_1Robot.md#function-set_position_enforced-22) (bool enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_position_lower_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_position_upper_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_positions**](classrobot__dart_1_1Robot.md#function-set_positions) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_restitution\_coeff**](classrobot__dart_1_1Robot.md#function-set_restitution_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_restitution\_coeff**](classrobot__dart_1_1Robot.md#function-set_restitution_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_restitution\_coeffs**](classrobot__dart_1_1Robot.md#function-set_restitution_coeffs) (double value) <br> |
-|  void | [**set\_secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_secondary\_friction\_coeffs**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeffs) (double value) <br> |
-|  void | [**set\_self\_collision**](classrobot__dart_1_1Robot.md#function-set_self_collision) (bool enable\_self\_collisions=true, bool enable\_adjacent\_collisions=false) <br> |
-|  void | [**set\_spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-set_spring_stiffnesses-12) (const std::vector&lt; double &gt; & stiffnesses, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-set_spring_stiffnesses-22) (double stiffness, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocities**](classrobot__dart_1_1Robot.md#function-set_velocities) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocity\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_velocity_lower_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocity\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_velocity_upper_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  dart::dynamics::SkeletonPtr | [**skeleton**](classrobot__dart_1_1Robot.md#function-skeleton) () <br> |
-|  std::vector&lt; double &gt; | [**spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-spring_stiffnesses) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**update**](classrobot__dart_1_1Robot.md#function-update) (double t) <br> |
-|  void | [**update\_joint\_dof\_maps**](classrobot__dart_1_1Robot.md#function-update_joint_dof_maps) () <br> |
-|  Eigen::VectorXd | [**vec\_dof**](classrobot__dart_1_1Robot.md#function-vec_dof) (const Eigen::VectorXd & vec, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-|  Eigen::VectorXd | [**velocities**](classrobot__dart_1_1Robot.md#function-velocities) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**velocity\_lower\_limits**](classrobot__dart_1_1Robot.md#function-velocity_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**velocity\_upper\_limits**](classrobot__dart_1_1Robot.md#function-velocity_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-| virtual  | [**~Robot**](classrobot__dart_1_1Robot.md#function-robot) () <br> |
+|   | [**Robot**](#function-robot-13) (const std::string & model\_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
+|   | [**Robot**](#function-robot-23) (const std::string & model\_file, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
+|   | [**Robot**](#function-robot-33) (dart::dynamics::SkeletonPtr skeleton, const std::string & robot\_name="robot", bool cast\_shadows=true) <br> |
+|  Eigen::VectorXd | [**acceleration\_lower\_limits**](#function-acceleration_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**acceleration\_upper\_limits**](#function-acceleration_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**accelerations**](#function-accelerations) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**active\_controllers**](#function-active_controllers) () const<br> |
+|  std::string | [**actuator\_type**](#function-actuator_type) (const std::string & joint\_name) const<br> |
+|  std::vector&lt; std::string &gt; | [**actuator\_types**](#function-actuator_types) (const std::vector&lt; std::string &gt; & joint\_names={}) const<br> |
+|  void | [**add\_body\_mass**](#function-add_body_mass-12) (const std::string & body\_name, double mass) <br> |
+|  void | [**add\_body\_mass**](#function-add_body_mass-22) (size\_t body\_index, double mass) <br> |
+|  void | [**add\_controller**](#function-add_controller) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller, double weight=1.0) <br> |
+|  void | [**add\_external\_force**](#function-add_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**add\_external\_force**](#function-add_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**add\_external\_torque**](#function-add_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**add\_external\_torque**](#function-add_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  bool | [**adjacent\_colliding**](#function-adjacent_colliding) () const<br> |
+|  Eigen::MatrixXd | [**aug\_mass\_matrix**](#function-aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::Isometry3d | [**base\_pose**](#function-base_pose) () const<br> |
+|  Eigen::Vector6d | [**base\_pose\_vec**](#function-base_pose_vec) () const<br> |
+|  Eigen::Vector6d | [**body\_acceleration**](#function-body_acceleration-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_acceleration**](#function-body_acceleration-22) (size\_t body\_index) const<br> |
+|  size\_t | [**body\_index**](#function-body_index) (const std::string & body\_name) const<br> |
+|  double | [**body\_mass**](#function-body_mass-12) (const std::string & body\_name) const<br> |
+|  double | [**body\_mass**](#function-body_mass-22) (size\_t body\_index) const<br> |
+|  std::string | [**body\_name**](#function-body_name) (size\_t body\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**body\_names**](#function-body_names) () const<br> |
+|  dart::dynamics::BodyNode \* | [**body\_node**](#function-body_node-12) (const std::string & body\_name) <br> |
+|  dart::dynamics::BodyNode \* | [**body\_node**](#function-body_node-22) (size\_t body\_index) <br> |
+|  Eigen::Isometry3d | [**body\_pose**](#function-body_pose-12) (const std::string & body\_name) const<br> |
+|  Eigen::Isometry3d | [**body\_pose**](#function-body_pose-22) (size\_t body\_index) const<br> |
+|  Eigen::Vector6d | [**body\_pose\_vec**](#function-body_pose_vec-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_pose\_vec**](#function-body_pose_vec-22) (size\_t body\_index) const<br> |
+|  Eigen::Vector6d | [**body\_velocity**](#function-body_velocity-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_velocity**](#function-body_velocity-22) (size\_t body\_index) const<br> |
+|  bool | [**cast\_shadows**](#function-cast_shadows) () const<br> |
+|  void | [**clear\_controllers**](#function-clear_controllers) () <br> |
+|  void | [**clear\_external\_forces**](#function-clear_external_forces) () <br> |
+|  void | [**clear\_internal\_forces**](#function-clear_internal_forces) () <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone**](#function-clone) () const<br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone\_ghost**](#function-clone_ghost) (const std::string & ghost\_name="ghost", const Eigen::Vector4d & ghost\_color={0.3, 0.3, 0.3, 0.7}) const<br> |
+|  Eigen::Vector3d | [**com**](#function-com) () const<br> |
+|  Eigen::Vector6d | [**com\_acceleration**](#function-com_acceleration) () const<br> |
+|  Eigen::MatrixXd | [**com\_jacobian**](#function-com_jacobian) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**com\_jacobian\_deriv**](#function-com_jacobian_deriv) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::Vector6d | [**com\_velocity**](#function-com_velocity) () const<br> |
+|  Eigen::VectorXd | [**commands**](#function-commands) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**constraint\_forces**](#function-constraint_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**controller**](#function-controller) (size\_t index) const<br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**controllers**](#function-controllers) () const<br> |
+|  Eigen::VectorXd | [**coriolis\_forces**](#function-coriolis_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**coriolis\_gravity\_forces**](#function-coriolis_gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; double &gt; | [**coulomb\_coeffs**](#function-coulomb_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; double &gt; | [**damping\_coeffs**](#function-damping_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  dart::dynamics::DegreeOfFreedom \* | [**dof**](#function-dof-12) (const std::string & dof\_name) <br> |
+|  dart::dynamics::DegreeOfFreedom \* | [**dof**](#function-dof-22) (size\_t dof\_index) <br> |
+|  size\_t | [**dof\_index**](#function-dof_index) (const std::string & dof\_name) const<br> |
+|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**dof\_map**](#function-dof_map) () const<br> |
+|  std::string | [**dof\_name**](#function-dof_name) (size\_t dof\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**dof\_names**](#function-dof_names) (bool filter\_mimics=false, bool filter\_locked=false, bool filter\_passive=false) const<br> |
+|  const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; & | [**drawing\_axes**](#function-drawing_axes) () const<br> |
+|  Eigen::Vector6d | [**external\_forces**](#function-external_forces-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**external\_forces**](#function-external_forces-22) (size\_t body\_index) const<br> |
+|  void | [**fix\_to\_world**](#function-fix_to_world) () <br> |
+|  bool | [**fixed**](#function-fixed) () const<br> |
+|  Eigen::VectorXd | [**force\_lower\_limits**](#function-force_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**force\_position\_bounds**](#function-force_position_bounds) () <br> |
+|  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; | [**force\_torque**](#function-force_torque) (size\_t joint\_index) const<br> |
+|  Eigen::VectorXd | [**force\_upper\_limits**](#function-force_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**forces**](#function-forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  bool | [**free**](#function-free) () const<br> |
+|  void | [**free\_from\_world**](#function-free_from_world) (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) <br> |
+|  double | [**friction\_coeff**](#function-friction_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**friction\_coeff**](#function-friction_coeff-22) (size\_t body\_index) <br> |
+|  Eigen::Vector3d | [**friction\_dir**](#function-friction_dir-12) (const std::string & body\_name) <br> |
+|  Eigen::Vector3d | [**friction\_dir**](#function-friction_dir-22) (size\_t body\_index) <br> |
+|  bool | [**ghost**](#function-ghost) () const<br> |
+|  Eigen::VectorXd | [**gravity\_forces**](#function-gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**inv\_aug\_mass\_matrix**](#function-inv_aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**inv\_mass\_matrix**](#function-inv_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**jacobian**](#function-jacobian) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**jacobian\_deriv**](#function-jacobian_deriv) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  dart::dynamics::Joint \* | [**joint**](#function-joint-12) (const std::string & joint\_name) <br> |
+|  dart::dynamics::Joint \* | [**joint**](#function-joint-22) (size\_t joint\_index) <br> |
+|  size\_t | [**joint\_index**](#function-joint_index) (const std::string & joint\_name) const<br> |
+|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**joint\_map**](#function-joint_map) () const<br> |
+|  std::string | [**joint\_name**](#function-joint_name) (size\_t joint\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**joint\_names**](#function-joint_names) () const<br> |
+|  std::vector&lt; std::string &gt; | [**locked\_dof\_names**](#function-locked_dof_names) () const<br> |
+|  Eigen::MatrixXd | [**mass\_matrix**](#function-mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; std::string &gt; | [**mimic\_dof\_names**](#function-mimic_dof_names) () const<br> |
+|  const std::string & | [**model\_filename**](#function-model_filename) () const<br> |
+|  const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & | [**model\_packages**](#function-model_packages) () const<br> |
+|  const std::string & | [**name**](#function-name) () const<br> |
+|  size\_t | [**num\_bodies**](#function-num_bodies) () const<br> |
+|  size\_t | [**num\_controllers**](#function-num_controllers) () const<br> |
+|  size\_t | [**num\_dofs**](#function-num_dofs) () const<br> |
+|  size\_t | [**num\_joints**](#function-num_joints) () const<br> |
+|  std::vector&lt; std::string &gt; | [**passive\_dof\_names**](#function-passive_dof_names) () const<br> |
+|  std::vector&lt; bool &gt; | [**position\_enforced**](#function-position_enforced) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**position\_lower\_limits**](#function-position_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**position\_upper\_limits**](#function-position_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**positions**](#function-positions) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**reinit\_controllers**](#function-reinit_controllers) () <br> |
+|  void | [**remove\_all\_drawing\_axis**](#function-remove_all_drawing_axis) () <br> |
+|  void | [**remove\_controller**](#function-remove_controller-12) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller) <br> |
+|  void | [**remove\_controller**](#function-remove_controller-22) (size\_t index) <br> |
+| virtual void | [**reset**](#function-reset) () <br> |
+|  void | [**reset\_commands**](#function-reset_commands) () <br> |
+|  double | [**restitution\_coeff**](#function-restitution_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**restitution\_coeff**](#function-restitution_coeff-22) (size\_t body\_index) <br> |
+|  double | [**secondary\_friction\_coeff**](#function-secondary_friction_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**secondary\_friction\_coeff**](#function-secondary_friction_coeff-22) (size\_t body\_index) <br> |
+|  bool | [**self\_colliding**](#function-self_colliding) () const<br> |
+|  void | [**set\_acceleration\_lower\_limits**](#function-set_acceleration_lower_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_acceleration\_upper\_limits**](#function-set_acceleration_upper_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_accelerations**](#function-set_accelerations) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_actuator\_type**](#function-set_actuator_type) (const std::string & type, const std::string & joint\_name, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**set\_actuator\_types**](#function-set_actuator_types) (const std::string & type, const std::vector&lt; std::string &gt; & joint\_names={}, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**set\_base\_pose**](#function-set_base_pose-12) (const Eigen::Isometry3d & tf) <br> |
+|  void | [**set\_base\_pose**](#function-set_base_pose-22) (const Eigen::Vector6d & pose) <br>_set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)_  |
+|  void | [**set\_body\_mass**](#function-set_body_mass-12) (const std::string & body\_name, double mass) <br> |
+|  void | [**set\_body\_mass**](#function-set_body_mass-22) (size\_t body\_index, double mass) <br> |
+|  void | [**set\_body\_name**](#function-set_body_name) (size\_t body\_index, const std::string & body\_name) <br> |
+|  void | [**set\_cast\_shadows**](#function-set_cast_shadows) (bool cast\_shadows=true) <br> |
+|  void | [**set\_color\_mode**](#function-set_color_mode-12) (const std::string & color\_mode) <br> |
+|  void | [**set\_color\_mode**](#function-set_color_mode-22) (const std::string & color\_mode, const std::string & body\_name) <br> |
+|  void | [**set\_commands**](#function-set_commands) (const Eigen::VectorXd & commands, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_coulomb\_coeffs**](#function-set_coulomb_coeffs-12) (const std::vector&lt; double &gt; & cfrictions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_coulomb\_coeffs**](#function-set_coulomb_coeffs-22) (double cfriction, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_damping\_coeffs**](#function-set_damping_coeffs-12) (const std::vector&lt; double &gt; & damps, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_damping\_coeffs**](#function-set_damping_coeffs-22) (double damp, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_draw\_axis**](#function-set_draw_axis) (const std::string & body\_name, double size=0.25) <br> |
+|  void | [**set\_external\_force**](#function-set_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**set\_external\_force**](#function-set_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**set\_external\_torque**](#function-set_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**set\_external\_torque**](#function-set_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**set\_force\_lower\_limits**](#function-set_force_lower_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_force\_upper\_limits**](#function-set_force_upper_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_forces**](#function-set_forces) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_friction\_coeff**](#function-set_friction_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_friction\_coeff**](#function-set_friction_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_friction\_coeffs**](#function-set_friction_coeffs) (double value) <br> |
+|  void | [**set\_friction\_dir**](#function-set_friction_dir-12) (const std::string & body\_name, const Eigen::Vector3d & direction) <br> |
+|  void | [**set\_friction\_dir**](#function-set_friction_dir-22) (size\_t body\_index, const Eigen::Vector3d & direction) <br> |
+|  void | [**set\_ghost**](#function-set_ghost) (bool ghost=true) <br> |
+|  void | [**set\_joint\_name**](#function-set_joint_name) (size\_t joint\_index, const std::string & joint\_name) <br> |
+|  void | [**set\_mimic**](#function-set_mimic) (const std::string & joint\_name, const std::string & mimic\_joint\_name, double multiplier=1., double offset=0.) <br> |
+|  void | [**set\_position\_enforced**](#function-set_position_enforced-12) (const std::vector&lt; bool &gt; & enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_enforced**](#function-set_position_enforced-22) (bool enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_lower\_limits**](#function-set_position_lower_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_upper\_limits**](#function-set_position_upper_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_positions**](#function-set_positions) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_restitution\_coeff**](#function-set_restitution_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_restitution\_coeff**](#function-set_restitution_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_restitution\_coeffs**](#function-set_restitution_coeffs) (double value) <br> |
+|  void | [**set\_secondary\_friction\_coeff**](#function-set_secondary_friction_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_secondary\_friction\_coeff**](#function-set_secondary_friction_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_secondary\_friction\_coeffs**](#function-set_secondary_friction_coeffs) (double value) <br> |
+|  void | [**set\_self\_collision**](#function-set_self_collision) (bool enable\_self\_collisions=true, bool enable\_adjacent\_collisions=false) <br> |
+|  void | [**set\_spring\_stiffnesses**](#function-set_spring_stiffnesses-12) (const std::vector&lt; double &gt; & stiffnesses, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_spring\_stiffnesses**](#function-set_spring_stiffnesses-22) (double stiffness, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocities**](#function-set_velocities) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocity\_lower\_limits**](#function-set_velocity_lower_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocity\_upper\_limits**](#function-set_velocity_upper_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  dart::dynamics::SkeletonPtr | [**skeleton**](#function-skeleton) () <br> |
+|  std::vector&lt; double &gt; | [**spring\_stiffnesses**](#function-spring_stiffnesses) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**update**](#function-update) (double t) <br> |
+|  void | [**update\_joint\_dof\_maps**](#function-update_joint_dof_maps) () <br> |
+|  Eigen::VectorXd | [**vec\_dof**](#function-vec_dof) (const Eigen::VectorXd & vec, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+|  Eigen::VectorXd | [**velocities**](#function-velocities) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**velocity\_lower\_limits**](#function-velocity_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**velocity\_upper\_limits**](#function-velocity_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+| virtual  | [**~Robot**](#function-robot) () <br> |
 
 
 
@@ -267,10 +267,10 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](classrobot__dart_1_1Robot.md#function-create_box-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](classrobot__dart_1_1Robot.md#function-create_box-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](classrobot__dart_1_1Robot.md#function-create_ellipsoid-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](classrobot__dart_1_1Robot.md#function-create_ellipsoid-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](#function-create_box-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](#function-create_box-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](#function-create_ellipsoid-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](#function-create_ellipsoid-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
 
 
 
@@ -294,16 +294,16 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; | [**\_axis\_shapes**](classrobot__dart_1_1Robot.md#variable-_axis_shapes)  <br> |
-|  bool | [**\_cast\_shadows**](classrobot__dart_1_1Robot.md#variable-_cast_shadows)  <br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**\_controllers**](classrobot__dart_1_1Robot.md#variable-_controllers)  <br> |
-|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_dof\_map**](classrobot__dart_1_1Robot.md#variable-_dof_map)  <br> |
-|  bool | [**\_is\_ghost**](classrobot__dart_1_1Robot.md#variable-_is_ghost)  <br> |
-|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_joint\_map**](classrobot__dart_1_1Robot.md#variable-_joint_map)  <br> |
-|  std::string | [**\_model\_filename**](classrobot__dart_1_1Robot.md#variable-_model_filename)  <br> |
-|  std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; | [**\_packages**](classrobot__dart_1_1Robot.md#variable-_packages)  <br> |
-|  std::string | [**\_robot\_name**](classrobot__dart_1_1Robot.md#variable-_robot_name)  <br> |
-|  dart::dynamics::SkeletonPtr | [**\_skeleton**](classrobot__dart_1_1Robot.md#variable-_skeleton)  <br> |
+|  std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; | [**\_axis\_shapes**](#variable-_axis_shapes)  <br> |
+|  bool | [**\_cast\_shadows**](#variable-_cast_shadows)  <br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**\_controllers**](#variable-_controllers)  <br> |
+|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_dof\_map**](#variable-_dof_map)  <br> |
+|  bool | [**\_is\_ghost**](#variable-_is_ghost)  <br> |
+|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_joint\_map**](#variable-_joint_map)  <br> |
+|  std::string | [**\_model\_filename**](#variable-_model_filename)  <br> |
+|  std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; | [**\_packages**](#variable-_packages)  <br> |
+|  std::string | [**\_robot\_name**](#variable-_robot_name)  <br> |
+|  dart::dynamics::SkeletonPtr | [**\_skeleton**](#variable-_skeleton)  <br> |
 
 
 
@@ -348,19 +348,19 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  dart::dynamics::Joint::ActuatorType | [**\_actuator\_type**](classrobot__dart_1_1Robot.md#function-_actuator_type) (size\_t joint\_index) const<br> |
-|  std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; | [**\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_actuator_types) () const<br> |
-|  std::string | [**\_get\_path**](classrobot__dart_1_1Robot.md#function-_get_path) (const std::string & filename) const<br> |
-|  Eigen::MatrixXd | [**\_jacobian**](classrobot__dart_1_1Robot.md#function-_jacobian) (const Eigen::MatrixXd & full\_jacobian, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-|  dart::dynamics::SkeletonPtr | [**\_load\_model**](classrobot__dart_1_1Robot.md#function-_load_model) (const std::string & filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is\_urdf\_string=false) <br> |
-|  Eigen::MatrixXd | [**\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-_mass_matrix) (const Eigen::MatrixXd & full\_mass\_matrix, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-| virtual void | [**\_post\_addition**](classrobot__dart_1_1Robot.md#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
-| virtual void | [**\_post\_removal**](classrobot__dart_1_1Robot.md#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
-|  void | [**\_set\_actuator\_type**](classrobot__dart_1_1Robot.md#function-_set_actuator_type) (size\_t joint\_index, dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_set_actuator_types-12) (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; & types, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_set_actuator_types-22) (dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_color\_mode**](classrobot__dart_1_1Robot.md#function-_set_color_mode-12) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::SkeletonPtr skel) <br> |
-|  void | [**\_set\_color\_mode**](classrobot__dart_1_1Robot.md#function-_set_color_mode-22) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::ShapeNode \* sn) <br> |
+|  dart::dynamics::Joint::ActuatorType | [**\_actuator\_type**](#function-_actuator_type) (size\_t joint\_index) const<br> |
+|  std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; | [**\_actuator\_types**](#function-_actuator_types) () const<br> |
+|  std::string | [**\_get\_path**](#function-_get_path) (const std::string & filename) const<br> |
+|  Eigen::MatrixXd | [**\_jacobian**](#function-_jacobian) (const Eigen::MatrixXd & full\_jacobian, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+|  dart::dynamics::SkeletonPtr | [**\_load\_model**](#function-_load_model) (const std::string & filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is\_urdf\_string=false) <br> |
+|  Eigen::MatrixXd | [**\_mass\_matrix**](#function-_mass_matrix) (const Eigen::MatrixXd & full\_mass\_matrix, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+| virtual void | [**\_post\_addition**](#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
+| virtual void | [**\_post\_removal**](#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
+|  void | [**\_set\_actuator\_type**](#function-_set_actuator_type) (size\_t joint\_index, dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_actuator\_types**](#function-_set_actuator_types-12) (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; & types, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_actuator\_types**](#function-_set_actuator_types-22) (dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_color\_mode**](#function-_set_color_mode-12) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::SkeletonPtr skel) <br> |
+|  void | [**\_set\_color\_mode**](#function-_set_color_mode-22) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::ShapeNode \* sn) <br> |
 
 
 
diff --git a/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Ur3eHand.md b/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Ur3eHand.md
index 119251ac..0fd1a615 100644
--- a/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Ur3eHand.md
+++ b/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Ur3eHand.md
@@ -101,8 +101,8 @@ See [robot\_dart::robots::Ur3e](classrobot__dart_1_1robots_1_1Ur3e.md)
 
 | Type | Name |
 | ---: | :--- |
-|   | [**Ur3e**](classrobot__dart_1_1robots_1_1Ur3e.md#function-ur3e) (size\_t frequency=1000, const std::string & urdf="ur3e/ur3e.urdf", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages={{"ur3e\_description", "ur3e/ur3e\_description"}}) <br> |
-|  const [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) & | [**ft\_wrist**](classrobot__dart_1_1robots_1_1Ur3e.md#function-ft_wrist) () const<br> |
+|   | [**Ur3e**](#function-ur3e) (size\_t frequency=1000, const std::string & urdf="ur3e/ur3e.urdf", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages={{"ur3e\_description", "ur3e/ur3e\_description"}}) <br> |
+|  const [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) & | [**ft\_wrist**](#function-ft_wrist) () const<br> |
 
 
 ## Public Functions inherited from robot_dart::Robot
@@ -111,180 +111,180 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-13) (const std::string & model\_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-23) (const std::string & model\_file, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-33) (dart::dynamics::SkeletonPtr skeleton, const std::string & robot\_name="robot", bool cast\_shadows=true) <br> |
-|  Eigen::VectorXd | [**acceleration\_lower\_limits**](classrobot__dart_1_1Robot.md#function-acceleration_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**acceleration\_upper\_limits**](classrobot__dart_1_1Robot.md#function-acceleration_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**accelerations**](classrobot__dart_1_1Robot.md#function-accelerations) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**active\_controllers**](classrobot__dart_1_1Robot.md#function-active_controllers) () const<br> |
-|  std::string | [**actuator\_type**](classrobot__dart_1_1Robot.md#function-actuator_type) (const std::string & joint\_name) const<br> |
-|  std::vector&lt; std::string &gt; | [**actuator\_types**](classrobot__dart_1_1Robot.md#function-actuator_types) (const std::vector&lt; std::string &gt; & joint\_names={}) const<br> |
-|  void | [**add\_body\_mass**](classrobot__dart_1_1Robot.md#function-add_body_mass-12) (const std::string & body\_name, double mass) <br> |
-|  void | [**add\_body\_mass**](classrobot__dart_1_1Robot.md#function-add_body_mass-22) (size\_t body\_index, double mass) <br> |
-|  void | [**add\_controller**](classrobot__dart_1_1Robot.md#function-add_controller) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller, double weight=1.0) <br> |
-|  void | [**add\_external\_force**](classrobot__dart_1_1Robot.md#function-add_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**add\_external\_force**](classrobot__dart_1_1Robot.md#function-add_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**add\_external\_torque**](classrobot__dart_1_1Robot.md#function-add_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**add\_external\_torque**](classrobot__dart_1_1Robot.md#function-add_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  bool | [**adjacent\_colliding**](classrobot__dart_1_1Robot.md#function-adjacent_colliding) () const<br> |
-|  Eigen::MatrixXd | [**aug\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::Isometry3d | [**base\_pose**](classrobot__dart_1_1Robot.md#function-base_pose) () const<br> |
-|  Eigen::Vector6d | [**base\_pose\_vec**](classrobot__dart_1_1Robot.md#function-base_pose_vec) () const<br> |
-|  Eigen::Vector6d | [**body\_acceleration**](classrobot__dart_1_1Robot.md#function-body_acceleration-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_acceleration**](classrobot__dart_1_1Robot.md#function-body_acceleration-22) (size\_t body\_index) const<br> |
-|  size\_t | [**body\_index**](classrobot__dart_1_1Robot.md#function-body_index) (const std::string & body\_name) const<br> |
-|  double | [**body\_mass**](classrobot__dart_1_1Robot.md#function-body_mass-12) (const std::string & body\_name) const<br> |
-|  double | [**body\_mass**](classrobot__dart_1_1Robot.md#function-body_mass-22) (size\_t body\_index) const<br> |
-|  std::string | [**body\_name**](classrobot__dart_1_1Robot.md#function-body_name) (size\_t body\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**body\_names**](classrobot__dart_1_1Robot.md#function-body_names) () const<br> |
-|  dart::dynamics::BodyNode \* | [**body\_node**](classrobot__dart_1_1Robot.md#function-body_node-12) (const std::string & body\_name) <br> |
-|  dart::dynamics::BodyNode \* | [**body\_node**](classrobot__dart_1_1Robot.md#function-body_node-22) (size\_t body\_index) <br> |
-|  Eigen::Isometry3d | [**body\_pose**](classrobot__dart_1_1Robot.md#function-body_pose-12) (const std::string & body\_name) const<br> |
-|  Eigen::Isometry3d | [**body\_pose**](classrobot__dart_1_1Robot.md#function-body_pose-22) (size\_t body\_index) const<br> |
-|  Eigen::Vector6d | [**body\_pose\_vec**](classrobot__dart_1_1Robot.md#function-body_pose_vec-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_pose\_vec**](classrobot__dart_1_1Robot.md#function-body_pose_vec-22) (size\_t body\_index) const<br> |
-|  Eigen::Vector6d | [**body\_velocity**](classrobot__dart_1_1Robot.md#function-body_velocity-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_velocity**](classrobot__dart_1_1Robot.md#function-body_velocity-22) (size\_t body\_index) const<br> |
-|  bool | [**cast\_shadows**](classrobot__dart_1_1Robot.md#function-cast_shadows) () const<br> |
-|  void | [**clear\_controllers**](classrobot__dart_1_1Robot.md#function-clear_controllers) () <br> |
-|  void | [**clear\_external\_forces**](classrobot__dart_1_1Robot.md#function-clear_external_forces) () <br> |
-|  void | [**clear\_internal\_forces**](classrobot__dart_1_1Robot.md#function-clear_internal_forces) () <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone**](classrobot__dart_1_1Robot.md#function-clone) () const<br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone\_ghost**](classrobot__dart_1_1Robot.md#function-clone_ghost) (const std::string & ghost\_name="ghost", const Eigen::Vector4d & ghost\_color={0.3, 0.3, 0.3, 0.7}) const<br> |
-|  Eigen::Vector3d | [**com**](classrobot__dart_1_1Robot.md#function-com) () const<br> |
-|  Eigen::Vector6d | [**com\_acceleration**](classrobot__dart_1_1Robot.md#function-com_acceleration) () const<br> |
-|  Eigen::MatrixXd | [**com\_jacobian**](classrobot__dart_1_1Robot.md#function-com_jacobian) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**com\_jacobian\_deriv**](classrobot__dart_1_1Robot.md#function-com_jacobian_deriv) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::Vector6d | [**com\_velocity**](classrobot__dart_1_1Robot.md#function-com_velocity) () const<br> |
-|  Eigen::VectorXd | [**commands**](classrobot__dart_1_1Robot.md#function-commands) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**constraint\_forces**](classrobot__dart_1_1Robot.md#function-constraint_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**controller**](classrobot__dart_1_1Robot.md#function-controller) (size\_t index) const<br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**controllers**](classrobot__dart_1_1Robot.md#function-controllers) () const<br> |
-|  Eigen::VectorXd | [**coriolis\_forces**](classrobot__dart_1_1Robot.md#function-coriolis_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**coriolis\_gravity\_forces**](classrobot__dart_1_1Robot.md#function-coriolis_gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; double &gt; | [**coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-coulomb_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; double &gt; | [**damping\_coeffs**](classrobot__dart_1_1Robot.md#function-damping_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  dart::dynamics::DegreeOfFreedom \* | [**dof**](classrobot__dart_1_1Robot.md#function-dof-12) (const std::string & dof\_name) <br> |
-|  dart::dynamics::DegreeOfFreedom \* | [**dof**](classrobot__dart_1_1Robot.md#function-dof-22) (size\_t dof\_index) <br> |
-|  size\_t | [**dof\_index**](classrobot__dart_1_1Robot.md#function-dof_index) (const std::string & dof\_name) const<br> |
-|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**dof\_map**](classrobot__dart_1_1Robot.md#function-dof_map) () const<br> |
-|  std::string | [**dof\_name**](classrobot__dart_1_1Robot.md#function-dof_name) (size\_t dof\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**dof\_names**](classrobot__dart_1_1Robot.md#function-dof_names) (bool filter\_mimics=false, bool filter\_locked=false, bool filter\_passive=false) const<br> |
-|  const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; & | [**drawing\_axes**](classrobot__dart_1_1Robot.md#function-drawing_axes) () const<br> |
-|  Eigen::Vector6d | [**external\_forces**](classrobot__dart_1_1Robot.md#function-external_forces-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**external\_forces**](classrobot__dart_1_1Robot.md#function-external_forces-22) (size\_t body\_index) const<br> |
-|  void | [**fix\_to\_world**](classrobot__dart_1_1Robot.md#function-fix_to_world) () <br> |
-|  bool | [**fixed**](classrobot__dart_1_1Robot.md#function-fixed) () const<br> |
-|  Eigen::VectorXd | [**force\_lower\_limits**](classrobot__dart_1_1Robot.md#function-force_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**force\_position\_bounds**](classrobot__dart_1_1Robot.md#function-force_position_bounds) () <br> |
-|  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; | [**force\_torque**](classrobot__dart_1_1Robot.md#function-force_torque) (size\_t joint\_index) const<br> |
-|  Eigen::VectorXd | [**force\_upper\_limits**](classrobot__dart_1_1Robot.md#function-force_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**forces**](classrobot__dart_1_1Robot.md#function-forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  bool | [**free**](classrobot__dart_1_1Robot.md#function-free) () const<br> |
-|  void | [**free\_from\_world**](classrobot__dart_1_1Robot.md#function-free_from_world) (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) <br> |
-|  double | [**friction\_coeff**](classrobot__dart_1_1Robot.md#function-friction_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**friction\_coeff**](classrobot__dart_1_1Robot.md#function-friction_coeff-22) (size\_t body\_index) <br> |
-|  Eigen::Vector3d | [**friction\_dir**](classrobot__dart_1_1Robot.md#function-friction_dir-12) (const std::string & body\_name) <br> |
-|  Eigen::Vector3d | [**friction\_dir**](classrobot__dart_1_1Robot.md#function-friction_dir-22) (size\_t body\_index) <br> |
-|  bool | [**ghost**](classrobot__dart_1_1Robot.md#function-ghost) () const<br> |
-|  Eigen::VectorXd | [**gravity\_forces**](classrobot__dart_1_1Robot.md#function-gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**inv\_aug\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-inv_aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**inv\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-inv_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**jacobian**](classrobot__dart_1_1Robot.md#function-jacobian) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**jacobian\_deriv**](classrobot__dart_1_1Robot.md#function-jacobian_deriv) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  dart::dynamics::Joint \* | [**joint**](classrobot__dart_1_1Robot.md#function-joint-12) (const std::string & joint\_name) <br> |
-|  dart::dynamics::Joint \* | [**joint**](classrobot__dart_1_1Robot.md#function-joint-22) (size\_t joint\_index) <br> |
-|  size\_t | [**joint\_index**](classrobot__dart_1_1Robot.md#function-joint_index) (const std::string & joint\_name) const<br> |
-|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**joint\_map**](classrobot__dart_1_1Robot.md#function-joint_map) () const<br> |
-|  std::string | [**joint\_name**](classrobot__dart_1_1Robot.md#function-joint_name) (size\_t joint\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**joint\_names**](classrobot__dart_1_1Robot.md#function-joint_names) () const<br> |
-|  std::vector&lt; std::string &gt; | [**locked\_dof\_names**](classrobot__dart_1_1Robot.md#function-locked_dof_names) () const<br> |
-|  Eigen::MatrixXd | [**mass\_matrix**](classrobot__dart_1_1Robot.md#function-mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; std::string &gt; | [**mimic\_dof\_names**](classrobot__dart_1_1Robot.md#function-mimic_dof_names) () const<br> |
-|  const std::string & | [**model\_filename**](classrobot__dart_1_1Robot.md#function-model_filename) () const<br> |
-|  const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & | [**model\_packages**](classrobot__dart_1_1Robot.md#function-model_packages) () const<br> |
-|  const std::string & | [**name**](classrobot__dart_1_1Robot.md#function-name) () const<br> |
-|  size\_t | [**num\_bodies**](classrobot__dart_1_1Robot.md#function-num_bodies) () const<br> |
-|  size\_t | [**num\_controllers**](classrobot__dart_1_1Robot.md#function-num_controllers) () const<br> |
-|  size\_t | [**num\_dofs**](classrobot__dart_1_1Robot.md#function-num_dofs) () const<br> |
-|  size\_t | [**num\_joints**](classrobot__dart_1_1Robot.md#function-num_joints) () const<br> |
-|  std::vector&lt; std::string &gt; | [**passive\_dof\_names**](classrobot__dart_1_1Robot.md#function-passive_dof_names) () const<br> |
-|  std::vector&lt; bool &gt; | [**position\_enforced**](classrobot__dart_1_1Robot.md#function-position_enforced) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**position\_lower\_limits**](classrobot__dart_1_1Robot.md#function-position_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**position\_upper\_limits**](classrobot__dart_1_1Robot.md#function-position_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**positions**](classrobot__dart_1_1Robot.md#function-positions) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**reinit\_controllers**](classrobot__dart_1_1Robot.md#function-reinit_controllers) () <br> |
-|  void | [**remove\_all\_drawing\_axis**](classrobot__dart_1_1Robot.md#function-remove_all_drawing_axis) () <br> |
-|  void | [**remove\_controller**](classrobot__dart_1_1Robot.md#function-remove_controller-12) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller) <br> |
-|  void | [**remove\_controller**](classrobot__dart_1_1Robot.md#function-remove_controller-22) (size\_t index) <br> |
-| virtual void | [**reset**](classrobot__dart_1_1Robot.md#function-reset) () <br> |
-|  void | [**reset\_commands**](classrobot__dart_1_1Robot.md#function-reset_commands) () <br> |
-|  double | [**restitution\_coeff**](classrobot__dart_1_1Robot.md#function-restitution_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**restitution\_coeff**](classrobot__dart_1_1Robot.md#function-restitution_coeff-22) (size\_t body\_index) <br> |
-|  double | [**secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-secondary_friction_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-secondary_friction_coeff-22) (size\_t body\_index) <br> |
-|  bool | [**self\_colliding**](classrobot__dart_1_1Robot.md#function-self_colliding) () const<br> |
-|  void | [**set\_acceleration\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_acceleration_lower_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_acceleration\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_acceleration_upper_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_accelerations**](classrobot__dart_1_1Robot.md#function-set_accelerations) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_actuator\_type**](classrobot__dart_1_1Robot.md#function-set_actuator_type) (const std::string & type, const std::string & joint\_name, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-set_actuator_types) (const std::string & type, const std::vector&lt; std::string &gt; & joint\_names={}, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**set\_base\_pose**](classrobot__dart_1_1Robot.md#function-set_base_pose-12) (const Eigen::Isometry3d & tf) <br> |
-|  void | [**set\_base\_pose**](classrobot__dart_1_1Robot.md#function-set_base_pose-22) (const Eigen::Vector6d & pose) <br>_set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)_  |
-|  void | [**set\_body\_mass**](classrobot__dart_1_1Robot.md#function-set_body_mass-12) (const std::string & body\_name, double mass) <br> |
-|  void | [**set\_body\_mass**](classrobot__dart_1_1Robot.md#function-set_body_mass-22) (size\_t body\_index, double mass) <br> |
-|  void | [**set\_body\_name**](classrobot__dart_1_1Robot.md#function-set_body_name) (size\_t body\_index, const std::string & body\_name) <br> |
-|  void | [**set\_cast\_shadows**](classrobot__dart_1_1Robot.md#function-set_cast_shadows) (bool cast\_shadows=true) <br> |
-|  void | [**set\_color\_mode**](classrobot__dart_1_1Robot.md#function-set_color_mode-12) (const std::string & color\_mode) <br> |
-|  void | [**set\_color\_mode**](classrobot__dart_1_1Robot.md#function-set_color_mode-22) (const std::string & color\_mode, const std::string & body\_name) <br> |
-|  void | [**set\_commands**](classrobot__dart_1_1Robot.md#function-set_commands) (const Eigen::VectorXd & commands, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-set_coulomb_coeffs-12) (const std::vector&lt; double &gt; & cfrictions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-set_coulomb_coeffs-22) (double cfriction, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_damping\_coeffs**](classrobot__dart_1_1Robot.md#function-set_damping_coeffs-12) (const std::vector&lt; double &gt; & damps, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_damping\_coeffs**](classrobot__dart_1_1Robot.md#function-set_damping_coeffs-22) (double damp, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_draw\_axis**](classrobot__dart_1_1Robot.md#function-set_draw_axis) (const std::string & body\_name, double size=0.25) <br> |
-|  void | [**set\_external\_force**](classrobot__dart_1_1Robot.md#function-set_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**set\_external\_force**](classrobot__dart_1_1Robot.md#function-set_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**set\_external\_torque**](classrobot__dart_1_1Robot.md#function-set_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**set\_external\_torque**](classrobot__dart_1_1Robot.md#function-set_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**set\_force\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_force_lower_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_force\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_force_upper_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_forces**](classrobot__dart_1_1Robot.md#function-set_forces) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_friction_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_friction_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_friction\_coeffs**](classrobot__dart_1_1Robot.md#function-set_friction_coeffs) (double value) <br> |
-|  void | [**set\_friction\_dir**](classrobot__dart_1_1Robot.md#function-set_friction_dir-12) (const std::string & body\_name, const Eigen::Vector3d & direction) <br> |
-|  void | [**set\_friction\_dir**](classrobot__dart_1_1Robot.md#function-set_friction_dir-22) (size\_t body\_index, const Eigen::Vector3d & direction) <br> |
-|  void | [**set\_ghost**](classrobot__dart_1_1Robot.md#function-set_ghost) (bool ghost=true) <br> |
-|  void | [**set\_joint\_name**](classrobot__dart_1_1Robot.md#function-set_joint_name) (size\_t joint\_index, const std::string & joint\_name) <br> |
-|  void | [**set\_mimic**](classrobot__dart_1_1Robot.md#function-set_mimic) (const std::string & joint\_name, const std::string & mimic\_joint\_name, double multiplier=1., double offset=0.) <br> |
-|  void | [**set\_position\_enforced**](classrobot__dart_1_1Robot.md#function-set_position_enforced-12) (const std::vector&lt; bool &gt; & enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_enforced**](classrobot__dart_1_1Robot.md#function-set_position_enforced-22) (bool enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_position_lower_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_position_upper_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_positions**](classrobot__dart_1_1Robot.md#function-set_positions) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_restitution\_coeff**](classrobot__dart_1_1Robot.md#function-set_restitution_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_restitution\_coeff**](classrobot__dart_1_1Robot.md#function-set_restitution_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_restitution\_coeffs**](classrobot__dart_1_1Robot.md#function-set_restitution_coeffs) (double value) <br> |
-|  void | [**set\_secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_secondary\_friction\_coeffs**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeffs) (double value) <br> |
-|  void | [**set\_self\_collision**](classrobot__dart_1_1Robot.md#function-set_self_collision) (bool enable\_self\_collisions=true, bool enable\_adjacent\_collisions=false) <br> |
-|  void | [**set\_spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-set_spring_stiffnesses-12) (const std::vector&lt; double &gt; & stiffnesses, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-set_spring_stiffnesses-22) (double stiffness, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocities**](classrobot__dart_1_1Robot.md#function-set_velocities) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocity\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_velocity_lower_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocity\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_velocity_upper_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  dart::dynamics::SkeletonPtr | [**skeleton**](classrobot__dart_1_1Robot.md#function-skeleton) () <br> |
-|  std::vector&lt; double &gt; | [**spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-spring_stiffnesses) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**update**](classrobot__dart_1_1Robot.md#function-update) (double t) <br> |
-|  void | [**update\_joint\_dof\_maps**](classrobot__dart_1_1Robot.md#function-update_joint_dof_maps) () <br> |
-|  Eigen::VectorXd | [**vec\_dof**](classrobot__dart_1_1Robot.md#function-vec_dof) (const Eigen::VectorXd & vec, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-|  Eigen::VectorXd | [**velocities**](classrobot__dart_1_1Robot.md#function-velocities) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**velocity\_lower\_limits**](classrobot__dart_1_1Robot.md#function-velocity_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**velocity\_upper\_limits**](classrobot__dart_1_1Robot.md#function-velocity_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-| virtual  | [**~Robot**](classrobot__dart_1_1Robot.md#function-robot) () <br> |
+|   | [**Robot**](#function-robot-13) (const std::string & model\_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
+|   | [**Robot**](#function-robot-23) (const std::string & model\_file, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
+|   | [**Robot**](#function-robot-33) (dart::dynamics::SkeletonPtr skeleton, const std::string & robot\_name="robot", bool cast\_shadows=true) <br> |
+|  Eigen::VectorXd | [**acceleration\_lower\_limits**](#function-acceleration_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**acceleration\_upper\_limits**](#function-acceleration_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**accelerations**](#function-accelerations) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**active\_controllers**](#function-active_controllers) () const<br> |
+|  std::string | [**actuator\_type**](#function-actuator_type) (const std::string & joint\_name) const<br> |
+|  std::vector&lt; std::string &gt; | [**actuator\_types**](#function-actuator_types) (const std::vector&lt; std::string &gt; & joint\_names={}) const<br> |
+|  void | [**add\_body\_mass**](#function-add_body_mass-12) (const std::string & body\_name, double mass) <br> |
+|  void | [**add\_body\_mass**](#function-add_body_mass-22) (size\_t body\_index, double mass) <br> |
+|  void | [**add\_controller**](#function-add_controller) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller, double weight=1.0) <br> |
+|  void | [**add\_external\_force**](#function-add_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**add\_external\_force**](#function-add_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**add\_external\_torque**](#function-add_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**add\_external\_torque**](#function-add_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  bool | [**adjacent\_colliding**](#function-adjacent_colliding) () const<br> |
+|  Eigen::MatrixXd | [**aug\_mass\_matrix**](#function-aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::Isometry3d | [**base\_pose**](#function-base_pose) () const<br> |
+|  Eigen::Vector6d | [**base\_pose\_vec**](#function-base_pose_vec) () const<br> |
+|  Eigen::Vector6d | [**body\_acceleration**](#function-body_acceleration-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_acceleration**](#function-body_acceleration-22) (size\_t body\_index) const<br> |
+|  size\_t | [**body\_index**](#function-body_index) (const std::string & body\_name) const<br> |
+|  double | [**body\_mass**](#function-body_mass-12) (const std::string & body\_name) const<br> |
+|  double | [**body\_mass**](#function-body_mass-22) (size\_t body\_index) const<br> |
+|  std::string | [**body\_name**](#function-body_name) (size\_t body\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**body\_names**](#function-body_names) () const<br> |
+|  dart::dynamics::BodyNode \* | [**body\_node**](#function-body_node-12) (const std::string & body\_name) <br> |
+|  dart::dynamics::BodyNode \* | [**body\_node**](#function-body_node-22) (size\_t body\_index) <br> |
+|  Eigen::Isometry3d | [**body\_pose**](#function-body_pose-12) (const std::string & body\_name) const<br> |
+|  Eigen::Isometry3d | [**body\_pose**](#function-body_pose-22) (size\_t body\_index) const<br> |
+|  Eigen::Vector6d | [**body\_pose\_vec**](#function-body_pose_vec-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_pose\_vec**](#function-body_pose_vec-22) (size\_t body\_index) const<br> |
+|  Eigen::Vector6d | [**body\_velocity**](#function-body_velocity-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_velocity**](#function-body_velocity-22) (size\_t body\_index) const<br> |
+|  bool | [**cast\_shadows**](#function-cast_shadows) () const<br> |
+|  void | [**clear\_controllers**](#function-clear_controllers) () <br> |
+|  void | [**clear\_external\_forces**](#function-clear_external_forces) () <br> |
+|  void | [**clear\_internal\_forces**](#function-clear_internal_forces) () <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone**](#function-clone) () const<br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone\_ghost**](#function-clone_ghost) (const std::string & ghost\_name="ghost", const Eigen::Vector4d & ghost\_color={0.3, 0.3, 0.3, 0.7}) const<br> |
+|  Eigen::Vector3d | [**com**](#function-com) () const<br> |
+|  Eigen::Vector6d | [**com\_acceleration**](#function-com_acceleration) () const<br> |
+|  Eigen::MatrixXd | [**com\_jacobian**](#function-com_jacobian) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**com\_jacobian\_deriv**](#function-com_jacobian_deriv) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::Vector6d | [**com\_velocity**](#function-com_velocity) () const<br> |
+|  Eigen::VectorXd | [**commands**](#function-commands) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**constraint\_forces**](#function-constraint_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**controller**](#function-controller) (size\_t index) const<br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**controllers**](#function-controllers) () const<br> |
+|  Eigen::VectorXd | [**coriolis\_forces**](#function-coriolis_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**coriolis\_gravity\_forces**](#function-coriolis_gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; double &gt; | [**coulomb\_coeffs**](#function-coulomb_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; double &gt; | [**damping\_coeffs**](#function-damping_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  dart::dynamics::DegreeOfFreedom \* | [**dof**](#function-dof-12) (const std::string & dof\_name) <br> |
+|  dart::dynamics::DegreeOfFreedom \* | [**dof**](#function-dof-22) (size\_t dof\_index) <br> |
+|  size\_t | [**dof\_index**](#function-dof_index) (const std::string & dof\_name) const<br> |
+|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**dof\_map**](#function-dof_map) () const<br> |
+|  std::string | [**dof\_name**](#function-dof_name) (size\_t dof\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**dof\_names**](#function-dof_names) (bool filter\_mimics=false, bool filter\_locked=false, bool filter\_passive=false) const<br> |
+|  const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; & | [**drawing\_axes**](#function-drawing_axes) () const<br> |
+|  Eigen::Vector6d | [**external\_forces**](#function-external_forces-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**external\_forces**](#function-external_forces-22) (size\_t body\_index) const<br> |
+|  void | [**fix\_to\_world**](#function-fix_to_world) () <br> |
+|  bool | [**fixed**](#function-fixed) () const<br> |
+|  Eigen::VectorXd | [**force\_lower\_limits**](#function-force_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**force\_position\_bounds**](#function-force_position_bounds) () <br> |
+|  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; | [**force\_torque**](#function-force_torque) (size\_t joint\_index) const<br> |
+|  Eigen::VectorXd | [**force\_upper\_limits**](#function-force_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**forces**](#function-forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  bool | [**free**](#function-free) () const<br> |
+|  void | [**free\_from\_world**](#function-free_from_world) (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) <br> |
+|  double | [**friction\_coeff**](#function-friction_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**friction\_coeff**](#function-friction_coeff-22) (size\_t body\_index) <br> |
+|  Eigen::Vector3d | [**friction\_dir**](#function-friction_dir-12) (const std::string & body\_name) <br> |
+|  Eigen::Vector3d | [**friction\_dir**](#function-friction_dir-22) (size\_t body\_index) <br> |
+|  bool | [**ghost**](#function-ghost) () const<br> |
+|  Eigen::VectorXd | [**gravity\_forces**](#function-gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**inv\_aug\_mass\_matrix**](#function-inv_aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**inv\_mass\_matrix**](#function-inv_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**jacobian**](#function-jacobian) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**jacobian\_deriv**](#function-jacobian_deriv) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  dart::dynamics::Joint \* | [**joint**](#function-joint-12) (const std::string & joint\_name) <br> |
+|  dart::dynamics::Joint \* | [**joint**](#function-joint-22) (size\_t joint\_index) <br> |
+|  size\_t | [**joint\_index**](#function-joint_index) (const std::string & joint\_name) const<br> |
+|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**joint\_map**](#function-joint_map) () const<br> |
+|  std::string | [**joint\_name**](#function-joint_name) (size\_t joint\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**joint\_names**](#function-joint_names) () const<br> |
+|  std::vector&lt; std::string &gt; | [**locked\_dof\_names**](#function-locked_dof_names) () const<br> |
+|  Eigen::MatrixXd | [**mass\_matrix**](#function-mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; std::string &gt; | [**mimic\_dof\_names**](#function-mimic_dof_names) () const<br> |
+|  const std::string & | [**model\_filename**](#function-model_filename) () const<br> |
+|  const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & | [**model\_packages**](#function-model_packages) () const<br> |
+|  const std::string & | [**name**](#function-name) () const<br> |
+|  size\_t | [**num\_bodies**](#function-num_bodies) () const<br> |
+|  size\_t | [**num\_controllers**](#function-num_controllers) () const<br> |
+|  size\_t | [**num\_dofs**](#function-num_dofs) () const<br> |
+|  size\_t | [**num\_joints**](#function-num_joints) () const<br> |
+|  std::vector&lt; std::string &gt; | [**passive\_dof\_names**](#function-passive_dof_names) () const<br> |
+|  std::vector&lt; bool &gt; | [**position\_enforced**](#function-position_enforced) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**position\_lower\_limits**](#function-position_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**position\_upper\_limits**](#function-position_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**positions**](#function-positions) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**reinit\_controllers**](#function-reinit_controllers) () <br> |
+|  void | [**remove\_all\_drawing\_axis**](#function-remove_all_drawing_axis) () <br> |
+|  void | [**remove\_controller**](#function-remove_controller-12) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller) <br> |
+|  void | [**remove\_controller**](#function-remove_controller-22) (size\_t index) <br> |
+| virtual void | [**reset**](#function-reset) () <br> |
+|  void | [**reset\_commands**](#function-reset_commands) () <br> |
+|  double | [**restitution\_coeff**](#function-restitution_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**restitution\_coeff**](#function-restitution_coeff-22) (size\_t body\_index) <br> |
+|  double | [**secondary\_friction\_coeff**](#function-secondary_friction_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**secondary\_friction\_coeff**](#function-secondary_friction_coeff-22) (size\_t body\_index) <br> |
+|  bool | [**self\_colliding**](#function-self_colliding) () const<br> |
+|  void | [**set\_acceleration\_lower\_limits**](#function-set_acceleration_lower_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_acceleration\_upper\_limits**](#function-set_acceleration_upper_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_accelerations**](#function-set_accelerations) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_actuator\_type**](#function-set_actuator_type) (const std::string & type, const std::string & joint\_name, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**set\_actuator\_types**](#function-set_actuator_types) (const std::string & type, const std::vector&lt; std::string &gt; & joint\_names={}, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**set\_base\_pose**](#function-set_base_pose-12) (const Eigen::Isometry3d & tf) <br> |
+|  void | [**set\_base\_pose**](#function-set_base_pose-22) (const Eigen::Vector6d & pose) <br>_set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)_  |
+|  void | [**set\_body\_mass**](#function-set_body_mass-12) (const std::string & body\_name, double mass) <br> |
+|  void | [**set\_body\_mass**](#function-set_body_mass-22) (size\_t body\_index, double mass) <br> |
+|  void | [**set\_body\_name**](#function-set_body_name) (size\_t body\_index, const std::string & body\_name) <br> |
+|  void | [**set\_cast\_shadows**](#function-set_cast_shadows) (bool cast\_shadows=true) <br> |
+|  void | [**set\_color\_mode**](#function-set_color_mode-12) (const std::string & color\_mode) <br> |
+|  void | [**set\_color\_mode**](#function-set_color_mode-22) (const std::string & color\_mode, const std::string & body\_name) <br> |
+|  void | [**set\_commands**](#function-set_commands) (const Eigen::VectorXd & commands, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_coulomb\_coeffs**](#function-set_coulomb_coeffs-12) (const std::vector&lt; double &gt; & cfrictions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_coulomb\_coeffs**](#function-set_coulomb_coeffs-22) (double cfriction, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_damping\_coeffs**](#function-set_damping_coeffs-12) (const std::vector&lt; double &gt; & damps, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_damping\_coeffs**](#function-set_damping_coeffs-22) (double damp, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_draw\_axis**](#function-set_draw_axis) (const std::string & body\_name, double size=0.25) <br> |
+|  void | [**set\_external\_force**](#function-set_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**set\_external\_force**](#function-set_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**set\_external\_torque**](#function-set_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**set\_external\_torque**](#function-set_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**set\_force\_lower\_limits**](#function-set_force_lower_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_force\_upper\_limits**](#function-set_force_upper_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_forces**](#function-set_forces) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_friction\_coeff**](#function-set_friction_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_friction\_coeff**](#function-set_friction_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_friction\_coeffs**](#function-set_friction_coeffs) (double value) <br> |
+|  void | [**set\_friction\_dir**](#function-set_friction_dir-12) (const std::string & body\_name, const Eigen::Vector3d & direction) <br> |
+|  void | [**set\_friction\_dir**](#function-set_friction_dir-22) (size\_t body\_index, const Eigen::Vector3d & direction) <br> |
+|  void | [**set\_ghost**](#function-set_ghost) (bool ghost=true) <br> |
+|  void | [**set\_joint\_name**](#function-set_joint_name) (size\_t joint\_index, const std::string & joint\_name) <br> |
+|  void | [**set\_mimic**](#function-set_mimic) (const std::string & joint\_name, const std::string & mimic\_joint\_name, double multiplier=1., double offset=0.) <br> |
+|  void | [**set\_position\_enforced**](#function-set_position_enforced-12) (const std::vector&lt; bool &gt; & enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_enforced**](#function-set_position_enforced-22) (bool enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_lower\_limits**](#function-set_position_lower_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_upper\_limits**](#function-set_position_upper_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_positions**](#function-set_positions) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_restitution\_coeff**](#function-set_restitution_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_restitution\_coeff**](#function-set_restitution_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_restitution\_coeffs**](#function-set_restitution_coeffs) (double value) <br> |
+|  void | [**set\_secondary\_friction\_coeff**](#function-set_secondary_friction_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_secondary\_friction\_coeff**](#function-set_secondary_friction_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_secondary\_friction\_coeffs**](#function-set_secondary_friction_coeffs) (double value) <br> |
+|  void | [**set\_self\_collision**](#function-set_self_collision) (bool enable\_self\_collisions=true, bool enable\_adjacent\_collisions=false) <br> |
+|  void | [**set\_spring\_stiffnesses**](#function-set_spring_stiffnesses-12) (const std::vector&lt; double &gt; & stiffnesses, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_spring\_stiffnesses**](#function-set_spring_stiffnesses-22) (double stiffness, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocities**](#function-set_velocities) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocity\_lower\_limits**](#function-set_velocity_lower_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocity\_upper\_limits**](#function-set_velocity_upper_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  dart::dynamics::SkeletonPtr | [**skeleton**](#function-skeleton) () <br> |
+|  std::vector&lt; double &gt; | [**spring\_stiffnesses**](#function-spring_stiffnesses) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**update**](#function-update) (double t) <br> |
+|  void | [**update\_joint\_dof\_maps**](#function-update_joint_dof_maps) () <br> |
+|  Eigen::VectorXd | [**vec\_dof**](#function-vec_dof) (const Eigen::VectorXd & vec, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+|  Eigen::VectorXd | [**velocities**](#function-velocities) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**velocity\_lower\_limits**](#function-velocity_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**velocity\_upper\_limits**](#function-velocity_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+| virtual  | [**~Robot**](#function-robot) () <br> |
 
 
 
@@ -297,10 +297,10 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](classrobot__dart_1_1Robot.md#function-create_box-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](classrobot__dart_1_1Robot.md#function-create_box-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](classrobot__dart_1_1Robot.md#function-create_ellipsoid-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](classrobot__dart_1_1Robot.md#function-create_ellipsoid-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](#function-create_box-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](#function-create_box-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](#function-create_ellipsoid-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](#function-create_ellipsoid-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
 
 
 
@@ -323,7 +323,7 @@ See [robot\_dart::robots::Ur3e](classrobot__dart_1_1robots_1_1Ur3e.md)
 
 | Type | Name |
 | ---: | :--- |
-|  std::shared\_ptr&lt; [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) &gt; | [**\_ft\_wrist**](classrobot__dart_1_1robots_1_1Ur3e.md#variable-_ft_wrist)  <br> |
+|  std::shared\_ptr&lt; [**sensor::ForceTorque**](classrobot__dart_1_1sensor_1_1ForceTorque.md) &gt; | [**\_ft\_wrist**](#variable-_ft_wrist)  <br> |
 
 
 ## Protected Attributes inherited from robot_dart::Robot
@@ -332,16 +332,16 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; | [**\_axis\_shapes**](classrobot__dart_1_1Robot.md#variable-_axis_shapes)  <br> |
-|  bool | [**\_cast\_shadows**](classrobot__dart_1_1Robot.md#variable-_cast_shadows)  <br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**\_controllers**](classrobot__dart_1_1Robot.md#variable-_controllers)  <br> |
-|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_dof\_map**](classrobot__dart_1_1Robot.md#variable-_dof_map)  <br> |
-|  bool | [**\_is\_ghost**](classrobot__dart_1_1Robot.md#variable-_is_ghost)  <br> |
-|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_joint\_map**](classrobot__dart_1_1Robot.md#variable-_joint_map)  <br> |
-|  std::string | [**\_model\_filename**](classrobot__dart_1_1Robot.md#variable-_model_filename)  <br> |
-|  std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; | [**\_packages**](classrobot__dart_1_1Robot.md#variable-_packages)  <br> |
-|  std::string | [**\_robot\_name**](classrobot__dart_1_1Robot.md#variable-_robot_name)  <br> |
-|  dart::dynamics::SkeletonPtr | [**\_skeleton**](classrobot__dart_1_1Robot.md#variable-_skeleton)  <br> |
+|  std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; | [**\_axis\_shapes**](#variable-_axis_shapes)  <br> |
+|  bool | [**\_cast\_shadows**](#variable-_cast_shadows)  <br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**\_controllers**](#variable-_controllers)  <br> |
+|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_dof\_map**](#variable-_dof_map)  <br> |
+|  bool | [**\_is\_ghost**](#variable-_is_ghost)  <br> |
+|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_joint\_map**](#variable-_joint_map)  <br> |
+|  std::string | [**\_model\_filename**](#variable-_model_filename)  <br> |
+|  std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; | [**\_packages**](#variable-_packages)  <br> |
+|  std::string | [**\_robot\_name**](#variable-_robot_name)  <br> |
+|  dart::dynamics::SkeletonPtr | [**\_skeleton**](#variable-_skeleton)  <br> |
 
 
 
@@ -394,8 +394,8 @@ See [robot\_dart::robots::Ur3e](classrobot__dart_1_1robots_1_1Ur3e.md)
 
 | Type | Name |
 | ---: | :--- |
-| virtual void | [**\_post\_addition**](classrobot__dart_1_1robots_1_1Ur3e.md#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) override<br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
-| virtual void | [**\_post\_removal**](classrobot__dart_1_1robots_1_1Ur3e.md#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) override<br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
+| virtual void | [**\_post\_addition**](#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) override<br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
+| virtual void | [**\_post\_removal**](#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) override<br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
 
 
 ## Protected Functions inherited from robot_dart::Robot
@@ -404,19 +404,19 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  dart::dynamics::Joint::ActuatorType | [**\_actuator\_type**](classrobot__dart_1_1Robot.md#function-_actuator_type) (size\_t joint\_index) const<br> |
-|  std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; | [**\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_actuator_types) () const<br> |
-|  std::string | [**\_get\_path**](classrobot__dart_1_1Robot.md#function-_get_path) (const std::string & filename) const<br> |
-|  Eigen::MatrixXd | [**\_jacobian**](classrobot__dart_1_1Robot.md#function-_jacobian) (const Eigen::MatrixXd & full\_jacobian, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-|  dart::dynamics::SkeletonPtr | [**\_load\_model**](classrobot__dart_1_1Robot.md#function-_load_model) (const std::string & filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is\_urdf\_string=false) <br> |
-|  Eigen::MatrixXd | [**\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-_mass_matrix) (const Eigen::MatrixXd & full\_mass\_matrix, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-| virtual void | [**\_post\_addition**](classrobot__dart_1_1Robot.md#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
-| virtual void | [**\_post\_removal**](classrobot__dart_1_1Robot.md#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
-|  void | [**\_set\_actuator\_type**](classrobot__dart_1_1Robot.md#function-_set_actuator_type) (size\_t joint\_index, dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_set_actuator_types-12) (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; & types, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_set_actuator_types-22) (dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_color\_mode**](classrobot__dart_1_1Robot.md#function-_set_color_mode-12) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::SkeletonPtr skel) <br> |
-|  void | [**\_set\_color\_mode**](classrobot__dart_1_1Robot.md#function-_set_color_mode-22) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::ShapeNode \* sn) <br> |
+|  dart::dynamics::Joint::ActuatorType | [**\_actuator\_type**](#function-_actuator_type) (size\_t joint\_index) const<br> |
+|  std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; | [**\_actuator\_types**](#function-_actuator_types) () const<br> |
+|  std::string | [**\_get\_path**](#function-_get_path) (const std::string & filename) const<br> |
+|  Eigen::MatrixXd | [**\_jacobian**](#function-_jacobian) (const Eigen::MatrixXd & full\_jacobian, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+|  dart::dynamics::SkeletonPtr | [**\_load\_model**](#function-_load_model) (const std::string & filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is\_urdf\_string=false) <br> |
+|  Eigen::MatrixXd | [**\_mass\_matrix**](#function-_mass_matrix) (const Eigen::MatrixXd & full\_mass\_matrix, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+| virtual void | [**\_post\_addition**](#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
+| virtual void | [**\_post\_removal**](#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
+|  void | [**\_set\_actuator\_type**](#function-_set_actuator_type) (size\_t joint\_index, dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_actuator\_types**](#function-_set_actuator_types-12) (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; & types, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_actuator\_types**](#function-_set_actuator_types-22) (dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_color\_mode**](#function-_set_color_mode-12) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::SkeletonPtr skel) <br> |
+|  void | [**\_set\_color\_mode**](#function-_set_color_mode-22) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::ShapeNode \* sn) <br> |
 
 
 
diff --git a/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Vx300.md b/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Vx300.md
index 1ba758ca..4907f083 100644
--- a/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Vx300.md
+++ b/docs/assets/.doxy/api/api/classrobot__dart_1_1robots_1_1Vx300.md
@@ -81,180 +81,180 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-13) (const std::string & model\_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-23) (const std::string & model\_file, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
-|   | [**Robot**](classrobot__dart_1_1Robot.md#function-robot-33) (dart::dynamics::SkeletonPtr skeleton, const std::string & robot\_name="robot", bool cast\_shadows=true) <br> |
-|  Eigen::VectorXd | [**acceleration\_lower\_limits**](classrobot__dart_1_1Robot.md#function-acceleration_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**acceleration\_upper\_limits**](classrobot__dart_1_1Robot.md#function-acceleration_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**accelerations**](classrobot__dart_1_1Robot.md#function-accelerations) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**active\_controllers**](classrobot__dart_1_1Robot.md#function-active_controllers) () const<br> |
-|  std::string | [**actuator\_type**](classrobot__dart_1_1Robot.md#function-actuator_type) (const std::string & joint\_name) const<br> |
-|  std::vector&lt; std::string &gt; | [**actuator\_types**](classrobot__dart_1_1Robot.md#function-actuator_types) (const std::vector&lt; std::string &gt; & joint\_names={}) const<br> |
-|  void | [**add\_body\_mass**](classrobot__dart_1_1Robot.md#function-add_body_mass-12) (const std::string & body\_name, double mass) <br> |
-|  void | [**add\_body\_mass**](classrobot__dart_1_1Robot.md#function-add_body_mass-22) (size\_t body\_index, double mass) <br> |
-|  void | [**add\_controller**](classrobot__dart_1_1Robot.md#function-add_controller) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller, double weight=1.0) <br> |
-|  void | [**add\_external\_force**](classrobot__dart_1_1Robot.md#function-add_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**add\_external\_force**](classrobot__dart_1_1Robot.md#function-add_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**add\_external\_torque**](classrobot__dart_1_1Robot.md#function-add_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**add\_external\_torque**](classrobot__dart_1_1Robot.md#function-add_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  bool | [**adjacent\_colliding**](classrobot__dart_1_1Robot.md#function-adjacent_colliding) () const<br> |
-|  Eigen::MatrixXd | [**aug\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::Isometry3d | [**base\_pose**](classrobot__dart_1_1Robot.md#function-base_pose) () const<br> |
-|  Eigen::Vector6d | [**base\_pose\_vec**](classrobot__dart_1_1Robot.md#function-base_pose_vec) () const<br> |
-|  Eigen::Vector6d | [**body\_acceleration**](classrobot__dart_1_1Robot.md#function-body_acceleration-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_acceleration**](classrobot__dart_1_1Robot.md#function-body_acceleration-22) (size\_t body\_index) const<br> |
-|  size\_t | [**body\_index**](classrobot__dart_1_1Robot.md#function-body_index) (const std::string & body\_name) const<br> |
-|  double | [**body\_mass**](classrobot__dart_1_1Robot.md#function-body_mass-12) (const std::string & body\_name) const<br> |
-|  double | [**body\_mass**](classrobot__dart_1_1Robot.md#function-body_mass-22) (size\_t body\_index) const<br> |
-|  std::string | [**body\_name**](classrobot__dart_1_1Robot.md#function-body_name) (size\_t body\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**body\_names**](classrobot__dart_1_1Robot.md#function-body_names) () const<br> |
-|  dart::dynamics::BodyNode \* | [**body\_node**](classrobot__dart_1_1Robot.md#function-body_node-12) (const std::string & body\_name) <br> |
-|  dart::dynamics::BodyNode \* | [**body\_node**](classrobot__dart_1_1Robot.md#function-body_node-22) (size\_t body\_index) <br> |
-|  Eigen::Isometry3d | [**body\_pose**](classrobot__dart_1_1Robot.md#function-body_pose-12) (const std::string & body\_name) const<br> |
-|  Eigen::Isometry3d | [**body\_pose**](classrobot__dart_1_1Robot.md#function-body_pose-22) (size\_t body\_index) const<br> |
-|  Eigen::Vector6d | [**body\_pose\_vec**](classrobot__dart_1_1Robot.md#function-body_pose_vec-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_pose\_vec**](classrobot__dart_1_1Robot.md#function-body_pose_vec-22) (size\_t body\_index) const<br> |
-|  Eigen::Vector6d | [**body\_velocity**](classrobot__dart_1_1Robot.md#function-body_velocity-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**body\_velocity**](classrobot__dart_1_1Robot.md#function-body_velocity-22) (size\_t body\_index) const<br> |
-|  bool | [**cast\_shadows**](classrobot__dart_1_1Robot.md#function-cast_shadows) () const<br> |
-|  void | [**clear\_controllers**](classrobot__dart_1_1Robot.md#function-clear_controllers) () <br> |
-|  void | [**clear\_external\_forces**](classrobot__dart_1_1Robot.md#function-clear_external_forces) () <br> |
-|  void | [**clear\_internal\_forces**](classrobot__dart_1_1Robot.md#function-clear_internal_forces) () <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone**](classrobot__dart_1_1Robot.md#function-clone) () const<br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone\_ghost**](classrobot__dart_1_1Robot.md#function-clone_ghost) (const std::string & ghost\_name="ghost", const Eigen::Vector4d & ghost\_color={0.3, 0.3, 0.3, 0.7}) const<br> |
-|  Eigen::Vector3d | [**com**](classrobot__dart_1_1Robot.md#function-com) () const<br> |
-|  Eigen::Vector6d | [**com\_acceleration**](classrobot__dart_1_1Robot.md#function-com_acceleration) () const<br> |
-|  Eigen::MatrixXd | [**com\_jacobian**](classrobot__dart_1_1Robot.md#function-com_jacobian) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**com\_jacobian\_deriv**](classrobot__dart_1_1Robot.md#function-com_jacobian_deriv) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::Vector6d | [**com\_velocity**](classrobot__dart_1_1Robot.md#function-com_velocity) () const<br> |
-|  Eigen::VectorXd | [**commands**](classrobot__dart_1_1Robot.md#function-commands) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**constraint\_forces**](classrobot__dart_1_1Robot.md#function-constraint_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**controller**](classrobot__dart_1_1Robot.md#function-controller) (size\_t index) const<br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**controllers**](classrobot__dart_1_1Robot.md#function-controllers) () const<br> |
-|  Eigen::VectorXd | [**coriolis\_forces**](classrobot__dart_1_1Robot.md#function-coriolis_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**coriolis\_gravity\_forces**](classrobot__dart_1_1Robot.md#function-coriolis_gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; double &gt; | [**coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-coulomb_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; double &gt; | [**damping\_coeffs**](classrobot__dart_1_1Robot.md#function-damping_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  dart::dynamics::DegreeOfFreedom \* | [**dof**](classrobot__dart_1_1Robot.md#function-dof-12) (const std::string & dof\_name) <br> |
-|  dart::dynamics::DegreeOfFreedom \* | [**dof**](classrobot__dart_1_1Robot.md#function-dof-22) (size\_t dof\_index) <br> |
-|  size\_t | [**dof\_index**](classrobot__dart_1_1Robot.md#function-dof_index) (const std::string & dof\_name) const<br> |
-|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**dof\_map**](classrobot__dart_1_1Robot.md#function-dof_map) () const<br> |
-|  std::string | [**dof\_name**](classrobot__dart_1_1Robot.md#function-dof_name) (size\_t dof\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**dof\_names**](classrobot__dart_1_1Robot.md#function-dof_names) (bool filter\_mimics=false, bool filter\_locked=false, bool filter\_passive=false) const<br> |
-|  const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; & | [**drawing\_axes**](classrobot__dart_1_1Robot.md#function-drawing_axes) () const<br> |
-|  Eigen::Vector6d | [**external\_forces**](classrobot__dart_1_1Robot.md#function-external_forces-12) (const std::string & body\_name) const<br> |
-|  Eigen::Vector6d | [**external\_forces**](classrobot__dart_1_1Robot.md#function-external_forces-22) (size\_t body\_index) const<br> |
-|  void | [**fix\_to\_world**](classrobot__dart_1_1Robot.md#function-fix_to_world) () <br> |
-|  bool | [**fixed**](classrobot__dart_1_1Robot.md#function-fixed) () const<br> |
-|  Eigen::VectorXd | [**force\_lower\_limits**](classrobot__dart_1_1Robot.md#function-force_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**force\_position\_bounds**](classrobot__dart_1_1Robot.md#function-force_position_bounds) () <br> |
-|  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; | [**force\_torque**](classrobot__dart_1_1Robot.md#function-force_torque) (size\_t joint\_index) const<br> |
-|  Eigen::VectorXd | [**force\_upper\_limits**](classrobot__dart_1_1Robot.md#function-force_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**forces**](classrobot__dart_1_1Robot.md#function-forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  bool | [**free**](classrobot__dart_1_1Robot.md#function-free) () const<br> |
-|  void | [**free\_from\_world**](classrobot__dart_1_1Robot.md#function-free_from_world) (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) <br> |
-|  double | [**friction\_coeff**](classrobot__dart_1_1Robot.md#function-friction_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**friction\_coeff**](classrobot__dart_1_1Robot.md#function-friction_coeff-22) (size\_t body\_index) <br> |
-|  Eigen::Vector3d | [**friction\_dir**](classrobot__dart_1_1Robot.md#function-friction_dir-12) (const std::string & body\_name) <br> |
-|  Eigen::Vector3d | [**friction\_dir**](classrobot__dart_1_1Robot.md#function-friction_dir-22) (size\_t body\_index) <br> |
-|  bool | [**ghost**](classrobot__dart_1_1Robot.md#function-ghost) () const<br> |
-|  Eigen::VectorXd | [**gravity\_forces**](classrobot__dart_1_1Robot.md#function-gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**inv\_aug\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-inv_aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**inv\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-inv_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**jacobian**](classrobot__dart_1_1Robot.md#function-jacobian) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::MatrixXd | [**jacobian\_deriv**](classrobot__dart_1_1Robot.md#function-jacobian_deriv) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  dart::dynamics::Joint \* | [**joint**](classrobot__dart_1_1Robot.md#function-joint-12) (const std::string & joint\_name) <br> |
-|  dart::dynamics::Joint \* | [**joint**](classrobot__dart_1_1Robot.md#function-joint-22) (size\_t joint\_index) <br> |
-|  size\_t | [**joint\_index**](classrobot__dart_1_1Robot.md#function-joint_index) (const std::string & joint\_name) const<br> |
-|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**joint\_map**](classrobot__dart_1_1Robot.md#function-joint_map) () const<br> |
-|  std::string | [**joint\_name**](classrobot__dart_1_1Robot.md#function-joint_name) (size\_t joint\_index) const<br> |
-|  std::vector&lt; std::string &gt; | [**joint\_names**](classrobot__dart_1_1Robot.md#function-joint_names) () const<br> |
-|  std::vector&lt; std::string &gt; | [**locked\_dof\_names**](classrobot__dart_1_1Robot.md#function-locked_dof_names) () const<br> |
-|  Eigen::MatrixXd | [**mass\_matrix**](classrobot__dart_1_1Robot.md#function-mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  std::vector&lt; std::string &gt; | [**mimic\_dof\_names**](classrobot__dart_1_1Robot.md#function-mimic_dof_names) () const<br> |
-|  const std::string & | [**model\_filename**](classrobot__dart_1_1Robot.md#function-model_filename) () const<br> |
-|  const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & | [**model\_packages**](classrobot__dart_1_1Robot.md#function-model_packages) () const<br> |
-|  const std::string & | [**name**](classrobot__dart_1_1Robot.md#function-name) () const<br> |
-|  size\_t | [**num\_bodies**](classrobot__dart_1_1Robot.md#function-num_bodies) () const<br> |
-|  size\_t | [**num\_controllers**](classrobot__dart_1_1Robot.md#function-num_controllers) () const<br> |
-|  size\_t | [**num\_dofs**](classrobot__dart_1_1Robot.md#function-num_dofs) () const<br> |
-|  size\_t | [**num\_joints**](classrobot__dart_1_1Robot.md#function-num_joints) () const<br> |
-|  std::vector&lt; std::string &gt; | [**passive\_dof\_names**](classrobot__dart_1_1Robot.md#function-passive_dof_names) () const<br> |
-|  std::vector&lt; bool &gt; | [**position\_enforced**](classrobot__dart_1_1Robot.md#function-position_enforced) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**position\_lower\_limits**](classrobot__dart_1_1Robot.md#function-position_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**position\_upper\_limits**](classrobot__dart_1_1Robot.md#function-position_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**positions**](classrobot__dart_1_1Robot.md#function-positions) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**reinit\_controllers**](classrobot__dart_1_1Robot.md#function-reinit_controllers) () <br> |
-|  void | [**remove\_all\_drawing\_axis**](classrobot__dart_1_1Robot.md#function-remove_all_drawing_axis) () <br> |
-|  void | [**remove\_controller**](classrobot__dart_1_1Robot.md#function-remove_controller-12) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller) <br> |
-|  void | [**remove\_controller**](classrobot__dart_1_1Robot.md#function-remove_controller-22) (size\_t index) <br> |
-| virtual void | [**reset**](classrobot__dart_1_1Robot.md#function-reset) () <br> |
-|  void | [**reset\_commands**](classrobot__dart_1_1Robot.md#function-reset_commands) () <br> |
-|  double | [**restitution\_coeff**](classrobot__dart_1_1Robot.md#function-restitution_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**restitution\_coeff**](classrobot__dart_1_1Robot.md#function-restitution_coeff-22) (size\_t body\_index) <br> |
-|  double | [**secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-secondary_friction_coeff-12) (const std::string & body\_name) <br> |
-|  double | [**secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-secondary_friction_coeff-22) (size\_t body\_index) <br> |
-|  bool | [**self\_colliding**](classrobot__dart_1_1Robot.md#function-self_colliding) () const<br> |
-|  void | [**set\_acceleration\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_acceleration_lower_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_acceleration\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_acceleration_upper_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_accelerations**](classrobot__dart_1_1Robot.md#function-set_accelerations) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_actuator\_type**](classrobot__dart_1_1Robot.md#function-set_actuator_type) (const std::string & type, const std::string & joint\_name, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-set_actuator_types) (const std::string & type, const std::vector&lt; std::string &gt; & joint\_names={}, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**set\_base\_pose**](classrobot__dart_1_1Robot.md#function-set_base_pose-12) (const Eigen::Isometry3d & tf) <br> |
-|  void | [**set\_base\_pose**](classrobot__dart_1_1Robot.md#function-set_base_pose-22) (const Eigen::Vector6d & pose) <br>_set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)_  |
-|  void | [**set\_body\_mass**](classrobot__dart_1_1Robot.md#function-set_body_mass-12) (const std::string & body\_name, double mass) <br> |
-|  void | [**set\_body\_mass**](classrobot__dart_1_1Robot.md#function-set_body_mass-22) (size\_t body\_index, double mass) <br> |
-|  void | [**set\_body\_name**](classrobot__dart_1_1Robot.md#function-set_body_name) (size\_t body\_index, const std::string & body\_name) <br> |
-|  void | [**set\_cast\_shadows**](classrobot__dart_1_1Robot.md#function-set_cast_shadows) (bool cast\_shadows=true) <br> |
-|  void | [**set\_color\_mode**](classrobot__dart_1_1Robot.md#function-set_color_mode-12) (const std::string & color\_mode) <br> |
-|  void | [**set\_color\_mode**](classrobot__dart_1_1Robot.md#function-set_color_mode-22) (const std::string & color\_mode, const std::string & body\_name) <br> |
-|  void | [**set\_commands**](classrobot__dart_1_1Robot.md#function-set_commands) (const Eigen::VectorXd & commands, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-set_coulomb_coeffs-12) (const std::vector&lt; double &gt; & cfrictions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_coulomb\_coeffs**](classrobot__dart_1_1Robot.md#function-set_coulomb_coeffs-22) (double cfriction, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_damping\_coeffs**](classrobot__dart_1_1Robot.md#function-set_damping_coeffs-12) (const std::vector&lt; double &gt; & damps, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_damping\_coeffs**](classrobot__dart_1_1Robot.md#function-set_damping_coeffs-22) (double damp, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_draw\_axis**](classrobot__dart_1_1Robot.md#function-set_draw_axis) (const std::string & body\_name, double size=0.25) <br> |
-|  void | [**set\_external\_force**](classrobot__dart_1_1Robot.md#function-set_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**set\_external\_force**](classrobot__dart_1_1Robot.md#function-set_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
-|  void | [**set\_external\_torque**](classrobot__dart_1_1Robot.md#function-set_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**set\_external\_torque**](classrobot__dart_1_1Robot.md#function-set_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
-|  void | [**set\_force\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_force_lower_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_force\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_force_upper_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_forces**](classrobot__dart_1_1Robot.md#function-set_forces) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_friction_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_friction_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_friction\_coeffs**](classrobot__dart_1_1Robot.md#function-set_friction_coeffs) (double value) <br> |
-|  void | [**set\_friction\_dir**](classrobot__dart_1_1Robot.md#function-set_friction_dir-12) (const std::string & body\_name, const Eigen::Vector3d & direction) <br> |
-|  void | [**set\_friction\_dir**](classrobot__dart_1_1Robot.md#function-set_friction_dir-22) (size\_t body\_index, const Eigen::Vector3d & direction) <br> |
-|  void | [**set\_ghost**](classrobot__dart_1_1Robot.md#function-set_ghost) (bool ghost=true) <br> |
-|  void | [**set\_joint\_name**](classrobot__dart_1_1Robot.md#function-set_joint_name) (size\_t joint\_index, const std::string & joint\_name) <br> |
-|  void | [**set\_mimic**](classrobot__dart_1_1Robot.md#function-set_mimic) (const std::string & joint\_name, const std::string & mimic\_joint\_name, double multiplier=1., double offset=0.) <br> |
-|  void | [**set\_position\_enforced**](classrobot__dart_1_1Robot.md#function-set_position_enforced-12) (const std::vector&lt; bool &gt; & enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_enforced**](classrobot__dart_1_1Robot.md#function-set_position_enforced-22) (bool enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_position_lower_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_position\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_position_upper_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_positions**](classrobot__dart_1_1Robot.md#function-set_positions) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_restitution\_coeff**](classrobot__dart_1_1Robot.md#function-set_restitution_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_restitution\_coeff**](classrobot__dart_1_1Robot.md#function-set_restitution_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_restitution\_coeffs**](classrobot__dart_1_1Robot.md#function-set_restitution_coeffs) (double value) <br> |
-|  void | [**set\_secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeff-12) (const std::string & body\_name, double value) <br> |
-|  void | [**set\_secondary\_friction\_coeff**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeff-22) (size\_t body\_index, double value) <br> |
-|  void | [**set\_secondary\_friction\_coeffs**](classrobot__dart_1_1Robot.md#function-set_secondary_friction_coeffs) (double value) <br> |
-|  void | [**set\_self\_collision**](classrobot__dart_1_1Robot.md#function-set_self_collision) (bool enable\_self\_collisions=true, bool enable\_adjacent\_collisions=false) <br> |
-|  void | [**set\_spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-set_spring_stiffnesses-12) (const std::vector&lt; double &gt; & stiffnesses, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-set_spring_stiffnesses-22) (double stiffness, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocities**](classrobot__dart_1_1Robot.md#function-set_velocities) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocity\_lower\_limits**](classrobot__dart_1_1Robot.md#function-set_velocity_lower_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  void | [**set\_velocity\_upper\_limits**](classrobot__dart_1_1Robot.md#function-set_velocity_upper_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
-|  dart::dynamics::SkeletonPtr | [**skeleton**](classrobot__dart_1_1Robot.md#function-skeleton) () <br> |
-|  std::vector&lt; double &gt; | [**spring\_stiffnesses**](classrobot__dart_1_1Robot.md#function-spring_stiffnesses) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  void | [**update**](classrobot__dart_1_1Robot.md#function-update) (double t) <br> |
-|  void | [**update\_joint\_dof\_maps**](classrobot__dart_1_1Robot.md#function-update_joint_dof_maps) () <br> |
-|  Eigen::VectorXd | [**vec\_dof**](classrobot__dart_1_1Robot.md#function-vec_dof) (const Eigen::VectorXd & vec, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-|  Eigen::VectorXd | [**velocities**](classrobot__dart_1_1Robot.md#function-velocities) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**velocity\_lower\_limits**](classrobot__dart_1_1Robot.md#function-velocity_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-|  Eigen::VectorXd | [**velocity\_upper\_limits**](classrobot__dart_1_1Robot.md#function-velocity_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
-| virtual  | [**~Robot**](classrobot__dart_1_1Robot.md#function-robot) () <br> |
+|   | [**Robot**](#function-robot-13) (const std::string & model\_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
+|   | [**Robot**](#function-robot-23) (const std::string & model\_file, const std::string & robot\_name="robot", bool is\_urdf\_string=false, bool cast\_shadows=true) <br> |
+|   | [**Robot**](#function-robot-33) (dart::dynamics::SkeletonPtr skeleton, const std::string & robot\_name="robot", bool cast\_shadows=true) <br> |
+|  Eigen::VectorXd | [**acceleration\_lower\_limits**](#function-acceleration_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**acceleration\_upper\_limits**](#function-acceleration_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**accelerations**](#function-accelerations) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**active\_controllers**](#function-active_controllers) () const<br> |
+|  std::string | [**actuator\_type**](#function-actuator_type) (const std::string & joint\_name) const<br> |
+|  std::vector&lt; std::string &gt; | [**actuator\_types**](#function-actuator_types) (const std::vector&lt; std::string &gt; & joint\_names={}) const<br> |
+|  void | [**add\_body\_mass**](#function-add_body_mass-12) (const std::string & body\_name, double mass) <br> |
+|  void | [**add\_body\_mass**](#function-add_body_mass-22) (size\_t body\_index, double mass) <br> |
+|  void | [**add\_controller**](#function-add_controller) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller, double weight=1.0) <br> |
+|  void | [**add\_external\_force**](#function-add_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**add\_external\_force**](#function-add_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**add\_external\_torque**](#function-add_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**add\_external\_torque**](#function-add_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  bool | [**adjacent\_colliding**](#function-adjacent_colliding) () const<br> |
+|  Eigen::MatrixXd | [**aug\_mass\_matrix**](#function-aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::Isometry3d | [**base\_pose**](#function-base_pose) () const<br> |
+|  Eigen::Vector6d | [**base\_pose\_vec**](#function-base_pose_vec) () const<br> |
+|  Eigen::Vector6d | [**body\_acceleration**](#function-body_acceleration-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_acceleration**](#function-body_acceleration-22) (size\_t body\_index) const<br> |
+|  size\_t | [**body\_index**](#function-body_index) (const std::string & body\_name) const<br> |
+|  double | [**body\_mass**](#function-body_mass-12) (const std::string & body\_name) const<br> |
+|  double | [**body\_mass**](#function-body_mass-22) (size\_t body\_index) const<br> |
+|  std::string | [**body\_name**](#function-body_name) (size\_t body\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**body\_names**](#function-body_names) () const<br> |
+|  dart::dynamics::BodyNode \* | [**body\_node**](#function-body_node-12) (const std::string & body\_name) <br> |
+|  dart::dynamics::BodyNode \* | [**body\_node**](#function-body_node-22) (size\_t body\_index) <br> |
+|  Eigen::Isometry3d | [**body\_pose**](#function-body_pose-12) (const std::string & body\_name) const<br> |
+|  Eigen::Isometry3d | [**body\_pose**](#function-body_pose-22) (size\_t body\_index) const<br> |
+|  Eigen::Vector6d | [**body\_pose\_vec**](#function-body_pose_vec-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_pose\_vec**](#function-body_pose_vec-22) (size\_t body\_index) const<br> |
+|  Eigen::Vector6d | [**body\_velocity**](#function-body_velocity-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**body\_velocity**](#function-body_velocity-22) (size\_t body\_index) const<br> |
+|  bool | [**cast\_shadows**](#function-cast_shadows) () const<br> |
+|  void | [**clear\_controllers**](#function-clear_controllers) () <br> |
+|  void | [**clear\_external\_forces**](#function-clear_external_forces) () <br> |
+|  void | [**clear\_internal\_forces**](#function-clear_internal_forces) () <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone**](#function-clone) () const<br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**clone\_ghost**](#function-clone_ghost) (const std::string & ghost\_name="ghost", const Eigen::Vector4d & ghost\_color={0.3, 0.3, 0.3, 0.7}) const<br> |
+|  Eigen::Vector3d | [**com**](#function-com) () const<br> |
+|  Eigen::Vector6d | [**com\_acceleration**](#function-com_acceleration) () const<br> |
+|  Eigen::MatrixXd | [**com\_jacobian**](#function-com_jacobian) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**com\_jacobian\_deriv**](#function-com_jacobian_deriv) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::Vector6d | [**com\_velocity**](#function-com_velocity) () const<br> |
+|  Eigen::VectorXd | [**commands**](#function-commands) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**constraint\_forces**](#function-constraint_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**controller**](#function-controller) (size\_t index) const<br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**controllers**](#function-controllers) () const<br> |
+|  Eigen::VectorXd | [**coriolis\_forces**](#function-coriolis_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**coriolis\_gravity\_forces**](#function-coriolis_gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; double &gt; | [**coulomb\_coeffs**](#function-coulomb_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; double &gt; | [**damping\_coeffs**](#function-damping_coeffs) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  dart::dynamics::DegreeOfFreedom \* | [**dof**](#function-dof-12) (const std::string & dof\_name) <br> |
+|  dart::dynamics::DegreeOfFreedom \* | [**dof**](#function-dof-22) (size\_t dof\_index) <br> |
+|  size\_t | [**dof\_index**](#function-dof_index) (const std::string & dof\_name) const<br> |
+|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**dof\_map**](#function-dof_map) () const<br> |
+|  std::string | [**dof\_name**](#function-dof_name) (size\_t dof\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**dof\_names**](#function-dof_names) (bool filter\_mimics=false, bool filter\_locked=false, bool filter\_passive=false) const<br> |
+|  const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; & | [**drawing\_axes**](#function-drawing_axes) () const<br> |
+|  Eigen::Vector6d | [**external\_forces**](#function-external_forces-12) (const std::string & body\_name) const<br> |
+|  Eigen::Vector6d | [**external\_forces**](#function-external_forces-22) (size\_t body\_index) const<br> |
+|  void | [**fix\_to\_world**](#function-fix_to_world) () <br> |
+|  bool | [**fixed**](#function-fixed) () const<br> |
+|  Eigen::VectorXd | [**force\_lower\_limits**](#function-force_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**force\_position\_bounds**](#function-force_position_bounds) () <br> |
+|  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; | [**force\_torque**](#function-force_torque) (size\_t joint\_index) const<br> |
+|  Eigen::VectorXd | [**force\_upper\_limits**](#function-force_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**forces**](#function-forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  bool | [**free**](#function-free) () const<br> |
+|  void | [**free\_from\_world**](#function-free_from_world) (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) <br> |
+|  double | [**friction\_coeff**](#function-friction_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**friction\_coeff**](#function-friction_coeff-22) (size\_t body\_index) <br> |
+|  Eigen::Vector3d | [**friction\_dir**](#function-friction_dir-12) (const std::string & body\_name) <br> |
+|  Eigen::Vector3d | [**friction\_dir**](#function-friction_dir-22) (size\_t body\_index) <br> |
+|  bool | [**ghost**](#function-ghost) () const<br> |
+|  Eigen::VectorXd | [**gravity\_forces**](#function-gravity_forces) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**inv\_aug\_mass\_matrix**](#function-inv_aug_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**inv\_mass\_matrix**](#function-inv_mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**jacobian**](#function-jacobian) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::MatrixXd | [**jacobian\_deriv**](#function-jacobian_deriv) (const std::string & body\_name, const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  dart::dynamics::Joint \* | [**joint**](#function-joint-12) (const std::string & joint\_name) <br> |
+|  dart::dynamics::Joint \* | [**joint**](#function-joint-22) (size\_t joint\_index) <br> |
+|  size\_t | [**joint\_index**](#function-joint_index) (const std::string & joint\_name) const<br> |
+|  const std::unordered\_map&lt; std::string, size\_t &gt; & | [**joint\_map**](#function-joint_map) () const<br> |
+|  std::string | [**joint\_name**](#function-joint_name) (size\_t joint\_index) const<br> |
+|  std::vector&lt; std::string &gt; | [**joint\_names**](#function-joint_names) () const<br> |
+|  std::vector&lt; std::string &gt; | [**locked\_dof\_names**](#function-locked_dof_names) () const<br> |
+|  Eigen::MatrixXd | [**mass\_matrix**](#function-mass_matrix) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  std::vector&lt; std::string &gt; | [**mimic\_dof\_names**](#function-mimic_dof_names) () const<br> |
+|  const std::string & | [**model\_filename**](#function-model_filename) () const<br> |
+|  const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & | [**model\_packages**](#function-model_packages) () const<br> |
+|  const std::string & | [**name**](#function-name) () const<br> |
+|  size\_t | [**num\_bodies**](#function-num_bodies) () const<br> |
+|  size\_t | [**num\_controllers**](#function-num_controllers) () const<br> |
+|  size\_t | [**num\_dofs**](#function-num_dofs) () const<br> |
+|  size\_t | [**num\_joints**](#function-num_joints) () const<br> |
+|  std::vector&lt; std::string &gt; | [**passive\_dof\_names**](#function-passive_dof_names) () const<br> |
+|  std::vector&lt; bool &gt; | [**position\_enforced**](#function-position_enforced) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**position\_lower\_limits**](#function-position_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**position\_upper\_limits**](#function-position_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**positions**](#function-positions) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**reinit\_controllers**](#function-reinit_controllers) () <br> |
+|  void | [**remove\_all\_drawing\_axis**](#function-remove_all_drawing_axis) () <br> |
+|  void | [**remove\_controller**](#function-remove_controller-12) (const std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; & controller) <br> |
+|  void | [**remove\_controller**](#function-remove_controller-22) (size\_t index) <br> |
+| virtual void | [**reset**](#function-reset) () <br> |
+|  void | [**reset\_commands**](#function-reset_commands) () <br> |
+|  double | [**restitution\_coeff**](#function-restitution_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**restitution\_coeff**](#function-restitution_coeff-22) (size\_t body\_index) <br> |
+|  double | [**secondary\_friction\_coeff**](#function-secondary_friction_coeff-12) (const std::string & body\_name) <br> |
+|  double | [**secondary\_friction\_coeff**](#function-secondary_friction_coeff-22) (size\_t body\_index) <br> |
+|  bool | [**self\_colliding**](#function-self_colliding) () const<br> |
+|  void | [**set\_acceleration\_lower\_limits**](#function-set_acceleration_lower_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_acceleration\_upper\_limits**](#function-set_acceleration_upper_limits) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_accelerations**](#function-set_accelerations) (const Eigen::VectorXd & accelerations, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_actuator\_type**](#function-set_actuator_type) (const std::string & type, const std::string & joint\_name, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**set\_actuator\_types**](#function-set_actuator_types) (const std::string & type, const std::vector&lt; std::string &gt; & joint\_names={}, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**set\_base\_pose**](#function-set_base_pose-12) (const Eigen::Isometry3d & tf) <br> |
+|  void | [**set\_base\_pose**](#function-set_base_pose-22) (const Eigen::Vector6d & pose) <br>_set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)_  |
+|  void | [**set\_body\_mass**](#function-set_body_mass-12) (const std::string & body\_name, double mass) <br> |
+|  void | [**set\_body\_mass**](#function-set_body_mass-22) (size\_t body\_index, double mass) <br> |
+|  void | [**set\_body\_name**](#function-set_body_name) (size\_t body\_index, const std::string & body\_name) <br> |
+|  void | [**set\_cast\_shadows**](#function-set_cast_shadows) (bool cast\_shadows=true) <br> |
+|  void | [**set\_color\_mode**](#function-set_color_mode-12) (const std::string & color\_mode) <br> |
+|  void | [**set\_color\_mode**](#function-set_color_mode-22) (const std::string & color\_mode, const std::string & body\_name) <br> |
+|  void | [**set\_commands**](#function-set_commands) (const Eigen::VectorXd & commands, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_coulomb\_coeffs**](#function-set_coulomb_coeffs-12) (const std::vector&lt; double &gt; & cfrictions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_coulomb\_coeffs**](#function-set_coulomb_coeffs-22) (double cfriction, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_damping\_coeffs**](#function-set_damping_coeffs-12) (const std::vector&lt; double &gt; & damps, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_damping\_coeffs**](#function-set_damping_coeffs-22) (double damp, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_draw\_axis**](#function-set_draw_axis) (const std::string & body\_name, double size=0.25) <br> |
+|  void | [**set\_external\_force**](#function-set_external_force-12) (const std::string & body\_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**set\_external\_force**](#function-set_external_force-22) (size\_t body\_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force\_local=false, bool offset\_local=true) <br> |
+|  void | [**set\_external\_torque**](#function-set_external_torque-12) (const std::string & body\_name, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**set\_external\_torque**](#function-set_external_torque-22) (size\_t body\_index, const Eigen::Vector3d & torque, bool local=false) <br> |
+|  void | [**set\_force\_lower\_limits**](#function-set_force_lower_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_force\_upper\_limits**](#function-set_force_upper_limits) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_forces**](#function-set_forces) (const Eigen::VectorXd & forces, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_friction\_coeff**](#function-set_friction_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_friction\_coeff**](#function-set_friction_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_friction\_coeffs**](#function-set_friction_coeffs) (double value) <br> |
+|  void | [**set\_friction\_dir**](#function-set_friction_dir-12) (const std::string & body\_name, const Eigen::Vector3d & direction) <br> |
+|  void | [**set\_friction\_dir**](#function-set_friction_dir-22) (size\_t body\_index, const Eigen::Vector3d & direction) <br> |
+|  void | [**set\_ghost**](#function-set_ghost) (bool ghost=true) <br> |
+|  void | [**set\_joint\_name**](#function-set_joint_name) (size\_t joint\_index, const std::string & joint\_name) <br> |
+|  void | [**set\_mimic**](#function-set_mimic) (const std::string & joint\_name, const std::string & mimic\_joint\_name, double multiplier=1., double offset=0.) <br> |
+|  void | [**set\_position\_enforced**](#function-set_position_enforced-12) (const std::vector&lt; bool &gt; & enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_enforced**](#function-set_position_enforced-22) (bool enforced, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_lower\_limits**](#function-set_position_lower_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_position\_upper\_limits**](#function-set_position_upper_limits) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_positions**](#function-set_positions) (const Eigen::VectorXd & positions, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_restitution\_coeff**](#function-set_restitution_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_restitution\_coeff**](#function-set_restitution_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_restitution\_coeffs**](#function-set_restitution_coeffs) (double value) <br> |
+|  void | [**set\_secondary\_friction\_coeff**](#function-set_secondary_friction_coeff-12) (const std::string & body\_name, double value) <br> |
+|  void | [**set\_secondary\_friction\_coeff**](#function-set_secondary_friction_coeff-22) (size\_t body\_index, double value) <br> |
+|  void | [**set\_secondary\_friction\_coeffs**](#function-set_secondary_friction_coeffs) (double value) <br> |
+|  void | [**set\_self\_collision**](#function-set_self_collision) (bool enable\_self\_collisions=true, bool enable\_adjacent\_collisions=false) <br> |
+|  void | [**set\_spring\_stiffnesses**](#function-set_spring_stiffnesses-12) (const std::vector&lt; double &gt; & stiffnesses, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_spring\_stiffnesses**](#function-set_spring_stiffnesses-22) (double stiffness, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocities**](#function-set_velocities) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocity\_lower\_limits**](#function-set_velocity_lower_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  void | [**set\_velocity\_upper\_limits**](#function-set_velocity_upper_limits) (const Eigen::VectorXd & velocities, const std::vector&lt; std::string &gt; & dof\_names={}) <br> |
+|  dart::dynamics::SkeletonPtr | [**skeleton**](#function-skeleton) () <br> |
+|  std::vector&lt; double &gt; | [**spring\_stiffnesses**](#function-spring_stiffnesses) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  void | [**update**](#function-update) (double t) <br> |
+|  void | [**update\_joint\_dof\_maps**](#function-update_joint_dof_maps) () <br> |
+|  Eigen::VectorXd | [**vec\_dof**](#function-vec_dof) (const Eigen::VectorXd & vec, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+|  Eigen::VectorXd | [**velocities**](#function-velocities) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**velocity\_lower\_limits**](#function-velocity_lower_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+|  Eigen::VectorXd | [**velocity\_upper\_limits**](#function-velocity_upper_limits) (const std::vector&lt; std::string &gt; & dof\_names={}) const<br> |
+| virtual  | [**~Robot**](#function-robot) () <br> |
 
 
 
@@ -265,10 +265,10 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](classrobot__dart_1_1Robot.md#function-create_box-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](classrobot__dart_1_1Robot.md#function-create_box-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](classrobot__dart_1_1Robot.md#function-create_ellipsoid-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](classrobot__dart_1_1Robot.md#function-create_ellipsoid-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](#function-create_box-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_box**](#function-create_box-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box\_name="box") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](#function-create_ellipsoid-12) (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**create\_ellipsoid**](#function-create_ellipsoid-22) (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid\_name="ellipsoid") <br> |
 
 
 
@@ -287,16 +287,16 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; | [**\_axis\_shapes**](classrobot__dart_1_1Robot.md#variable-_axis_shapes)  <br> |
-|  bool | [**\_cast\_shadows**](classrobot__dart_1_1Robot.md#variable-_cast_shadows)  <br> |
-|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**\_controllers**](classrobot__dart_1_1Robot.md#variable-_controllers)  <br> |
-|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_dof\_map**](classrobot__dart_1_1Robot.md#variable-_dof_map)  <br> |
-|  bool | [**\_is\_ghost**](classrobot__dart_1_1Robot.md#variable-_is_ghost)  <br> |
-|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_joint\_map**](classrobot__dart_1_1Robot.md#variable-_joint_map)  <br> |
-|  std::string | [**\_model\_filename**](classrobot__dart_1_1Robot.md#variable-_model_filename)  <br> |
-|  std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; | [**\_packages**](classrobot__dart_1_1Robot.md#variable-_packages)  <br> |
-|  std::string | [**\_robot\_name**](classrobot__dart_1_1Robot.md#variable-_robot_name)  <br> |
-|  dart::dynamics::SkeletonPtr | [**\_skeleton**](classrobot__dart_1_1Robot.md#variable-_skeleton)  <br> |
+|  std::vector&lt; std::pair&lt; dart::dynamics::BodyNode \*, double &gt; &gt; | [**\_axis\_shapes**](#variable-_axis_shapes)  <br> |
+|  bool | [**\_cast\_shadows**](#variable-_cast_shadows)  <br> |
+|  std::vector&lt; std::shared\_ptr&lt; [**control::RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; &gt; | [**\_controllers**](#variable-_controllers)  <br> |
+|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_dof\_map**](#variable-_dof_map)  <br> |
+|  bool | [**\_is\_ghost**](#variable-_is_ghost)  <br> |
+|  std::unordered\_map&lt; std::string, size\_t &gt; | [**\_joint\_map**](#variable-_joint_map)  <br> |
+|  std::string | [**\_model\_filename**](#variable-_model_filename)  <br> |
+|  std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; | [**\_packages**](#variable-_packages)  <br> |
+|  std::string | [**\_robot\_name**](#variable-_robot_name)  <br> |
+|  dart::dynamics::SkeletonPtr | [**\_skeleton**](#variable-_skeleton)  <br> |
 
 
 
@@ -335,19 +335,19 @@ See [robot\_dart::Robot](classrobot__dart_1_1Robot.md)
 
 | Type | Name |
 | ---: | :--- |
-|  dart::dynamics::Joint::ActuatorType | [**\_actuator\_type**](classrobot__dart_1_1Robot.md#function-_actuator_type) (size\_t joint\_index) const<br> |
-|  std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; | [**\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_actuator_types) () const<br> |
-|  std::string | [**\_get\_path**](classrobot__dart_1_1Robot.md#function-_get_path) (const std::string & filename) const<br> |
-|  Eigen::MatrixXd | [**\_jacobian**](classrobot__dart_1_1Robot.md#function-_jacobian) (const Eigen::MatrixXd & full\_jacobian, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-|  dart::dynamics::SkeletonPtr | [**\_load\_model**](classrobot__dart_1_1Robot.md#function-_load_model) (const std::string & filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is\_urdf\_string=false) <br> |
-|  Eigen::MatrixXd | [**\_mass\_matrix**](classrobot__dart_1_1Robot.md#function-_mass_matrix) (const Eigen::MatrixXd & full\_mass\_matrix, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
-| virtual void | [**\_post\_addition**](classrobot__dart_1_1Robot.md#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
-| virtual void | [**\_post\_removal**](classrobot__dart_1_1Robot.md#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
-|  void | [**\_set\_actuator\_type**](classrobot__dart_1_1Robot.md#function-_set_actuator_type) (size\_t joint\_index, dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_set_actuator_types-12) (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; & types, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_actuator\_types**](classrobot__dart_1_1Robot.md#function-_set_actuator_types-22) (dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
-|  void | [**\_set\_color\_mode**](classrobot__dart_1_1Robot.md#function-_set_color_mode-12) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::SkeletonPtr skel) <br> |
-|  void | [**\_set\_color\_mode**](classrobot__dart_1_1Robot.md#function-_set_color_mode-22) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::ShapeNode \* sn) <br> |
+|  dart::dynamics::Joint::ActuatorType | [**\_actuator\_type**](#function-_actuator_type) (size\_t joint\_index) const<br> |
+|  std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; | [**\_actuator\_types**](#function-_actuator_types) () const<br> |
+|  std::string | [**\_get\_path**](#function-_get_path) (const std::string & filename) const<br> |
+|  Eigen::MatrixXd | [**\_jacobian**](#function-_jacobian) (const Eigen::MatrixXd & full\_jacobian, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+|  dart::dynamics::SkeletonPtr | [**\_load\_model**](#function-_load_model) (const std::string & filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; & packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is\_urdf\_string=false) <br> |
+|  Eigen::MatrixXd | [**\_mass\_matrix**](#function-_mass_matrix) (const Eigen::MatrixXd & full\_mass\_matrix, const std::vector&lt; std::string &gt; & dof\_names) const<br> |
+| virtual void | [**\_post\_addition**](#function-_post_addition) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when adding the robot to the world._ |
+| virtual void | [**\_post\_removal**](#function-_post_removal) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \*) <br>_Function called by_ [_**RobotDARTSimu**_](classrobot__dart_1_1RobotDARTSimu.md) _object when removing the robot to the world._ |
+|  void | [**\_set\_actuator\_type**](#function-_set_actuator_type) (size\_t joint\_index, dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_actuator\_types**](#function-_set_actuator_types-12) (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; & types, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_actuator\_types**](#function-_set_actuator_types-22) (dart::dynamics::Joint::ActuatorType type, bool override\_mimic=false, bool override\_base=false) <br> |
+|  void | [**\_set\_color\_mode**](#function-_set_color_mode-12) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::SkeletonPtr skel) <br> |
+|  void | [**\_set\_color\_mode**](#function-_set_color_mode-22) (dart::dynamics::MeshShape::ColorMode color\_mode, dart::dynamics::ShapeNode \* sn) <br> |
 
 
 
diff --git a/docs/assets/.doxy/api/api/classrobot__dart_1_1sensor_1_1ForceTorque.md b/docs/assets/.doxy/api/api/classrobot__dart_1_1sensor_1_1ForceTorque.md
index 004e4a82..4ffcb4a3 100644
--- a/docs/assets/.doxy/api/api/classrobot__dart_1_1sensor_1_1ForceTorque.md
+++ b/docs/assets/.doxy/api/api/classrobot__dart_1_1sensor_1_1ForceTorque.md
@@ -89,26 +89,26 @@ See [robot\_dart::sensor::Sensor](classrobot__dart_1_1sensor_1_1Sensor.md)
 
 | Type | Name |
 | ---: | :--- |
-|   | [**Sensor**](classrobot__dart_1_1sensor_1_1Sensor.md#function-sensor) (size\_t freq=40) <br> |
-|  void | [**activate**](classrobot__dart_1_1sensor_1_1Sensor.md#function-activate) (bool enable=true) <br> |
-|  bool | [**active**](classrobot__dart_1_1sensor_1_1Sensor.md#function-active) () const<br> |
-| virtual void | [**attach\_to\_body**](classrobot__dart_1_1sensor_1_1Sensor.md#function-attach_to_body-12) (dart::dynamics::BodyNode \* body, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
-|  void | [**attach\_to\_body**](classrobot__dart_1_1sensor_1_1Sensor.md#function-attach_to_body-22) (const std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; & robot, const std::string & body\_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
-| virtual void | [**attach\_to\_joint**](classrobot__dart_1_1sensor_1_1Sensor.md#function-attach_to_joint-12) (dart::dynamics::Joint \* joint, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
-|  void | [**attach\_to\_joint**](classrobot__dart_1_1sensor_1_1Sensor.md#function-attach_to_joint-22) (const std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; & robot, const std::string & joint\_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
-|  const std::string & | [**attached\_to**](classrobot__dart_1_1sensor_1_1Sensor.md#function-attached_to) () const<br> |
-| virtual void | [**calculate**](classrobot__dart_1_1sensor_1_1Sensor.md#function-calculate) (double) = 0<br> |
-|  void | [**detach**](classrobot__dart_1_1sensor_1_1Sensor.md#function-detach) () <br> |
-|  size\_t | [**frequency**](classrobot__dart_1_1sensor_1_1Sensor.md#function-frequency) () const<br> |
-| virtual void | [**init**](classrobot__dart_1_1sensor_1_1Sensor.md#function-init) () = 0<br> |
-|  const Eigen::Isometry3d & | [**pose**](classrobot__dart_1_1sensor_1_1Sensor.md#function-pose) () const<br> |
-|  void | [**refresh**](classrobot__dart_1_1sensor_1_1Sensor.md#function-refresh) (double t) <br> |
-|  void | [**set\_frequency**](classrobot__dart_1_1sensor_1_1Sensor.md#function-set_frequency) (size\_t freq) <br> |
-|  void | [**set\_pose**](classrobot__dart_1_1sensor_1_1Sensor.md#function-set_pose) (const Eigen::Isometry3d & tf) <br> |
-|  void | [**set\_simu**](classrobot__dart_1_1sensor_1_1Sensor.md#function-set_simu) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* simu) <br> |
-|  const [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**simu**](classrobot__dart_1_1sensor_1_1Sensor.md#function-simu) () const<br> |
-| virtual std::string | [**type**](classrobot__dart_1_1sensor_1_1Sensor.md#function-type) () const = 0<br> |
-| virtual  | [**~Sensor**](classrobot__dart_1_1sensor_1_1Sensor.md#function-sensor) () <br> |
+|   | [**Sensor**](#function-sensor) (size\_t freq=40) <br> |
+|  void | [**activate**](#function-activate) (bool enable=true) <br> |
+|  bool | [**active**](#function-active) () const<br> |
+| virtual void | [**attach\_to\_body**](#function-attach_to_body-12) (dart::dynamics::BodyNode \* body, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
+|  void | [**attach\_to\_body**](#function-attach_to_body-22) (const std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; & robot, const std::string & body\_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
+| virtual void | [**attach\_to\_joint**](#function-attach_to_joint-12) (dart::dynamics::Joint \* joint, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
+|  void | [**attach\_to\_joint**](#function-attach_to_joint-22) (const std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; & robot, const std::string & joint\_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
+|  const std::string & | [**attached\_to**](#function-attached_to) () const<br> |
+| virtual void | [**calculate**](#function-calculate) (double) = 0<br> |
+|  void | [**detach**](#function-detach) () <br> |
+|  size\_t | [**frequency**](#function-frequency) () const<br> |
+| virtual void | [**init**](#function-init) () = 0<br> |
+|  const Eigen::Isometry3d & | [**pose**](#function-pose) () const<br> |
+|  void | [**refresh**](#function-refresh) (double t) <br> |
+|  void | [**set\_frequency**](#function-set_frequency) (size\_t freq) <br> |
+|  void | [**set\_pose**](#function-set_pose) (const Eigen::Isometry3d & tf) <br> |
+|  void | [**set\_simu**](#function-set_simu) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* simu) <br> |
+|  const [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**simu**](#function-simu) () const<br> |
+| virtual std::string | [**type**](#function-type) () const = 0<br> |
+| virtual  | [**~Sensor**](#function-sensor) () <br> |
 
 
 
@@ -137,17 +137,17 @@ See [robot\_dart::sensor::Sensor](classrobot__dart_1_1sensor_1_1Sensor.md)
 
 | Type | Name |
 | ---: | :--- |
-|  bool | [**\_active**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_active)  <br> |
-|  Eigen::Isometry3d | [**\_attached\_tf**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_attached_tf)  <br> |
-|  bool | [**\_attached\_to\_body**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_attached_to_body)   = = false<br> |
-|  bool | [**\_attached\_to\_joint**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_attached_to_joint)   = = false<br> |
-|  bool | [**\_attaching\_to\_body**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_attaching_to_body)   = = false<br> |
-|  bool | [**\_attaching\_to\_joint**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_attaching_to_joint)   = = false<br> |
-|  dart::dynamics::BodyNode \* | [**\_body\_attached**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_body_attached)  <br> |
-|  size\_t | [**\_frequency**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_frequency)  <br> |
-|  dart::dynamics::Joint \* | [**\_joint\_attached**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_joint_attached)  <br> |
-|  [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**\_simu**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_simu)   = = nullptr<br> |
-|  Eigen::Isometry3d | [**\_world\_pose**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_world_pose)  <br> |
+|  bool | [**\_active**](#variable-_active)  <br> |
+|  Eigen::Isometry3d | [**\_attached\_tf**](#variable-_attached_tf)  <br> |
+|  bool | [**\_attached\_to\_body**](#variable-_attached_to_body)   = = false<br> |
+|  bool | [**\_attached\_to\_joint**](#variable-_attached_to_joint)   = = false<br> |
+|  bool | [**\_attaching\_to\_body**](#variable-_attaching_to_body)   = = false<br> |
+|  bool | [**\_attaching\_to\_joint**](#variable-_attaching_to_joint)   = = false<br> |
+|  dart::dynamics::BodyNode \* | [**\_body\_attached**](#variable-_body_attached)  <br> |
+|  size\_t | [**\_frequency**](#variable-_frequency)  <br> |
+|  dart::dynamics::Joint \* | [**\_joint\_attached**](#variable-_joint_attached)  <br> |
+|  [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**\_simu**](#variable-_simu)   = = nullptr<br> |
+|  Eigen::Isometry3d | [**\_world\_pose**](#variable-_world_pose)  <br> |
 
 
 
diff --git a/docs/assets/.doxy/api/api/classrobot__dart_1_1sensor_1_1IMU.md b/docs/assets/.doxy/api/api/classrobot__dart_1_1sensor_1_1IMU.md
index f3bd3fe9..cc639d73 100644
--- a/docs/assets/.doxy/api/api/classrobot__dart_1_1sensor_1_1IMU.md
+++ b/docs/assets/.doxy/api/api/classrobot__dart_1_1sensor_1_1IMU.md
@@ -89,26 +89,26 @@ See [robot\_dart::sensor::Sensor](classrobot__dart_1_1sensor_1_1Sensor.md)
 
 | Type | Name |
 | ---: | :--- |
-|   | [**Sensor**](classrobot__dart_1_1sensor_1_1Sensor.md#function-sensor) (size\_t freq=40) <br> |
-|  void | [**activate**](classrobot__dart_1_1sensor_1_1Sensor.md#function-activate) (bool enable=true) <br> |
-|  bool | [**active**](classrobot__dart_1_1sensor_1_1Sensor.md#function-active) () const<br> |
-| virtual void | [**attach\_to\_body**](classrobot__dart_1_1sensor_1_1Sensor.md#function-attach_to_body-12) (dart::dynamics::BodyNode \* body, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
-|  void | [**attach\_to\_body**](classrobot__dart_1_1sensor_1_1Sensor.md#function-attach_to_body-22) (const std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; & robot, const std::string & body\_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
-| virtual void | [**attach\_to\_joint**](classrobot__dart_1_1sensor_1_1Sensor.md#function-attach_to_joint-12) (dart::dynamics::Joint \* joint, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
-|  void | [**attach\_to\_joint**](classrobot__dart_1_1sensor_1_1Sensor.md#function-attach_to_joint-22) (const std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; & robot, const std::string & joint\_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
-|  const std::string & | [**attached\_to**](classrobot__dart_1_1sensor_1_1Sensor.md#function-attached_to) () const<br> |
-| virtual void | [**calculate**](classrobot__dart_1_1sensor_1_1Sensor.md#function-calculate) (double) = 0<br> |
-|  void | [**detach**](classrobot__dart_1_1sensor_1_1Sensor.md#function-detach) () <br> |
-|  size\_t | [**frequency**](classrobot__dart_1_1sensor_1_1Sensor.md#function-frequency) () const<br> |
-| virtual void | [**init**](classrobot__dart_1_1sensor_1_1Sensor.md#function-init) () = 0<br> |
-|  const Eigen::Isometry3d & | [**pose**](classrobot__dart_1_1sensor_1_1Sensor.md#function-pose) () const<br> |
-|  void | [**refresh**](classrobot__dart_1_1sensor_1_1Sensor.md#function-refresh) (double t) <br> |
-|  void | [**set\_frequency**](classrobot__dart_1_1sensor_1_1Sensor.md#function-set_frequency) (size\_t freq) <br> |
-|  void | [**set\_pose**](classrobot__dart_1_1sensor_1_1Sensor.md#function-set_pose) (const Eigen::Isometry3d & tf) <br> |
-|  void | [**set\_simu**](classrobot__dart_1_1sensor_1_1Sensor.md#function-set_simu) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* simu) <br> |
-|  const [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**simu**](classrobot__dart_1_1sensor_1_1Sensor.md#function-simu) () const<br> |
-| virtual std::string | [**type**](classrobot__dart_1_1sensor_1_1Sensor.md#function-type) () const = 0<br> |
-| virtual  | [**~Sensor**](classrobot__dart_1_1sensor_1_1Sensor.md#function-sensor) () <br> |
+|   | [**Sensor**](#function-sensor) (size\_t freq=40) <br> |
+|  void | [**activate**](#function-activate) (bool enable=true) <br> |
+|  bool | [**active**](#function-active) () const<br> |
+| virtual void | [**attach\_to\_body**](#function-attach_to_body-12) (dart::dynamics::BodyNode \* body, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
+|  void | [**attach\_to\_body**](#function-attach_to_body-22) (const std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; & robot, const std::string & body\_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
+| virtual void | [**attach\_to\_joint**](#function-attach_to_joint-12) (dart::dynamics::Joint \* joint, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
+|  void | [**attach\_to\_joint**](#function-attach_to_joint-22) (const std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; & robot, const std::string & joint\_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
+|  const std::string & | [**attached\_to**](#function-attached_to) () const<br> |
+| virtual void | [**calculate**](#function-calculate) (double) = 0<br> |
+|  void | [**detach**](#function-detach) () <br> |
+|  size\_t | [**frequency**](#function-frequency) () const<br> |
+| virtual void | [**init**](#function-init) () = 0<br> |
+|  const Eigen::Isometry3d & | [**pose**](#function-pose) () const<br> |
+|  void | [**refresh**](#function-refresh) (double t) <br> |
+|  void | [**set\_frequency**](#function-set_frequency) (size\_t freq) <br> |
+|  void | [**set\_pose**](#function-set_pose) (const Eigen::Isometry3d & tf) <br> |
+|  void | [**set\_simu**](#function-set_simu) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* simu) <br> |
+|  const [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**simu**](#function-simu) () const<br> |
+| virtual std::string | [**type**](#function-type) () const = 0<br> |
+| virtual  | [**~Sensor**](#function-sensor) () <br> |
 
 
 
@@ -139,17 +139,17 @@ See [robot\_dart::sensor::Sensor](classrobot__dart_1_1sensor_1_1Sensor.md)
 
 | Type | Name |
 | ---: | :--- |
-|  bool | [**\_active**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_active)  <br> |
-|  Eigen::Isometry3d | [**\_attached\_tf**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_attached_tf)  <br> |
-|  bool | [**\_attached\_to\_body**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_attached_to_body)   = = false<br> |
-|  bool | [**\_attached\_to\_joint**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_attached_to_joint)   = = false<br> |
-|  bool | [**\_attaching\_to\_body**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_attaching_to_body)   = = false<br> |
-|  bool | [**\_attaching\_to\_joint**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_attaching_to_joint)   = = false<br> |
-|  dart::dynamics::BodyNode \* | [**\_body\_attached**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_body_attached)  <br> |
-|  size\_t | [**\_frequency**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_frequency)  <br> |
-|  dart::dynamics::Joint \* | [**\_joint\_attached**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_joint_attached)  <br> |
-|  [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**\_simu**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_simu)   = = nullptr<br> |
-|  Eigen::Isometry3d | [**\_world\_pose**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_world_pose)  <br> |
+|  bool | [**\_active**](#variable-_active)  <br> |
+|  Eigen::Isometry3d | [**\_attached\_tf**](#variable-_attached_tf)  <br> |
+|  bool | [**\_attached\_to\_body**](#variable-_attached_to_body)   = = false<br> |
+|  bool | [**\_attached\_to\_joint**](#variable-_attached_to_joint)   = = false<br> |
+|  bool | [**\_attaching\_to\_body**](#variable-_attaching_to_body)   = = false<br> |
+|  bool | [**\_attaching\_to\_joint**](#variable-_attaching_to_joint)   = = false<br> |
+|  dart::dynamics::BodyNode \* | [**\_body\_attached**](#variable-_body_attached)  <br> |
+|  size\_t | [**\_frequency**](#variable-_frequency)  <br> |
+|  dart::dynamics::Joint \* | [**\_joint\_attached**](#variable-_joint_attached)  <br> |
+|  [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**\_simu**](#variable-_simu)   = = nullptr<br> |
+|  Eigen::Isometry3d | [**\_world\_pose**](#variable-_world_pose)  <br> |
 
 
 
diff --git a/docs/assets/.doxy/api/api/classrobot__dart_1_1sensor_1_1Torque.md b/docs/assets/.doxy/api/api/classrobot__dart_1_1sensor_1_1Torque.md
index f6caed01..9b2861cf 100644
--- a/docs/assets/.doxy/api/api/classrobot__dart_1_1sensor_1_1Torque.md
+++ b/docs/assets/.doxy/api/api/classrobot__dart_1_1sensor_1_1Torque.md
@@ -87,26 +87,26 @@ See [robot\_dart::sensor::Sensor](classrobot__dart_1_1sensor_1_1Sensor.md)
 
 | Type | Name |
 | ---: | :--- |
-|   | [**Sensor**](classrobot__dart_1_1sensor_1_1Sensor.md#function-sensor) (size\_t freq=40) <br> |
-|  void | [**activate**](classrobot__dart_1_1sensor_1_1Sensor.md#function-activate) (bool enable=true) <br> |
-|  bool | [**active**](classrobot__dart_1_1sensor_1_1Sensor.md#function-active) () const<br> |
-| virtual void | [**attach\_to\_body**](classrobot__dart_1_1sensor_1_1Sensor.md#function-attach_to_body-12) (dart::dynamics::BodyNode \* body, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
-|  void | [**attach\_to\_body**](classrobot__dart_1_1sensor_1_1Sensor.md#function-attach_to_body-22) (const std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; & robot, const std::string & body\_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
-| virtual void | [**attach\_to\_joint**](classrobot__dart_1_1sensor_1_1Sensor.md#function-attach_to_joint-12) (dart::dynamics::Joint \* joint, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
-|  void | [**attach\_to\_joint**](classrobot__dart_1_1sensor_1_1Sensor.md#function-attach_to_joint-22) (const std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; & robot, const std::string & joint\_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
-|  const std::string & | [**attached\_to**](classrobot__dart_1_1sensor_1_1Sensor.md#function-attached_to) () const<br> |
-| virtual void | [**calculate**](classrobot__dart_1_1sensor_1_1Sensor.md#function-calculate) (double) = 0<br> |
-|  void | [**detach**](classrobot__dart_1_1sensor_1_1Sensor.md#function-detach) () <br> |
-|  size\_t | [**frequency**](classrobot__dart_1_1sensor_1_1Sensor.md#function-frequency) () const<br> |
-| virtual void | [**init**](classrobot__dart_1_1sensor_1_1Sensor.md#function-init) () = 0<br> |
-|  const Eigen::Isometry3d & | [**pose**](classrobot__dart_1_1sensor_1_1Sensor.md#function-pose) () const<br> |
-|  void | [**refresh**](classrobot__dart_1_1sensor_1_1Sensor.md#function-refresh) (double t) <br> |
-|  void | [**set\_frequency**](classrobot__dart_1_1sensor_1_1Sensor.md#function-set_frequency) (size\_t freq) <br> |
-|  void | [**set\_pose**](classrobot__dart_1_1sensor_1_1Sensor.md#function-set_pose) (const Eigen::Isometry3d & tf) <br> |
-|  void | [**set\_simu**](classrobot__dart_1_1sensor_1_1Sensor.md#function-set_simu) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* simu) <br> |
-|  const [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**simu**](classrobot__dart_1_1sensor_1_1Sensor.md#function-simu) () const<br> |
-| virtual std::string | [**type**](classrobot__dart_1_1sensor_1_1Sensor.md#function-type) () const = 0<br> |
-| virtual  | [**~Sensor**](classrobot__dart_1_1sensor_1_1Sensor.md#function-sensor) () <br> |
+|   | [**Sensor**](#function-sensor) (size\_t freq=40) <br> |
+|  void | [**activate**](#function-activate) (bool enable=true) <br> |
+|  bool | [**active**](#function-active) () const<br> |
+| virtual void | [**attach\_to\_body**](#function-attach_to_body-12) (dart::dynamics::BodyNode \* body, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
+|  void | [**attach\_to\_body**](#function-attach_to_body-22) (const std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; & robot, const std::string & body\_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
+| virtual void | [**attach\_to\_joint**](#function-attach_to_joint-12) (dart::dynamics::Joint \* joint, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
+|  void | [**attach\_to\_joint**](#function-attach_to_joint-22) (const std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; & robot, const std::string & joint\_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) <br> |
+|  const std::string & | [**attached\_to**](#function-attached_to) () const<br> |
+| virtual void | [**calculate**](#function-calculate) (double) = 0<br> |
+|  void | [**detach**](#function-detach) () <br> |
+|  size\_t | [**frequency**](#function-frequency) () const<br> |
+| virtual void | [**init**](#function-init) () = 0<br> |
+|  const Eigen::Isometry3d & | [**pose**](#function-pose) () const<br> |
+|  void | [**refresh**](#function-refresh) (double t) <br> |
+|  void | [**set\_frequency**](#function-set_frequency) (size\_t freq) <br> |
+|  void | [**set\_pose**](#function-set_pose) (const Eigen::Isometry3d & tf) <br> |
+|  void | [**set\_simu**](#function-set_simu) ([**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* simu) <br> |
+|  const [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**simu**](#function-simu) () const<br> |
+| virtual std::string | [**type**](#function-type) () const = 0<br> |
+| virtual  | [**~Sensor**](#function-sensor) () <br> |
 
 
 
@@ -134,17 +134,17 @@ See [robot\_dart::sensor::Sensor](classrobot__dart_1_1sensor_1_1Sensor.md)
 
 | Type | Name |
 | ---: | :--- |
-|  bool | [**\_active**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_active)  <br> |
-|  Eigen::Isometry3d | [**\_attached\_tf**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_attached_tf)  <br> |
-|  bool | [**\_attached\_to\_body**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_attached_to_body)   = = false<br> |
-|  bool | [**\_attached\_to\_joint**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_attached_to_joint)   = = false<br> |
-|  bool | [**\_attaching\_to\_body**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_attaching_to_body)   = = false<br> |
-|  bool | [**\_attaching\_to\_joint**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_attaching_to_joint)   = = false<br> |
-|  dart::dynamics::BodyNode \* | [**\_body\_attached**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_body_attached)  <br> |
-|  size\_t | [**\_frequency**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_frequency)  <br> |
-|  dart::dynamics::Joint \* | [**\_joint\_attached**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_joint_attached)  <br> |
-|  [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**\_simu**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_simu)   = = nullptr<br> |
-|  Eigen::Isometry3d | [**\_world\_pose**](classrobot__dart_1_1sensor_1_1Sensor.md#variable-_world_pose)  <br> |
+|  bool | [**\_active**](#variable-_active)  <br> |
+|  Eigen::Isometry3d | [**\_attached\_tf**](#variable-_attached_tf)  <br> |
+|  bool | [**\_attached\_to\_body**](#variable-_attached_to_body)   = = false<br> |
+|  bool | [**\_attached\_to\_joint**](#variable-_attached_to_joint)   = = false<br> |
+|  bool | [**\_attaching\_to\_body**](#variable-_attaching_to_body)   = = false<br> |
+|  bool | [**\_attaching\_to\_joint**](#variable-_attaching_to_joint)   = = false<br> |
+|  dart::dynamics::BodyNode \* | [**\_body\_attached**](#variable-_body_attached)  <br> |
+|  size\_t | [**\_frequency**](#variable-_frequency)  <br> |
+|  dart::dynamics::Joint \* | [**\_joint\_attached**](#variable-_joint_attached)  <br> |
+|  [**RobotDARTSimu**](classrobot__dart_1_1RobotDARTSimu.md) \* | [**\_simu**](#variable-_simu)   = = nullptr<br> |
+|  Eigen::Isometry3d | [**\_world\_pose**](#variable-_world_pose)  <br> |
 
 
 
diff --git a/docs/assets/.doxy/api/hashChanges.yaml b/docs/assets/.doxy/api/hashChanges.yaml
index c1869eff..553fe401 100644
--- a/docs/assets/.doxy/api/hashChanges.yaml
+++ b/docs/assets/.doxy/api/hashChanges.yaml
@@ -1 +1 @@
-41fe615e6fe2fc3c445c7475f59e6e3de3aaf6df
\ No newline at end of file
+1780b116a667c2dde7427851bb138f779b1f150d
\ No newline at end of file
diff --git a/docs/assets/.doxy/api/xml/Doxyfile.xml b/docs/assets/.doxy/api/xml/Doxyfile.xml
index c15f2b48..c63cd49f 100644
--- a/docs/assets/.doxy/api/xml/Doxyfile.xml
+++ b/docs/assets/.doxy/api/xml/Doxyfile.xml
@@ -6,7 +6,7 @@
   <option  id='PROJECT_BRIEF' default='yes' type='string'><value><![CDATA[]]></value></option>
   <option  id='PROJECT_LOGO' default='yes' type='string'><value><![CDATA[]]></value></option>
   <option  id='PROJECT_ICON' default='yes' type='string'><value><![CDATA[]]></value></option>
-  <option  id='OUTPUT_DIRECTORY' default='no' type='string'><value><![CDATA[/home/kchatzil/Workspaces/git/tmp/robot_dart_new/docs/assets/.doxy/api]]></value></option>
+  <option  id='OUTPUT_DIRECTORY' default='no' type='string'><value><![CDATA[/home/costashatz/Workspaces/robot_dart_new/docs/assets/.doxy/api]]></value></option>
   <option  id='CREATE_SUBDIRS' default='yes' type='bool'><value>NO</value></option>
   <option  id='CREATE_SUBDIRS_LEVEL' default='yes' type='int'><value>8</value></option>
   <option  id='ALLOW_UNICODE_NAMES' default='yes' type='bool'><value>NO</value></option>
diff --git a/docs/assets/.doxy/api/xml/base__application_8hpp.xml b/docs/assets/.doxy/api/xml/base__application_8hpp.xml
index e9e24daf..eaf70895 100644
--- a/docs/assets/.doxy/api/xml/base__application_8hpp.xml
+++ b/docs/assets/.doxy/api/xml/base__application_8hpp.xml
@@ -690,172 +690,178 @@
 <codeline lineno="94"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::string<sp/>title<sp/>=<sp/></highlight><highlight class="stringliteral">&quot;DART&quot;</highlight><highlight class="normal">;</highlight></codeline>
 <codeline lineno="95"><highlight class="normal"></highlight></codeline>
 <codeline lineno="96"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Shadows</highlight><highlight class="normal"></highlight></codeline>
-<codeline lineno="97"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>shadowed<sp/>=<sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">;</highlight></codeline>
-<codeline lineno="98"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>transparent_shadows<sp/>=<sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">;</highlight></codeline>
-<codeline lineno="99"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">size_t</highlight><highlight class="normal"><sp/>shadow_map_size<sp/>=<sp/>1024;</highlight></codeline>
-<codeline lineno="100"><highlight class="normal"></highlight></codeline>
-<codeline lineno="101"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Lights</highlight><highlight class="normal"></highlight></codeline>
-<codeline lineno="102"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">size_t</highlight><highlight class="normal"><sp/>max_lights<sp/>=<sp/>3;</highlight></codeline>
-<codeline lineno="103"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>specular_strength<sp/>=<sp/>0.25;<sp/></highlight><highlight class="comment">//<sp/>strength<sp/>of<sp/>the<sp/>specular<sp/>component</highlight><highlight class="normal"></highlight></codeline>
-<codeline lineno="104"><highlight class="normal"></highlight></codeline>
-<codeline lineno="105"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>These<sp/>options<sp/>are<sp/>only<sp/>for<sp/>the<sp/>main<sp/>camera</highlight><highlight class="normal"></highlight></codeline>
-<codeline lineno="106"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>draw_main_camera<sp/>=<sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">;</highlight></codeline>
-<codeline lineno="107"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>draw_debug<sp/>=<sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">;</highlight></codeline>
-<codeline lineno="108"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>draw_text<sp/>=<sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">;</highlight></codeline>
-<codeline lineno="109"><highlight class="normal"></highlight></codeline>
-<codeline lineno="110"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Background<sp/>(default<sp/>=<sp/>black)</highlight><highlight class="normal"></highlight></codeline>
-<codeline lineno="111"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Eigen::Vector4d<sp/>bg_color{0.0,<sp/>0.0,<sp/>0.0,<sp/>1.0};</highlight></codeline>
-<codeline lineno="112"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
-<codeline lineno="113"><highlight class="normal"></highlight></codeline>
-<codeline lineno="114" refid="structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData" refkind="compound"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">struct<sp/></highlight><highlight class="normal"><ref refid="structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData" kindref="compound">DebugDrawData</ref><sp/>{</highlight></codeline>
-<codeline lineno="115"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Magnum::Shaders::VertexColorGL3D*<sp/>axes_shader;</highlight></codeline>
-<codeline lineno="116"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Magnum::GL::Mesh*<sp/>axes_mesh;</highlight></codeline>
-<codeline lineno="117"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Magnum::Shaders::FlatGL2D*<sp/>background_shader;</highlight></codeline>
-<codeline lineno="118"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Magnum::GL::Mesh*<sp/>background_mesh;</highlight></codeline>
+<codeline lineno="97"><highlight class="normal"></highlight><highlight class="preprocessor">#ifndef<sp/>MAGNUM_MAC_OSX</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="98"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>shadowed<sp/>=<sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="99"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>transparent_shadows<sp/>=<sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"></highlight><highlight class="preprocessor">#else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="101"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Disabling<sp/>shadows<sp/>by<sp/>default<sp/>on<sp/>OSX</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="102"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>shadowed<sp/>=<sp/></highlight><highlight class="keyword">false</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="103"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>transparent_shadows<sp/>=<sp/></highlight><highlight class="keyword">false</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="104"><highlight class="normal"></highlight><highlight class="preprocessor">#endif</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="105"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">size_t</highlight><highlight class="normal"><sp/>shadow_map_size<sp/>=<sp/>1024;</highlight></codeline>
+<codeline lineno="106"><highlight class="normal"></highlight></codeline>
+<codeline lineno="107"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Lights</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="108"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">size_t</highlight><highlight class="normal"><sp/>max_lights<sp/>=<sp/>3;</highlight></codeline>
+<codeline lineno="109"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>specular_strength<sp/>=<sp/>0.25;<sp/></highlight><highlight class="comment">//<sp/>strength<sp/>of<sp/>the<sp/>specular<sp/>component</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="110"><highlight class="normal"></highlight></codeline>
+<codeline lineno="111"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>These<sp/>options<sp/>are<sp/>only<sp/>for<sp/>the<sp/>main<sp/>camera</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="112"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>draw_main_camera<sp/>=<sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="113"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>draw_debug<sp/>=<sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="114"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>draw_text<sp/>=<sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="115"><highlight class="normal"></highlight></codeline>
+<codeline lineno="116"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Background<sp/>(default<sp/>=<sp/>black)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="117"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Eigen::Vector4d<sp/>bg_color{0.0,<sp/>0.0,<sp/>0.0,<sp/>1.0};</highlight></codeline>
+<codeline lineno="118"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
 <codeline lineno="119"><highlight class="normal"></highlight></codeline>
-<codeline lineno="120"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Magnum::Shaders::DistanceFieldVectorGL2D*<sp/>text_shader;</highlight></codeline>
-<codeline lineno="121"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Magnum::GL::Buffer*<sp/>text_vertices;</highlight></codeline>
-<codeline lineno="122"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Magnum::GL::Buffer*<sp/>text_indices;</highlight></codeline>
-<codeline lineno="123"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Magnum::Text::AbstractFont*<sp/>font;</highlight></codeline>
-<codeline lineno="124"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Magnum::Text::DistanceFieldGlyphCache*<sp/>cache;</highlight></codeline>
-<codeline lineno="125"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
-<codeline lineno="126"><highlight class="normal"></highlight></codeline>
-<codeline lineno="127" refid="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication" refkind="compound"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication" kindref="compound">BaseApplication</ref><sp/>{</highlight></codeline>
-<codeline lineno="128"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
-<codeline lineno="129"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication" kindref="compound">BaseApplication</ref>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration" kindref="compound">GraphicsConfiguration</ref>&amp;<sp/>configuration<sp/>=<sp/><ref refid="structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration" kindref="compound">GraphicsConfiguration</ref>());</highlight></codeline>
-<codeline lineno="130"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/><ref refid="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication" kindref="compound">~BaseApplication</ref>()<sp/>{}</highlight></codeline>
-<codeline lineno="131"><highlight class="normal"></highlight></codeline>
-<codeline lineno="132"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>init(<ref refid="classrobot__dart_1_1RobotDARTSimu" kindref="compound">RobotDARTSimu</ref>*<sp/>simu,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration" kindref="compound">GraphicsConfiguration</ref>&amp;<sp/>configuration);</highlight></codeline>
-<codeline lineno="133"><highlight class="normal"></highlight></codeline>
-<codeline lineno="134"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>clear_lights();</highlight></codeline>
-<codeline lineno="135"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>add_light(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light" kindref="compound">gs::Light</ref>&amp;<sp/>light);</highlight></codeline>
-<codeline lineno="136"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light" kindref="compound">gs::Light</ref>&amp;<sp/>light(</highlight><highlight class="keywordtype">size_t</highlight><highlight class="normal"><sp/>i);</highlight></codeline>
-<codeline lineno="137"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::vector&lt;gs::Light&gt;&amp;<sp/>lights();</highlight></codeline>
-<codeline lineno="138"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">size_t</highlight><highlight class="normal"><sp/>num_lights()<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="120" refid="structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData" refkind="compound"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">struct<sp/></highlight><highlight class="normal"><ref refid="structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData" kindref="compound">DebugDrawData</ref><sp/>{</highlight></codeline>
+<codeline lineno="121"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Magnum::Shaders::VertexColorGL3D*<sp/>axes_shader;</highlight></codeline>
+<codeline lineno="122"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Magnum::GL::Mesh*<sp/>axes_mesh;</highlight></codeline>
+<codeline lineno="123"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Magnum::Shaders::FlatGL2D*<sp/>background_shader;</highlight></codeline>
+<codeline lineno="124"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Magnum::GL::Mesh*<sp/>background_mesh;</highlight></codeline>
+<codeline lineno="125"><highlight class="normal"></highlight></codeline>
+<codeline lineno="126"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Magnum::Shaders::DistanceFieldVectorGL2D*<sp/>text_shader;</highlight></codeline>
+<codeline lineno="127"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Magnum::GL::Buffer*<sp/>text_vertices;</highlight></codeline>
+<codeline lineno="128"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Magnum::GL::Buffer*<sp/>text_indices;</highlight></codeline>
+<codeline lineno="129"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Magnum::Text::AbstractFont*<sp/>font;</highlight></codeline>
+<codeline lineno="130"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Magnum::Text::DistanceFieldGlyphCache*<sp/>cache;</highlight></codeline>
+<codeline lineno="131"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="132"><highlight class="normal"></highlight></codeline>
+<codeline lineno="133" refid="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication" refkind="compound"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication" kindref="compound">BaseApplication</ref><sp/>{</highlight></codeline>
+<codeline lineno="134"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="135"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication" kindref="compound">BaseApplication</ref>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration" kindref="compound">GraphicsConfiguration</ref>&amp;<sp/>configuration<sp/>=<sp/><ref refid="structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration" kindref="compound">GraphicsConfiguration</ref>());</highlight></codeline>
+<codeline lineno="136"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/><ref refid="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication" kindref="compound">~BaseApplication</ref>()<sp/>{}</highlight></codeline>
+<codeline lineno="137"><highlight class="normal"></highlight></codeline>
+<codeline lineno="138"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>init(<ref refid="classrobot__dart_1_1RobotDARTSimu" kindref="compound">RobotDARTSimu</ref>*<sp/>simu,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration" kindref="compound">GraphicsConfiguration</ref>&amp;<sp/>configuration);</highlight></codeline>
 <codeline lineno="139"><highlight class="normal"></highlight></codeline>
-<codeline lineno="140"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Magnum::SceneGraph::DrawableGroup3D&amp;<sp/>drawables()<sp/>{<sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>_drawables;<sp/>}</highlight></codeline>
-<codeline lineno="141"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Scene3D&amp;<sp/>scene()<sp/>{<sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>_scene;<sp/>}</highlight></codeline>
-<codeline lineno="142"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera" kindref="compound">gs::Camera</ref>&amp;<sp/>camera()<sp/>{<sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>*_camera;<sp/>}</highlight></codeline>
-<codeline lineno="143"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera" kindref="compound">gs::Camera</ref>&amp;<sp/>camera()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{<sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>*_camera;<sp/>}</highlight></codeline>
-<codeline lineno="144"><highlight class="normal"></highlight></codeline>
-<codeline lineno="145"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>done()<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
-<codeline lineno="146"><highlight class="normal"></highlight></codeline>
-<codeline lineno="147"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>look_at(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>Eigen::Vector3d&amp;<sp/>camera_pos,</highlight></codeline>
-<codeline lineno="148"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>Eigen::Vector3d&amp;<sp/>look_at,</highlight></codeline>
-<codeline lineno="149"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>Eigen::Vector3d&amp;<sp/>up);</highlight></codeline>
+<codeline lineno="140"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>clear_lights();</highlight></codeline>
+<codeline lineno="141"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>add_light(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light" kindref="compound">gs::Light</ref>&amp;<sp/>light);</highlight></codeline>
+<codeline lineno="142"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light" kindref="compound">gs::Light</ref>&amp;<sp/>light(</highlight><highlight class="keywordtype">size_t</highlight><highlight class="normal"><sp/>i);</highlight></codeline>
+<codeline lineno="143"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::vector&lt;gs::Light&gt;&amp;<sp/>lights();</highlight></codeline>
+<codeline lineno="144"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">size_t</highlight><highlight class="normal"><sp/>num_lights()<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="145"><highlight class="normal"></highlight></codeline>
+<codeline lineno="146"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Magnum::SceneGraph::DrawableGroup3D&amp;<sp/>drawables()<sp/>{<sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>_drawables;<sp/>}</highlight></codeline>
+<codeline lineno="147"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Scene3D&amp;<sp/>scene()<sp/>{<sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>_scene;<sp/>}</highlight></codeline>
+<codeline lineno="148"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera" kindref="compound">gs::Camera</ref>&amp;<sp/>camera()<sp/>{<sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>*_camera;<sp/>}</highlight></codeline>
+<codeline lineno="149"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera" kindref="compound">gs::Camera</ref>&amp;<sp/>camera()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{<sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>*_camera;<sp/>}</highlight></codeline>
 <codeline lineno="150"><highlight class="normal"></highlight></codeline>
-<codeline lineno="151"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>render()<sp/>{}</highlight></codeline>
+<codeline lineno="151"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>done()<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
 <codeline lineno="152"><highlight class="normal"></highlight></codeline>
-<codeline lineno="153"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>update_lights(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera" kindref="compound">gs::Camera</ref>&amp;<sp/>camera);</highlight></codeline>
-<codeline lineno="154"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>update_graphics();</highlight></codeline>
-<codeline lineno="155"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>render_shadows();</highlight></codeline>
+<codeline lineno="153"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>look_at(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>Eigen::Vector3d&amp;<sp/>camera_pos,</highlight></codeline>
+<codeline lineno="154"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>Eigen::Vector3d&amp;<sp/>look_at,</highlight></codeline>
+<codeline lineno="155"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>Eigen::Vector3d&amp;<sp/>up);</highlight></codeline>
 <codeline lineno="156"><highlight class="normal"></highlight></codeline>
-<codeline lineno="157"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>attach_camera(<ref refid="classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera" kindref="compound">gs::Camera</ref>&amp;<sp/>camera,<sp/>dart::dynamics::BodyNode*<sp/>body);</highlight></codeline>
+<codeline lineno="157"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>render()<sp/>{}</highlight></codeline>
 <codeline lineno="158"><highlight class="normal"></highlight></codeline>
-<codeline lineno="159"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>video<sp/>(FPS<sp/>is<sp/>mandatory<sp/>here,<sp/>see<sp/>the<sp/>Graphics<sp/>class<sp/>for<sp/>automatic<sp/>computation)</highlight><highlight class="normal"></highlight></codeline>
-<codeline lineno="160"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>record_video(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>std::string&amp;<sp/>video_fname,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>fps)<sp/>{<sp/>_camera-&gt;record_video(video_fname,<sp/>fps);<sp/>}</highlight></codeline>
-<codeline lineno="161"><highlight class="normal"></highlight></codeline>
-<codeline lineno="162"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>shadowed()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{<sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>_shadowed;<sp/>}</highlight></codeline>
-<codeline lineno="163"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>transparent_shadows()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{<sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>_transparent_shadows;<sp/>}</highlight></codeline>
-<codeline lineno="164"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>enable_shadows(</highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>enable<sp/>=<sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">,<sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>drawTransparentShadows<sp/>=<sp/></highlight><highlight class="keyword">false</highlight><highlight class="normal">);</highlight></codeline>
-<codeline lineno="165"><highlight class="normal"></highlight></codeline>
-<codeline lineno="166"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Corrade::Containers::Optional&lt;Magnum::Image2D&gt;&amp;<sp/>image()<sp/>{<sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>_camera-&gt;image();<sp/>}</highlight></codeline>
+<codeline lineno="159"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>update_lights(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera" kindref="compound">gs::Camera</ref>&amp;<sp/>camera);</highlight></codeline>
+<codeline lineno="160"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>update_graphics();</highlight></codeline>
+<codeline lineno="161"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>render_shadows();</highlight></codeline>
+<codeline lineno="162"><highlight class="normal"></highlight></codeline>
+<codeline lineno="163"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>attach_camera(<ref refid="classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera" kindref="compound">gs::Camera</ref>&amp;<sp/>camera,<sp/>dart::dynamics::BodyNode*<sp/>body);</highlight></codeline>
+<codeline lineno="164"><highlight class="normal"></highlight></codeline>
+<codeline lineno="165"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>video<sp/>(FPS<sp/>is<sp/>mandatory<sp/>here,<sp/>see<sp/>the<sp/>Graphics<sp/>class<sp/>for<sp/>automatic<sp/>computation)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="166"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>record_video(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>std::string&amp;<sp/>video_fname,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>fps)<sp/>{<sp/>_camera-&gt;record_video(video_fname,<sp/>fps);<sp/>}</highlight></codeline>
 <codeline lineno="167"><highlight class="normal"></highlight></codeline>
-<codeline lineno="168"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>This<sp/>is<sp/>for<sp/>visualization<sp/>purposes</highlight><highlight class="normal"></highlight></codeline>
-<codeline lineno="169"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="structrobot__dart_1_1gui_1_1GrayscaleImage" kindref="compound">GrayscaleImage</ref><sp/>depth_image();</highlight></codeline>
-<codeline lineno="170"><highlight class="normal"></highlight></codeline>
-<codeline lineno="171"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Image<sp/>filled<sp/>with<sp/>depth<sp/>buffer<sp/>values</highlight><highlight class="normal"></highlight></codeline>
-<codeline lineno="172"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="structrobot__dart_1_1gui_1_1GrayscaleImage" kindref="compound">GrayscaleImage</ref><sp/>raw_depth_image();</highlight></codeline>
+<codeline lineno="168"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>shadowed()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{<sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>_shadowed;<sp/>}</highlight></codeline>
+<codeline lineno="169"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>transparent_shadows()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{<sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>_transparent_shadows;<sp/>}</highlight></codeline>
+<codeline lineno="170"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>enable_shadows(</highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>enable<sp/>=<sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">,<sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>drawTransparentShadows<sp/>=<sp/></highlight><highlight class="keyword">false</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="171"><highlight class="normal"></highlight></codeline>
+<codeline lineno="172"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Corrade::Containers::Optional&lt;Magnum::Image2D&gt;&amp;<sp/>image()<sp/>{<sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>_camera-&gt;image();<sp/>}</highlight></codeline>
 <codeline lineno="173"><highlight class="normal"></highlight></codeline>
-<codeline lineno="174"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>&quot;Image&quot;<sp/>filled<sp/>with<sp/>depth<sp/>buffer<sp/>values<sp/>(this<sp/>returns<sp/>an<sp/>array<sp/>of<sp/>doubles)</highlight><highlight class="normal"></highlight></codeline>
-<codeline lineno="175"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="structrobot__dart_1_1gui_1_1DepthImage" kindref="compound">DepthImage</ref><sp/>depth_array();</highlight></codeline>
+<codeline lineno="174"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>This<sp/>is<sp/>for<sp/>visualization<sp/>purposes</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="175"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="structrobot__dart_1_1gui_1_1GrayscaleImage" kindref="compound">GrayscaleImage</ref><sp/>depth_image();</highlight></codeline>
 <codeline lineno="176"><highlight class="normal"></highlight></codeline>
-<codeline lineno="177"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Access<sp/>to<sp/>debug<sp/>data</highlight><highlight class="normal"></highlight></codeline>
-<codeline lineno="178"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData" kindref="compound">DebugDrawData</ref><sp/>debug_draw_data()</highlight></codeline>
-<codeline lineno="179"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
-<codeline lineno="180"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData" kindref="compound">DebugDrawData</ref><sp/>data;</highlight></codeline>
-<codeline lineno="181"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>data.axes_shader<sp/>=<sp/>_3D_axis_shader.get();</highlight></codeline>
-<codeline lineno="182"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>data.background_shader<sp/>=<sp/>_background_shader.get();</highlight></codeline>
-<codeline lineno="183"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>data.axes_mesh<sp/>=<sp/>_3D_axis_mesh.get();</highlight></codeline>
-<codeline lineno="184"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>data.background_mesh<sp/>=<sp/>_background_mesh.get();</highlight></codeline>
-<codeline lineno="185"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>data.text_shader<sp/>=<sp/>_text_shader.get();</highlight></codeline>
-<codeline lineno="186"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>data.text_vertices<sp/>=<sp/>_text_vertices.get();</highlight></codeline>
-<codeline lineno="187"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>data.text_indices<sp/>=<sp/>_text_indices.get();</highlight></codeline>
-<codeline lineno="188"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>data.font<sp/>=<sp/>_font.get();</highlight></codeline>
-<codeline lineno="189"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>data.cache<sp/>=<sp/>_glyph_cache.get();</highlight></codeline>
-<codeline lineno="190"><highlight class="normal"></highlight></codeline>
-<codeline lineno="191"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>data;</highlight></codeline>
-<codeline lineno="192"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
-<codeline lineno="193"><highlight class="normal"></highlight></codeline>
-<codeline lineno="194"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
-<codeline lineno="195"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Magnum<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
-<codeline lineno="196"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Scene3D<sp/>_scene;</highlight></codeline>
-<codeline lineno="197"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Magnum::SceneGraph::DrawableGroup3D<sp/>_drawables,<sp/>_shadowed_drawables,<sp/>_shadowed_color_drawables,<sp/>_cubemap_drawables,<sp/>_cubemap_color_drawables;</highlight></codeline>
-<codeline lineno="198"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;gs::PhongMultiLight&gt;<sp/>_color_shader,<sp/>_texture_shader;</highlight></codeline>
+<codeline lineno="177"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Image<sp/>filled<sp/>with<sp/>depth<sp/>buffer<sp/>values</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="178"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="structrobot__dart_1_1gui_1_1GrayscaleImage" kindref="compound">GrayscaleImage</ref><sp/>raw_depth_image();</highlight></codeline>
+<codeline lineno="179"><highlight class="normal"></highlight></codeline>
+<codeline lineno="180"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>&quot;Image&quot;<sp/>filled<sp/>with<sp/>depth<sp/>buffer<sp/>values<sp/>(this<sp/>returns<sp/>an<sp/>array<sp/>of<sp/>doubles)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="181"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="structrobot__dart_1_1gui_1_1DepthImage" kindref="compound">DepthImage</ref><sp/>depth_array();</highlight></codeline>
+<codeline lineno="182"><highlight class="normal"></highlight></codeline>
+<codeline lineno="183"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Access<sp/>to<sp/>debug<sp/>data</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="184"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData" kindref="compound">DebugDrawData</ref><sp/>debug_draw_data()</highlight></codeline>
+<codeline lineno="185"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="186"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData" kindref="compound">DebugDrawData</ref><sp/>data;</highlight></codeline>
+<codeline lineno="187"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>data.axes_shader<sp/>=<sp/>_3D_axis_shader.get();</highlight></codeline>
+<codeline lineno="188"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>data.background_shader<sp/>=<sp/>_background_shader.get();</highlight></codeline>
+<codeline lineno="189"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>data.axes_mesh<sp/>=<sp/>_3D_axis_mesh.get();</highlight></codeline>
+<codeline lineno="190"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>data.background_mesh<sp/>=<sp/>_background_mesh.get();</highlight></codeline>
+<codeline lineno="191"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>data.text_shader<sp/>=<sp/>_text_shader.get();</highlight></codeline>
+<codeline lineno="192"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>data.text_vertices<sp/>=<sp/>_text_vertices.get();</highlight></codeline>
+<codeline lineno="193"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>data.text_indices<sp/>=<sp/>_text_indices.get();</highlight></codeline>
+<codeline lineno="194"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>data.font<sp/>=<sp/>_font.get();</highlight></codeline>
+<codeline lineno="195"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>data.cache<sp/>=<sp/>_glyph_cache.get();</highlight></codeline>
+<codeline lineno="196"><highlight class="normal"></highlight></codeline>
+<codeline lineno="197"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>data;</highlight></codeline>
+<codeline lineno="198"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
 <codeline lineno="199"><highlight class="normal"></highlight></codeline>
-<codeline lineno="200"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;gs::Camera&gt;<sp/>_camera;</highlight></codeline>
-<codeline lineno="201"><highlight class="normal"></highlight></codeline>
-<codeline lineno="202"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>_done<sp/>=<sp/></highlight><highlight class="keyword">false</highlight><highlight class="normal">;</highlight></codeline>
-<codeline lineno="203"><highlight class="normal"></highlight></codeline>
-<codeline lineno="204"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>GUI<sp/>Config<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
-<codeline lineno="205"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration" kindref="compound">GraphicsConfiguration</ref><sp/>_configuration;</highlight></codeline>
-<codeline lineno="206"><highlight class="normal"></highlight></codeline>
-<codeline lineno="207"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>DART<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
-<codeline lineno="208"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classrobot__dart_1_1RobotDARTSimu" kindref="compound">RobotDARTSimu</ref>*<sp/>_simu;</highlight></codeline>
-<codeline lineno="209"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;Magnum::DartIntegration::World&gt;<sp/>_dart_world;</highlight></codeline>
-<codeline lineno="210"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unordered_map&lt;Magnum::DartIntegration::Object*,<sp/>ObjectStruct*&gt;<sp/>_drawable_objects;</highlight></codeline>
-<codeline lineno="211"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::vector&lt;gs::Light&gt;<sp/>_lights;</highlight></codeline>
+<codeline lineno="200"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="201"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Magnum<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="202"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Scene3D<sp/>_scene;</highlight></codeline>
+<codeline lineno="203"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Magnum::SceneGraph::DrawableGroup3D<sp/>_drawables,<sp/>_shadowed_drawables,<sp/>_shadowed_color_drawables,<sp/>_cubemap_drawables,<sp/>_cubemap_color_drawables;</highlight></codeline>
+<codeline lineno="204"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;gs::PhongMultiLight&gt;<sp/>_color_shader,<sp/>_texture_shader;</highlight></codeline>
+<codeline lineno="205"><highlight class="normal"></highlight></codeline>
+<codeline lineno="206"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;gs::Camera&gt;<sp/>_camera;</highlight></codeline>
+<codeline lineno="207"><highlight class="normal"></highlight></codeline>
+<codeline lineno="208"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>_done<sp/>=<sp/></highlight><highlight class="keyword">false</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="209"><highlight class="normal"></highlight></codeline>
+<codeline lineno="210"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>GUI<sp/>Config<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="211"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration" kindref="compound">GraphicsConfiguration</ref><sp/>_configuration;</highlight></codeline>
 <codeline lineno="212"><highlight class="normal"></highlight></codeline>
-<codeline lineno="213"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Shadows<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
-<codeline lineno="214"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>_shadowed<sp/>=<sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">,<sp/>_transparent_shadows<sp/>=<sp/></highlight><highlight class="keyword">false</highlight><highlight class="normal">;</highlight></codeline>
-<codeline lineno="215"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>_transparentSize<sp/>=<sp/>0;</highlight></codeline>
-<codeline lineno="216"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;gs::ShadowMap&gt;<sp/>_shadow_shader,<sp/>_shadow_texture_shader;</highlight></codeline>
-<codeline lineno="217"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;gs::ShadowMapColor&gt;<sp/>_shadow_color_shader,<sp/>_shadow_texture_color_shader;</highlight></codeline>
-<codeline lineno="218"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;gs::CubeMap&gt;<sp/>_cubemap_shader,<sp/>_cubemap_texture_shader;</highlight></codeline>
-<codeline lineno="219"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;gs::CubeMapColor&gt;<sp/>_cubemap_color_shader,<sp/>_cubemap_texture_color_shader;</highlight></codeline>
-<codeline lineno="220"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::vector&lt;ShadowData&gt;<sp/>_shadow_data;</highlight></codeline>
-<codeline lineno="221"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;Magnum::GL::Texture2DArray&gt;<sp/>_shadow_texture,<sp/>_shadow_color_texture;</highlight></codeline>
-<codeline lineno="222"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;Magnum::GL::CubeMapTextureArray&gt;<sp/>_shadow_cube_map,<sp/>_shadow_color_cube_map;</highlight></codeline>
-<codeline lineno="223"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>_max_lights<sp/>=<sp/>5;</highlight></codeline>
-<codeline lineno="224"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>_shadow_map_size<sp/>=<sp/>512;</highlight></codeline>
-<codeline lineno="225"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;Camera3D&gt;<sp/>_shadow_camera;</highlight></codeline>
-<codeline lineno="226"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Object3D*<sp/>_shadow_camera_object;</highlight></codeline>
-<codeline lineno="227"><highlight class="normal"></highlight></codeline>
-<codeline lineno="228"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Debug<sp/>visualization<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
-<codeline lineno="229"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;Magnum::GL::Mesh&gt;<sp/>_3D_axis_mesh;</highlight></codeline>
-<codeline lineno="230"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;Magnum::Shaders::VertexColorGL3D&gt;<sp/>_3D_axis_shader;</highlight></codeline>
-<codeline lineno="231"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;Magnum::GL::Mesh&gt;<sp/>_background_mesh;</highlight></codeline>
-<codeline lineno="232"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;Magnum::Shaders::FlatGL2D&gt;<sp/>_background_shader;</highlight></codeline>
+<codeline lineno="213"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>DART<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="214"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classrobot__dart_1_1RobotDARTSimu" kindref="compound">RobotDARTSimu</ref>*<sp/>_simu;</highlight></codeline>
+<codeline lineno="215"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;Magnum::DartIntegration::World&gt;<sp/>_dart_world;</highlight></codeline>
+<codeline lineno="216"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unordered_map&lt;Magnum::DartIntegration::Object*,<sp/>ObjectStruct*&gt;<sp/>_drawable_objects;</highlight></codeline>
+<codeline lineno="217"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::vector&lt;gs::Light&gt;<sp/>_lights;</highlight></codeline>
+<codeline lineno="218"><highlight class="normal"></highlight></codeline>
+<codeline lineno="219"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Shadows<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="220"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>_shadowed<sp/>=<sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">,<sp/>_transparent_shadows<sp/>=<sp/></highlight><highlight class="keyword">false</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="221"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>_transparentSize<sp/>=<sp/>0;</highlight></codeline>
+<codeline lineno="222"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;gs::ShadowMap&gt;<sp/>_shadow_shader,<sp/>_shadow_texture_shader;</highlight></codeline>
+<codeline lineno="223"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;gs::ShadowMapColor&gt;<sp/>_shadow_color_shader,<sp/>_shadow_texture_color_shader;</highlight></codeline>
+<codeline lineno="224"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;gs::CubeMap&gt;<sp/>_cubemap_shader,<sp/>_cubemap_texture_shader;</highlight></codeline>
+<codeline lineno="225"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;gs::CubeMapColor&gt;<sp/>_cubemap_color_shader,<sp/>_cubemap_texture_color_shader;</highlight></codeline>
+<codeline lineno="226"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::vector&lt;ShadowData&gt;<sp/>_shadow_data;</highlight></codeline>
+<codeline lineno="227"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;Magnum::GL::Texture2DArray&gt;<sp/>_shadow_texture,<sp/>_shadow_color_texture;</highlight></codeline>
+<codeline lineno="228"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;Magnum::GL::CubeMapTextureArray&gt;<sp/>_shadow_cube_map,<sp/>_shadow_color_cube_map;</highlight></codeline>
+<codeline lineno="229"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>_max_lights<sp/>=<sp/>5;</highlight></codeline>
+<codeline lineno="230"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>_shadow_map_size<sp/>=<sp/>512;</highlight></codeline>
+<codeline lineno="231"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;Camera3D&gt;<sp/>_shadow_camera;</highlight></codeline>
+<codeline lineno="232"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Object3D*<sp/>_shadow_camera_object;</highlight></codeline>
 <codeline lineno="233"><highlight class="normal"></highlight></codeline>
-<codeline lineno="234"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Text<sp/>visualization<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
-<codeline lineno="235"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;Magnum::Shaders::DistanceFieldVectorGL2D&gt;<sp/>_text_shader;</highlight></codeline>
-<codeline lineno="236"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Corrade::PluginManager::Manager&lt;Magnum::Text::AbstractFont&gt;<sp/>_font_manager;</highlight></codeline>
-<codeline lineno="237"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Corrade::Containers::Pointer&lt;Magnum::Text::DistanceFieldGlyphCache&gt;<sp/>_glyph_cache;</highlight></codeline>
-<codeline lineno="238"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Corrade::Containers::Pointer&lt;Magnum::Text::AbstractFont&gt;<sp/>_font;</highlight></codeline>
-<codeline lineno="239"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Corrade::Containers::Pointer&lt;Magnum::GL::Buffer&gt;<sp/>_text_vertices;</highlight></codeline>
-<codeline lineno="240"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Corrade::Containers::Pointer&lt;Magnum::GL::Buffer&gt;<sp/>_text_indices;</highlight></codeline>
-<codeline lineno="241"><highlight class="normal"></highlight></codeline>
-<codeline lineno="242"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Importer<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
-<codeline lineno="243"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Corrade::PluginManager::Manager&lt;Magnum::Trade::AbstractImporter&gt;<sp/>_importer_manager;</highlight></codeline>
-<codeline lineno="244"><highlight class="normal"></highlight></codeline>
-<codeline lineno="245"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>_gl_clean_up();</highlight></codeline>
-<codeline lineno="246"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>_prepare_shadows();</highlight></codeline>
-<codeline lineno="247"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
-<codeline lineno="248"><highlight class="normal"></highlight></codeline>
-<codeline lineno="249"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">template</highlight><highlight class="normal"><sp/>&lt;</highlight><highlight class="keyword">typename</highlight><highlight class="normal"><sp/>T&gt;</highlight></codeline>
-<codeline lineno="250"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">inline</highlight><highlight class="normal"><sp/><ref refid="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication" kindref="compound">BaseApplication</ref>*<sp/>make_application(<ref refid="classrobot__dart_1_1RobotDARTSimu" kindref="compound">RobotDARTSimu</ref>*<sp/>simu,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration" kindref="compound">GraphicsConfiguration</ref>&amp;<sp/>configuration<sp/>=<sp/><ref refid="structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration" kindref="compound">GraphicsConfiguration</ref>())</highlight></codeline>
-<codeline lineno="251"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
-<codeline lineno="252"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>argc<sp/>=<sp/>0;</highlight></codeline>
-<codeline lineno="253"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">char</highlight><highlight class="normal">**<sp/>argv<sp/>=<sp/>NULL;</highlight></codeline>
+<codeline lineno="234"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Debug<sp/>visualization<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="235"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;Magnum::GL::Mesh&gt;<sp/>_3D_axis_mesh;</highlight></codeline>
+<codeline lineno="236"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;Magnum::Shaders::VertexColorGL3D&gt;<sp/>_3D_axis_shader;</highlight></codeline>
+<codeline lineno="237"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;Magnum::GL::Mesh&gt;<sp/>_background_mesh;</highlight></codeline>
+<codeline lineno="238"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;Magnum::Shaders::FlatGL2D&gt;<sp/>_background_shader;</highlight></codeline>
+<codeline lineno="239"><highlight class="normal"></highlight></codeline>
+<codeline lineno="240"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Text<sp/>visualization<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="241"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::unique_ptr&lt;Magnum::Shaders::DistanceFieldVectorGL2D&gt;<sp/>_text_shader;</highlight></codeline>
+<codeline lineno="242"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Corrade::PluginManager::Manager&lt;Magnum::Text::AbstractFont&gt;<sp/>_font_manager;</highlight></codeline>
+<codeline lineno="243"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Corrade::Containers::Pointer&lt;Magnum::Text::DistanceFieldGlyphCache&gt;<sp/>_glyph_cache;</highlight></codeline>
+<codeline lineno="244"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Corrade::Containers::Pointer&lt;Magnum::Text::AbstractFont&gt;<sp/>_font;</highlight></codeline>
+<codeline lineno="245"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Corrade::Containers::Pointer&lt;Magnum::GL::Buffer&gt;<sp/>_text_vertices;</highlight></codeline>
+<codeline lineno="246"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Corrade::Containers::Pointer&lt;Magnum::GL::Buffer&gt;<sp/>_text_indices;</highlight></codeline>
+<codeline lineno="247"><highlight class="normal"></highlight></codeline>
+<codeline lineno="248"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Importer<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="249"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Corrade::PluginManager::Manager&lt;Magnum::Trade::AbstractImporter&gt;<sp/>_importer_manager;</highlight></codeline>
+<codeline lineno="250"><highlight class="normal"></highlight></codeline>
+<codeline lineno="251"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>_gl_clean_up();</highlight></codeline>
+<codeline lineno="252"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>_prepare_shadows();</highlight></codeline>
+<codeline lineno="253"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
 <codeline lineno="254"><highlight class="normal"></highlight></codeline>
-<codeline lineno="255"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">new</highlight><highlight class="normal"><sp/>T(argc,<sp/>argv,<sp/>simu,<sp/>configuration);</highlight></codeline>
-<codeline lineno="256"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>configuration.width,<sp/>configuration.height,<sp/>configuration.shadowed,<sp/>configuration.transparent_shadows,<sp/>configuration.max_lights,<sp/>configuration.shadow_map_size);</highlight><highlight class="normal"></highlight></codeline>
-<codeline lineno="257"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
-<codeline lineno="258"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}<sp/></highlight><highlight class="comment">//<sp/>namespace<sp/>magnum</highlight><highlight class="normal"></highlight></codeline>
-<codeline lineno="259"><highlight class="normal"><sp/><sp/><sp/><sp/>}<sp/></highlight><highlight class="comment">//<sp/>namespace<sp/>gui</highlight><highlight class="normal"></highlight></codeline>
-<codeline lineno="260"><highlight class="normal">}<sp/></highlight><highlight class="comment">//<sp/>namespace<sp/>robot_dart</highlight><highlight class="normal"></highlight></codeline>
-<codeline lineno="261"><highlight class="normal"></highlight></codeline>
-<codeline lineno="262"><highlight class="normal"></highlight><highlight class="preprocessor">#endif</highlight></codeline>
+<codeline lineno="255"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">template</highlight><highlight class="normal"><sp/>&lt;</highlight><highlight class="keyword">typename</highlight><highlight class="normal"><sp/>T&gt;</highlight></codeline>
+<codeline lineno="256"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">inline</highlight><highlight class="normal"><sp/><ref refid="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication" kindref="compound">BaseApplication</ref>*<sp/>make_application(<ref refid="classrobot__dart_1_1RobotDARTSimu" kindref="compound">RobotDARTSimu</ref>*<sp/>simu,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration" kindref="compound">GraphicsConfiguration</ref>&amp;<sp/>configuration<sp/>=<sp/><ref refid="structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration" kindref="compound">GraphicsConfiguration</ref>())</highlight></codeline>
+<codeline lineno="257"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="258"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>argc<sp/>=<sp/>0;</highlight></codeline>
+<codeline lineno="259"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">char</highlight><highlight class="normal">**<sp/>argv<sp/>=<sp/>NULL;</highlight></codeline>
+<codeline lineno="260"><highlight class="normal"></highlight></codeline>
+<codeline lineno="261"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">new</highlight><highlight class="normal"><sp/>T(argc,<sp/>argv,<sp/>simu,<sp/>configuration);</highlight></codeline>
+<codeline lineno="262"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>configuration.width,<sp/>configuration.height,<sp/>configuration.shadowed,<sp/>configuration.transparent_shadows,<sp/>configuration.max_lights,<sp/>configuration.shadow_map_size);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="263"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="264"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}<sp/></highlight><highlight class="comment">//<sp/>namespace<sp/>magnum</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="265"><highlight class="normal"><sp/><sp/><sp/><sp/>}<sp/></highlight><highlight class="comment">//<sp/>namespace<sp/>gui</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="266"><highlight class="normal">}<sp/></highlight><highlight class="comment">//<sp/>namespace<sp/>robot_dart</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="267"><highlight class="normal"></highlight></codeline>
+<codeline lineno="268"><highlight class="normal"></highlight><highlight class="preprocessor">#endif</highlight></codeline>
     </programlisting>
     <location file="robot_dart/gui/magnum/base_application.hpp"/>
   </compounddef>
diff --git a/docs/assets/.doxy/api/xml/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.xml b/docs/assets/.doxy/api/xml/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.xml
index 4de3c3da..43bd7b81 100644
--- a/docs/assets/.doxy/api/xml/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.xml
+++ b/docs/assets/.doxy/api/xml/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication.xml
@@ -17,7 +17,7 @@
         </detaileddescription>
         <inbodydescription>
         </inbodydescription>
-        <location file="robot_dart/gui/magnum/base_application.hpp" line="196" column="25" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="196" bodyend="-1"/>
+        <location file="robot_dart/gui/magnum/base_application.hpp" line="202" column="25" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="202" bodyend="-1"/>
       </memberdef>
       <memberdef kind="variable" id="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication_1a11756e39cf8b6ec87cc49b43103c6e8a" prot="protected" static="no" mutable="no">
         <type>Magnum::SceneGraph::DrawableGroup3D</type>
@@ -31,7 +31,7 @@
         </detaileddescription>
         <inbodydescription>
         </inbodydescription>
-        <location file="robot_dart/gui/magnum/base_application.hpp" line="197" column="53" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="197" bodyend="-1"/>
+        <location file="robot_dart/gui/magnum/base_application.hpp" line="203" column="53" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="203" bodyend="-1"/>
       </memberdef>
       <memberdef kind="variable" id="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication_1a76a15432ceae7b67ce667eebb44eb803" prot="protected" static="no" mutable="no">
         <type>Magnum::SceneGraph::DrawableGroup3D</type>
@@ -45,7 +45,7 @@
         </detaileddescription>
         <inbodydescription>
         </inbodydescription>
-        <location file="robot_dart/gui/magnum/base_application.hpp" line="197" column="64" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="197" bodyend="-1"/>
+        <location file="robot_dart/gui/magnum/base_application.hpp" line="203" column="64" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="203" bodyend="-1"/>
       </memberdef>
       <memberdef kind="variable" id="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication_1a1b771e4fe0f3a0676301957cc3a7dce2" prot="protected" static="no" mutable="no">
         <type>Magnum::SceneGraph::DrawableGroup3D</type>
@@ -59,7 +59,7 @@
         </detaileddescription>
         <inbodydescription>
         </inbodydescription>
-        <location file="robot_dart/gui/magnum/base_application.hpp" line="197" column="84" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="197" bodyend="-1"/>
+        <location file="robot_dart/gui/magnum/base_application.hpp" line="203" column="84" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="203" bodyend="-1"/>
       </memberdef>
       <memberdef kind="variable" id="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication_1a7d592b80afc7b7427640360c2d16491f" prot="protected" static="no" mutable="no">
         <type>Magnum::SceneGraph::DrawableGroup3D</type>
@@ -73,7 +73,7 @@
         </detaileddescription>
         <inbodydescription>
         </inbodydescription>
-        <location file="robot_dart/gui/magnum/base_application.hpp" line="197" column="110" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="197" bodyend="-1"/>
+        <location file="robot_dart/gui/magnum/base_application.hpp" line="203" column="110" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="203" bodyend="-1"/>
       </memberdef>
       <memberdef kind="variable" id="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication_1a5acb41d58a818c533baa1553c1b1d25d" prot="protected" static="no" mutable="no">
         <type>Magnum::SceneGraph::DrawableGroup3D</type>
@@ -87,7 +87,7 @@
         </detaileddescription>
         <inbodydescription>
         </inbodydescription>
-        <location file="robot_dart/gui/magnum/base_application.hpp" line="197" column="129" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="197" bodyend="-1"/>
+        <location file="robot_dart/gui/magnum/base_application.hpp" line="203" column="129" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="203" bodyend="-1"/>
       </memberdef>
       <memberdef kind="variable" id="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication_1ae6ff6b9d40c389fe3f1374e934454a74" prot="protected" static="no" mutable="no">
         <type>std::unique_ptr&lt; <ref refid="classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight" kindref="compound">gs::PhongMultiLight</ref> &gt;</type>
@@ -101,7 +101,7 @@
         </detaileddescription>
         <inbodydescription>
         </inbodydescription>
-        <location file="robot_dart/gui/magnum/base_application.hpp" line="198" column="33" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="198" bodyend="-1"/>
+        <location file="robot_dart/gui/magnum/base_application.hpp" line="204" column="33" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="204" bodyend="-1"/>
       </memberdef>
       <memberdef kind="variable" id="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication_1a5fef5f583b4db97767bd70c488ba8b99" prot="protected" static="no" mutable="no">
         <type>std::unique_ptr&lt; <ref refid="classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight" kindref="compound">gs::PhongMultiLight</ref> &gt;</type>
@@ -115,7 +115,7 @@
         </detaileddescription>
         <inbodydescription>
         </inbodydescription>
-        <location file="robot_dart/gui/magnum/base_application.hpp" line="198" column="47" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="198" bodyend="-1"/>
+        <location file="robot_dart/gui/magnum/base_application.hpp" line="204" column="47" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="204" bodyend="-1"/>
       </memberdef>
       <memberdef kind="variable" id="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication_1ab04e9e8bbc4ae59fb3992adf35edf9df" prot="protected" static="no" mutable="no">
         <type>std::unique_ptr&lt; <ref refid="classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera" kindref="compound">gs::Camera</ref> &gt;</type>
@@ -129,7 +129,7 @@
         </detaileddescription>
         <inbodydescription>
         </inbodydescription>
-        <location file="robot_dart/gui/magnum/base_application.hpp" line="200" column="33" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="200" bodyend="-1"/>
+        <location file="robot_dart/gui/magnum/base_application.hpp" line="206" column="33" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="206" bodyend="-1"/>
       </memberdef>
       <memberdef kind="variable" id="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication_1a361c8ce66cda2051d6adbd780d7baeab" prot="protected" static="no" mutable="no">
         <type>bool</type>
@@ -144,7 +144,7 @@
         </detaileddescription>
         <inbodydescription>
         </inbodydescription>
-        <location file="robot_dart/gui/magnum/base_application.hpp" line="202" column="22" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="202" bodyend="-1"/>
+        <location file="robot_dart/gui/magnum/base_application.hpp" line="208" column="22" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="208" bodyend="-1"/>
       </memberdef>
       <memberdef kind="variable" id="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication_1a903e8d20011dea55a80935cef5d430cb" prot="protected" static="no" mutable="no">
         <type><ref refid="structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration" kindref="compound">GraphicsConfiguration</ref></type>
@@ -158,7 +158,7 @@
         </detaileddescription>
         <inbodydescription>
         </inbodydescription>
-        <location file="robot_dart/gui/magnum/base_application.hpp" line="205" column="39" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="205" bodyend="-1"/>
+        <location file="robot_dart/gui/magnum/base_application.hpp" line="211" column="39" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="211" bodyend="-1"/>
       </memberdef>
       <memberdef kind="variable" id="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication_1a29b6326c98b8ac4131b1021a86a442e8" prot="protected" static="no" mutable="no">
         <type><ref refid="classrobot__dart_1_1RobotDARTSimu" kindref="compound">RobotDARTSimu</ref> *</type>
@@ -172,7 +172,7 @@
         </detaileddescription>
         <inbodydescription>
         </inbodydescription>
-        <location file="robot_dart/gui/magnum/base_application.hpp" line="208" column="31" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="208" bodyend="-1"/>
+        <location file="robot_dart/gui/magnum/base_application.hpp" line="214" column="31" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="214" bodyend="-1"/>
       </memberdef>
       <memberdef kind="variable" id="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication_1a6c45b5cb9c5ecdb90f1de36726e6ccce" prot="protected" static="no" mutable="no">
         <type>std::unique_ptr&lt; Magnum::DartIntegration::World &gt;</type>
@@ -186,7 +186,7 @@
         </detaileddescription>
         <inbodydescription>
         </inbodydescription>
-        <location file="robot_dart/gui/magnum/base_application.hpp" line="209" column="33" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="209" bodyend="-1"/>
+        <location file="robot_dart/gui/magnum/base_application.hpp" line="215" column="33" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="215" bodyend="-1"/>
       </memberdef>
       <memberdef kind="variable" id="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication_1a7525328182618e105f398552b37b83d3" prot="protected" static="no" mutable="no">
         <type>std::unordered_map&lt; Magnum::DartIntegration::Object *, <ref refid="structrobot__dart_1_1gui_1_1magnum_1_1ObjectStruct" kindref="compound">ObjectStruct</ref> * &gt;</type>
@@ -200,7 +200,7 @@
         </detaileddescription>
         <inbodydescription>
         </inbodydescription>
-        <location file="robot_dart/gui/magnum/base_application.hpp" line="210" column="36" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="210" bodyend="-1"/>
+        <location file="robot_dart/gui/magnum/base_application.hpp" line="216" column="36" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="216" bodyend="-1"/>
       </memberdef>
       <memberdef kind="variable" id="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication_1a1d346341e3f7cb3270f3a788147c8116" prot="protected" static="no" mutable="no">
         <type>std::vector&lt; <ref refid="classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light" kindref="compound">gs::Light</ref> &gt;</type>
@@ -214,7 +214,7 @@
         </detaileddescription>
         <inbodydescription>
         </inbodydescription>
-        <location file="robot_dart/gui/magnum/base_application.hpp" line="211" column="29" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="211" bodyend="-1"/>
+        <location file="robot_dart/gui/magnum/base_application.hpp" line="217" column="29" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="217" bodyend="-1"/>
       </memberdef>
       <memberdef kind="variable" id="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication_1a5f47cc95e61d8700fccad7680fdd92b4" prot="protected" static="no" mutable="no">
         <type>bool</type>
@@ -229,7 +229,7 @@
         </detaileddescription>
         <inbodydescription>
         </inbodydescription>
-        <location file="robot_dart/gui/magnum/base_application.hpp" line="214" column="22" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="214" bodyend="-1"/>
+        <location file="robot_dart/gui/magnum/base_application.hpp" line="220" column="22" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="220" bodyend="-1"/>
       </memberdef>
       <memberdef kind="variable" id="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication_1ae4247f27c3dbb8f81242e9b176603df5" prot="protected" static="no" mutable="no">
         <type>bool</type>
@@ -244,7 +244,7 @@
         </detaileddescription>
         <inbodydescription>
         </inbodydescription>
-        <location file="robot_dart/gui/magnum/base_application.hpp" line="214" column="33" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="214" bodyend="-1"/>
+        <location file="robot_dart/gui/magnum/base_application.hpp" line="220" column="33" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="220" bodyend="-1"/>
       </memberdef>
       <memberdef kind="variable" id="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication_1a6bcf72ac66cba6589b42013161012ea1" prot="protected" static="no" mutable="no">
         <type>int</type>
@@ -259,7 +259,7 @@
         </detaileddescription>
         <inbodydescription>
         </inbodydescription>
-        <location file="robot_dart/gui/magnum/base_application.hpp" line="215" column="21" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="215" bodyend="-1"/>
+        <location file="robot_dart/gui/magnum/base_application.hpp" line="221" column="21" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="221" bodyend="-1"/>
       </memberdef>
       <memberdef kind="variable" id="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication_1ae56f39ba4c67386624f38031241257c7" prot="protected" static="no" mutable="no">
         <type>std::unique_ptr&lt; <ref refid="classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap" kindref="compound">gs::ShadowMap</ref> &gt;</type>
@@ -273,7 +273,7 @@
         </detaileddescription>
         <inbodydescription>
         </inbodydescription>
-        <location file="robot_dart/gui/magnum/base_application.hpp" line="216" column="33" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="216" bodyend="-1"/>
+        <location file="robot_dart/gui/magnum/base_application.hpp" line="222" column="33" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="222" bodyend="-1"/>
       </memberdef>
       <memberdef kind="variable" id="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication_1a78b770fb13170921b0af2eae900ffda3" prot="protected" static="no" mutable="no">
         <type>std::unique_ptr&lt; <ref refid="classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap" kindref="compound">gs::ShadowMap</ref> &gt;</type>
@@ -287,7 +287,7 @@
         </detaileddescription>
         <inbodydescription>
         </inbodydescription>
-        <location file="robot_dart/gui/magnum/base_application.hpp" line="216" column="48" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="216" bodyend="-1"/>
+        <location file="robot_dart/gui/magnum/base_application.hpp" line="222" column="48" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="222" bodyend="-1"/>
       </memberdef>
       <memberdef kind="variable" id="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication_1a8b3475862d97e7124367324e7420f3df" prot="protected" static="no" mutable="no">
         <type>std::unique_ptr&lt; <ref refid="classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor" kindref="compound">gs::ShadowMapColor</ref> &gt;</type>
@@ -301,7 +301,7 @@
         </detaileddescription>
         <inbodydescription>
         </inbodydescription>
-        <location file="robot_dart/gui/magnum/base_application.hpp" line="217" column="33" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="217" bodyend="-1"/>
+        <location file="robot_dart/gui/magnum/base_application.hpp" line="223" column="33" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="223" bodyend="-1"/>
       </memberdef>
       <memberdef kind="variable" id="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication_1a85aaac9eb950b9a6209c51fcb39aa887" prot="protected" static="no" mutable="no">
         <type>std::unique_ptr&lt; <ref refid="classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor" kindref="compound">gs::ShadowMapColor</ref> &gt;</type>
@@ -315,7 +315,7 @@
         </detaileddescription>
         <inbodydescription>
         </inbodydescription>
-        <location file="robot_dart/gui/magnum/base_application.hpp" line="217" column="54" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="217" bodyend="-1"/>
+        <location file="robot_dart/gui/magnum/base_application.hpp" line="223" column="54" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="223" bodyend="-1"/>
       </memberdef>
       <memberdef kind="variable" id="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication_1a2c4dd07484ca16f4812fdd8e9f5a12d4" prot="protected" static="no" mutable="no">
         <type>std::unique_ptr&lt; <ref refid="classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap" kindref="compound">gs::CubeMap</ref> &gt;</type>
@@ -329,7 +329,7 @@
         </detaileddescription>
         <inbodydescription>
         </inbodydescription>
-        <location file="robot_dart/gui/magnum/base_application.hpp" line="218" column="33" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="218" bodyend="-1"/>
+        <location file="robot_dart/gui/magnum/base_application.hpp" line="224" column="33" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="224" bodyend="-1"/>
       </memberdef>
       <memberdef kind="variable" id="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication_1a8968c21c371d8f5a28d02ff58f95029f" prot="protected" static="no" mutable="no">
         <type>std::unique_ptr&lt; <ref refid="classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap" kindref="compound">gs::CubeMap</ref> &gt;</type>
@@ -343,7 +343,7 @@
         </detaileddescription>
         <inbodydescription>
         </inbodydescription>
-        <location file="robot_dart/gui/magnum/base_application.hpp" line="218" column="49" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="218" bodyend="-1"/>
+        <location file="robot_dart/gui/magnum/base_application.hpp" line="224" column="49" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="224" bodyend="-1"/>
       </memberdef>
       <memberdef kind="variable" id="classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication_1aac325dfdc1c44080ba73ea4d9f4a2465" prot="protected" static="no" mutable="no">
         <type>std::unique_ptr&lt; <ref refid="classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor" kindref="compound">gs::CubeMapColor</ref> &gt;</type>
@@ -357,7 +357,7 @@
         </detaileddescription>
         <inbodydescription>
         </inbodydescription>
-        <location file="robot_dart/gui/magnum/base_application.hpp" line="219" column="33" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="219" bodyend="-1"/>
+        <location file="robot_dart/gui/magnum/base_application.hpp" line="225" column="33" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="225" bodyend="-1"/>
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@@ -1084,7 +1084,7 @@
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@@ -1112,7 +1112,7 @@
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@@ -1128,7 +1128,7 @@
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@@ -1142,7 +1142,7 @@
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diff --git a/docs/assets/.doxy/api/xml/namespacerobot__dart_1_1gui_1_1magnum.xml b/docs/assets/.doxy/api/xml/namespacerobot__dart_1_1gui_1_1magnum.xml
index a7be9267..294bb944 100644
--- a/docs/assets/.doxy/api/xml/namespacerobot__dart_1_1gui_1_1magnum.xml
+++ b/docs/assets/.doxy/api/xml/namespacerobot__dart_1_1gui_1_1magnum.xml
@@ -91,7 +91,7 @@
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index 017f7236..bf93a8bc 100644
--- a/docs/assets/.doxy/api/xml/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData.xml
+++ b/docs/assets/.doxy/api/xml/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData.xml
@@ -15,7 +15,7 @@
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@@ -29,7 +29,7 @@
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@@ -43,7 +43,7 @@
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@@ -57,7 +57,7 @@
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@@ -71,7 +71,7 @@
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@@ -85,7 +85,7 @@
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@@ -99,7 +99,7 @@
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+        <location file="robot_dart/gui/magnum/base_application.hpp" line="130" column="55" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="130" bodyend="-1"/>
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+    <location file="robot_dart/gui/magnum/base_application.hpp" line="120" column="13" bodyfile="robot_dart/gui/magnum/base_application.hpp" bodystart="120" bodyend="131"/>
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diff --git a/docs/assets/.doxy/api/xml/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.xml b/docs/assets/.doxy/api/xml/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.xml
index 6dc307bf..e9e1c0f9 100644
--- a/docs/assets/.doxy/api/xml/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.xml
+++ b/docs/assets/.doxy/api/xml/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration.xml
@@ -61,7 +61,7 @@
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I(...e).pipe(ne(o=>h(o,"change").pipe(m(()=>o))),Q(e[r]),m(o=>({index:e.indexOf(o),color:{media:o.getAttribute("data-md-color-media"),scheme:o.getAttribute("data-md-color-scheme"),primary:o.getAttribute("data-md-color-primary"),accent:o.getAttribute("data-md-color-accent")}})),G(1))}function Gn(e){let t=P("input",e),r=x("meta",{name:"theme-color"});document.head.appendChild(r);let o=x("meta",{name:"color-scheme"});document.head.appendChild(o);let n=Pt("(prefers-color-scheme: light)");return C(()=>{let i=new g;return i.subscribe(a=>{if(document.body.setAttribute("data-md-color-switching",""),a.color.media==="(prefers-color-scheme)"){let s=matchMedia("(prefers-color-scheme: light)"),p=document.querySelector(s.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: 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g,o=r.pipe(Z(),ie(!0));z([t.pipe(Ae(jt)),r],(i,a)=>a).pipe(ee("value")).subscribe(({value:i})=>t.next({type:2,data:i})),r.pipe(ee("focus")).subscribe(({focus:i})=>{i&&Je("search",i)}),h(e.form,"reset").pipe(U(o)).subscribe(()=>e.focus());let n=R("header [for=__search]");return h(n,"click").subscribe(()=>e.focus()),is(e,{worker$:t}).pipe(w(i=>r.next(i)),_(()=>r.complete()),m(i=>$({ref:e},i)),G(1))}function ci(e,{worker$:t,query$:r}){let o=new g,n=rn(e.parentElement).pipe(b(Boolean)),i=e.parentElement,a=R(":scope > :first-child",e),s=R(":scope > :last-child",e);ze("search").subscribe(l=>s.setAttribute("role",l?"list":"presentation")),o.pipe(re(r),Ur(t.pipe(Ae(jt)))).subscribe(([{items:l},{value:f}])=>{switch(l.length){case 0:a.textContent=f.length?Ee("search.result.none"):Ee("search.result.placeholder");break;case 1:a.textContent=Ee("search.result.one");break;default:let u=sr(l.length);a.textContent=Ee("search.result.other",u)}});let p=o.pipe(w(()=>s.innerHTML=""),v(({items:l})=>O(I(...l.slice(0,10)),I(...l.slice(10)).pipe(Be(4),Vr(n),v(([f])=>f)))),m(Mn),pe());return p.subscribe(l=>s.appendChild(l)),p.pipe(ne(l=>{let f=fe("details",l);return typeof f=="undefined"?S:h(f,"toggle").pipe(U(o),m(()=>f))})).subscribe(l=>{l.open===!1&&l.offsetTop<=i.scrollTop&&i.scrollTo({top:l.offsetTop})}),t.pipe(b(dr),m(({data:l})=>l)).pipe(w(l=>o.next(l)),_(()=>o.complete()),m(l=>$({ref:e},l)))}function as(e,{query$:t}){return t.pipe(m(({value:r})=>{let o=ye();return o.hash="",r=r.replace(/\s+/g,"+").replace(/&/g,"%26").replace(/=/g,"%3D"),o.search=`q=${r}`,{url:o}}))}function pi(e,t){let r=new g,o=r.pipe(Z(),ie(!0));return r.subscribe(({url:n})=>{e.setAttribute("data-clipboard-text",e.href),e.href=`${n}`}),h(e,"click").pipe(U(o)).subscribe(n=>n.preventDefault()),as(e,t).pipe(w(n=>r.next(n)),_(()=>r.complete()),m(n=>$({ref:e},n)))}function li(e,{worker$:t,keyboard$:r}){let o=new g,n=Se("search-query"),i=O(h(n,"keydown"),h(n,"focus")).pipe(ve(se),m(()=>n.value),K());return o.pipe(He(i),m(([{suggest:s},p])=>{let c=p.split(/([\s-]+)/);if(s!=null&&s.length&&c[c.length-1]){let l=s[s.length-1];l.startsWith(c[c.length-1])&&(c[c.length-1]=l)}else c.length=0;return c})).subscribe(s=>e.innerHTML=s.join("").replace(/\s/g,"&nbsp;")),r.pipe(b(({mode:s})=>s==="search")).subscribe(s=>{switch(s.type){case"ArrowRight":e.innerText.length&&n.selectionStart===n.value.length&&(n.value=e.innerText);break}}),t.pipe(b(dr),m(({data:s})=>s)).pipe(w(s=>o.next(s)),_(()=>o.complete()),m(()=>({ref:e})))}function mi(e,{index$:t,keyboard$:r}){let o=xe();try{let n=ii(o.search,t),i=Se("search-query",e),a=Se("search-result",e);h(e,"click").pipe(b(({target:p})=>p instanceof Element&&!!p.closest("a"))).subscribe(()=>Je("search",!1)),r.pipe(b(({mode:p})=>p==="search")).subscribe(p=>{let c=Ie();switch(p.type){case"Enter":if(c===i){let l=new Map;for(let f of P(":first-child [href]",a)){let u=f.firstElementChild;l.set(f,parseFloat(u.getAttribute("data-md-score")))}if(l.size){let[[f]]=[...l].sort(([,u],[,d])=>d-u);f.click()}p.claim()}break;case"Escape":case"Tab":Je("search",!1),i.blur();break;case"ArrowUp":case"ArrowDown":if(typeof c=="undefined")i.focus();else{let l=[i,...P(":not(details) > [href], summary, details[open] [href]",a)],f=Math.max(0,(Math.max(0,l.indexOf(c))+l.length+(p.type==="ArrowUp"?-1:1))%l.length);l[f].focus()}p.claim();break;default:i!==Ie()&&i.focus()}}),r.pipe(b(({mode:p})=>p==="global")).subscribe(p=>{switch(p.type){case"f":case"s":case"/":i.focus(),i.select(),p.claim();break}});let s=si(i,{worker$:n});return O(s,ci(a,{worker$:n,query$:s})).pipe(Re(...ae("search-share",e).map(p=>pi(p,{query$:s})),...ae("search-suggest",e).map(p=>li(p,{worker$:n,keyboard$:r}))))}catch(n){return e.hidden=!0,Ye}}function fi(e,{index$:t,location$:r}){return z([t,r.pipe(Q(ye()),b(o=>!!o.searchParams.get("h")))]).pipe(m(([o,n])=>ni(o.config)(n.searchParams.get("h"))),m(o=>{var a;let n=new Map,i=document.createNodeIterator(e,NodeFilter.SHOW_TEXT);for(let s=i.nextNode();s;s=i.nextNode())if((a=s.parentElement)!=null&&a.offsetHeight){let p=s.textContent,c=o(p);c.length>p.length&&n.set(s,c)}for(let[s,p]of n){let{childNodes:c}=x("span",null,p);s.replaceWith(...Array.from(c))}return{ref:e,nodes:n}}))}function ss(e,{viewport$:t,main$:r}){let o=e.closest(".md-grid"),n=o.offsetTop-o.parentElement.offsetTop;return z([r,t]).pipe(m(([{offset:i,height:a},{offset:{y:s}}])=>(a=a+Math.min(n,Math.max(0,s-i))-n,{height:a,locked:s>=i+n})),K((i,a)=>i.height===a.height&&i.locked===a.locked))}function Xr(e,o){var n=o,{header$:t}=n,r=ao(n,["header$"]);let i=R(".md-sidebar__scrollwrap",e),{y:a}=Ve(i);return C(()=>{let s=new g,p=s.pipe(Z(),ie(!0)),c=s.pipe(Le(0,me));return c.pipe(re(t)).subscribe({next([{height:l},{height:f}]){i.style.height=`${l-2*a}px`,e.style.top=`${f}px`},complete(){i.style.height="",e.style.top=""}}),c.pipe(Ae()).subscribe(()=>{for(let l of P(".md-nav__link--active[href]",e)){if(!l.clientHeight)continue;let f=l.closest(".md-sidebar__scrollwrap");if(typeof f!="undefined"){let u=l.offsetTop-f.offsetTop,{height:d}=ce(f);f.scrollTo({top:u-d/2})}}}),ue(P("label[tabindex]",e)).pipe(ne(l=>h(l,"click").pipe(ve(se),m(()=>l),U(p)))).subscribe(l=>{let f=R(`[id="${l.htmlFor}"]`);R(`[aria-labelledby="${l.id}"]`).setAttribute("aria-expanded",`${f.checked}`)}),ss(e,r).pipe(w(l=>s.next(l)),_(()=>s.complete()),m(l=>$({ref:e},l)))})}function ui(e,t){if(typeof t!="undefined"){let r=`https://api.github.com/repos/${e}/${t}`;return st(je(`${r}/releases/latest`).pipe(de(()=>S),m(o=>({version:o.tag_name})),De({})),je(r).pipe(de(()=>S),m(o=>({stars:o.stargazers_count,forks:o.forks_count})),De({}))).pipe(m(([o,n])=>$($({},o),n)))}else{let r=`https://api.github.com/users/${e}`;return je(r).pipe(m(o=>({repositories:o.public_repos})),De({}))}}function di(e,t){let r=`https://${e}/api/v4/projects/${encodeURIComponent(t)}`;return st(je(`${r}/releases/permalink/latest`).pipe(de(()=>S),m(({tag_name:o})=>({version:o})),De({})),je(r).pipe(de(()=>S),m(({star_count:o,forks_count:n})=>({stars:o,forks:n})),De({}))).pipe(m(([o,n])=>$($({},o),n)))}function hi(e){let t=e.match(/^.+github\.com\/([^/]+)\/?([^/]+)?/i);if(t){let[,r,o]=t;return ui(r,o)}if(t=e.match(/^.+?([^/]*gitlab[^/]+)\/(.+?)\/?$/i),t){let[,r,o]=t;return di(r,o)}return S}var cs;function ps(e){return cs||(cs=C(()=>{let t=__md_get("__source",sessionStorage);if(t)return I(t);if(ae("consent").length){let o=__md_get("__consent");if(!(o&&o.github))return S}return hi(e.href).pipe(w(o=>__md_set("__source",o,sessionStorage)))}).pipe(de(()=>S),b(t=>Object.keys(t).length>0),m(t=>({facts:t})),G(1)))}function bi(e){let t=R(":scope > :last-child",e);return C(()=>{let r=new g;return r.subscribe(({facts:o})=>{t.appendChild(Ln(o)),t.classList.add("md-source__repository--active")}),ps(e).pipe(w(o=>r.next(o)),_(()=>r.complete()),m(o=>$({ref:e},o)))})}function ls(e,{viewport$:t,header$:r}){return ge(document.body).pipe(v(()=>mr(e,{header$:r,viewport$:t})),m(({offset:{y:o}})=>({hidden:o>=10})),ee("hidden"))}function vi(e,t){return C(()=>{let r=new g;return r.subscribe({next({hidden:o}){e.hidden=o},complete(){e.hidden=!1}}),(B("navigation.tabs.sticky")?I({hidden:!1}):ls(e,t)).pipe(w(o=>r.next(o)),_(()=>r.complete()),m(o=>$({ref:e},o)))})}function ms(e,{viewport$:t,header$:r}){let o=new Map,n=P(".md-nav__link",e);for(let s of n){let p=decodeURIComponent(s.hash.substring(1)),c=fe(`[id="${p}"]`);typeof c!="undefined"&&o.set(s,c)}let i=r.pipe(ee("height"),m(({height:s})=>{let p=Se("main"),c=R(":scope > :first-child",p);return s+.8*(c.offsetTop-p.offsetTop)}),pe());return ge(document.body).pipe(ee("height"),v(s=>C(()=>{let p=[];return I([...o].reduce((c,[l,f])=>{for(;p.length&&o.get(p[p.length-1]).tagName>=f.tagName;)p.pop();let u=f.offsetTop;for(;!u&&f.parentElement;)f=f.parentElement,u=f.offsetTop;let d=f.offsetParent;for(;d;d=d.offsetParent)u+=d.offsetTop;return c.set([...p=[...p,l]].reverse(),u)},new Map))}).pipe(m(p=>new Map([...p].sort(([,c],[,l])=>c-l))),He(i),v(([p,c])=>t.pipe(Fr(([l,f],{offset:{y:u},size:d})=>{let y=u+d.height>=Math.floor(s.height);for(;f.length;){let[,M]=f[0];if(M-c<u||y)l=[...l,f.shift()];else break}for(;l.length;){let[,M]=l[l.length-1];if(M-c>=u&&!y)f=[l.pop(),...f];else break}return[l,f]},[[],[...p]]),K((l,f)=>l[0]===f[0]&&l[1]===f[1])))))).pipe(m(([s,p])=>({prev:s.map(([c])=>c),next:p.map(([c])=>c)})),Q({prev:[],next:[]}),Be(2,1),m(([s,p])=>s.prev.length<p.prev.length?{prev:p.prev.slice(Math.max(0,s.prev.length-1),p.prev.length),next:[]}:{prev:p.prev.slice(-1),next:p.next.slice(0,p.next.length-s.next.length)}))}function gi(e,{viewport$:t,header$:r,main$:o,target$:n}){return C(()=>{let i=new g,a=i.pipe(Z(),ie(!0));if(i.subscribe(({prev:s,next:p})=>{for(let[c]of p)c.classList.remove("md-nav__link--passed"),c.classList.remove("md-nav__link--active");for(let[c,[l]]of s.entries())l.classList.add("md-nav__link--passed"),l.classList.toggle("md-nav__link--active",c===s.length-1)}),B("toc.follow")){let s=O(t.pipe(_e(1),m(()=>{})),t.pipe(_e(250),m(()=>"smooth")));i.pipe(b(({prev:p})=>p.length>0),He(o.pipe(ve(se))),re(s)).subscribe(([[{prev:p}],c])=>{let[l]=p[p.length-1];if(l.offsetHeight){let f=cr(l);if(typeof f!="undefined"){let u=l.offsetTop-f.offsetTop,{height:d}=ce(f);f.scrollTo({top:u-d/2,behavior:c})}}})}return B("navigation.tracking")&&t.pipe(U(a),ee("offset"),_e(250),Ce(1),U(n.pipe(Ce(1))),ct({delay:250}),re(i)).subscribe(([,{prev:s}])=>{let p=ye(),c=s[s.length-1];if(c&&c.length){let[l]=c,{hash:f}=new URL(l.href);p.hash!==f&&(p.hash=f,history.replaceState({},"",`${p}`))}else p.hash="",history.replaceState({},"",`${p}`)}),ms(e,{viewport$:t,header$:r}).pipe(w(s=>i.next(s)),_(()=>i.complete()),m(s=>$({ref:e},s)))})}function fs(e,{viewport$:t,main$:r,target$:o}){let n=t.pipe(m(({offset:{y:a}})=>a),Be(2,1),m(([a,s])=>a>s&&s>0),K()),i=r.pipe(m(({active:a})=>a));return z([i,n]).pipe(m(([a,s])=>!(a&&s)),K(),U(o.pipe(Ce(1))),ie(!0),ct({delay:250}),m(a=>({hidden:a})))}function yi(e,{viewport$:t,header$:r,main$:o,target$:n}){let i=new g,a=i.pipe(Z(),ie(!0));return i.subscribe({next({hidden:s}){e.hidden=s,s?(e.setAttribute("tabindex","-1"),e.blur()):e.removeAttribute("tabindex")},complete(){e.style.top="",e.hidden=!0,e.removeAttribute("tabindex")}}),r.pipe(U(a),ee("height")).subscribe(({height:s})=>{e.style.top=`${s+16}px`}),h(e,"click").subscribe(s=>{s.preventDefault(),window.scrollTo({top:0})}),fs(e,{viewport$:t,main$:o,target$:n}).pipe(w(s=>i.next(s)),_(()=>i.complete()),m(s=>$({ref:e},s)))}function xi({document$:e,viewport$:t}){e.pipe(v(()=>P(".md-ellipsis")),ne(r=>tt(r).pipe(U(e.pipe(Ce(1))),b(o=>o),m(()=>r),Te(1))),b(r=>r.offsetWidth<r.scrollWidth),ne(r=>{let o=r.innerText,n=r.closest("a")||r;return n.title=o,B("content.tooltips")?mt(n,{viewport$:t}).pipe(U(e.pipe(Ce(1))),_(()=>n.removeAttribute("title"))):S})).subscribe(),B("content.tooltips")&&e.pipe(v(()=>P(".md-status")),ne(r=>mt(r,{viewport$:t}))).subscribe()}function Ei({document$:e,tablet$:t}){e.pipe(v(()=>P(".md-toggle--indeterminate")),w(r=>{r.indeterminate=!0,r.checked=!1}),ne(r=>h(r,"change").pipe(Dr(()=>r.classList.contains("md-toggle--indeterminate")),m(()=>r))),re(t)).subscribe(([r,o])=>{r.classList.remove("md-toggle--indeterminate"),o&&(r.checked=!1)})}function us(){return/(iPad|iPhone|iPod)/.test(navigator.userAgent)}function wi({document$:e}){e.pipe(v(()=>P("[data-md-scrollfix]")),w(t=>t.removeAttribute("data-md-scrollfix")),b(us),ne(t=>h(t,"touchstart").pipe(m(()=>t)))).subscribe(t=>{let r=t.scrollTop;r===0?t.scrollTop=1:r+t.offsetHeight===t.scrollHeight&&(t.scrollTop=r-1)})}function Ti({viewport$:e,tablet$:t}){z([ze("search"),t]).pipe(m(([r,o])=>r&&!o),v(r=>I(r).pipe(Ge(r?400:100))),re(e)).subscribe(([r,{offset:{y:o}}])=>{if(r)document.body.setAttribute("data-md-scrolllock",""),document.body.style.top=`-${o}px`;else{let n=-1*parseInt(document.body.style.top,10);document.body.removeAttribute("data-md-scrolllock"),document.body.style.top="",n&&window.scrollTo(0,n)}})}Object.entries||(Object.entries=function(e){let t=[];for(let r of Object.keys(e))t.push([r,e[r]]);return t});Object.values||(Object.values=function(e){let t=[];for(let r of Object.keys(e))t.push(e[r]);return t});typeof Element!="undefined"&&(Element.prototype.scrollTo||(Element.prototype.scrollTo=function(e,t){typeof e=="object"?(this.scrollLeft=e.left,this.scrollTop=e.top):(this.scrollLeft=e,this.scrollTop=t)}),Element.prototype.replaceWith||(Element.prototype.replaceWith=function(...e){let t=this.parentNode;if(t){e.length===0&&t.removeChild(this);for(let r=e.length-1;r>=0;r--){let o=e[r];typeof o=="string"?o=document.createTextNode(o):o.parentNode&&o.parentNode.removeChild(o),r?t.insertBefore(this.previousSibling,o):t.replaceChild(o,this)}}}));function ds(){return location.protocol==="file:"?Tt(`${new URL("search/search_index.js",Zr.base)}`).pipe(m(()=>__index),G(1)):je(new URL("search/search_index.json",Zr.base))}document.documentElement.classList.remove("no-js");document.documentElement.classList.add("js");var ot=Bo(),Wt=an(),Mt=pn(Wt),eo=nn(),Oe=vn(),hr=Pt("(min-width: 960px)"),Oi=Pt("(min-width: 1220px)"),Mi=ln(),Zr=xe(),Li=document.forms.namedItem("search")?ds():Ye,to=new g;Xn({alert$:to});var ro=new g;B("navigation.instant")&&ri({location$:Wt,viewport$:Oe,progress$:ro}).subscribe(ot);var Si;((Si=Zr.version)==null?void 0:Si.provider)==="mike"&&ai({document$:ot});O(Wt,Mt).pipe(Ge(125)).subscribe(()=>{Je("drawer",!1),Je("search",!1)});eo.pipe(b(({mode:e})=>e==="global")).subscribe(e=>{switch(e.type){case"p":case",":let t=fe("link[rel=prev]");typeof t!="undefined"&&lt(t);break;case"n":case".":let r=fe("link[rel=next]");typeof r!="undefined"&&lt(r);break;case"Enter":let o=Ie();o instanceof HTMLLabelElement&&o.click()}});xi({viewport$:Oe,document$:ot});Ei({document$:ot,tablet$:hr});wi({document$:ot});Ti({viewport$:Oe,tablet$:hr});var rt=Qn(Se("header"),{viewport$:Oe}),Ft=ot.pipe(m(()=>Se("main")),v(e=>Bn(e,{viewport$:Oe,header$:rt})),G(1)),hs=O(...ae("consent").map(e=>xn(e,{target$:Mt})),...ae("dialog").map(e=>zn(e,{alert$:to})),...ae("header").map(e=>Kn(e,{viewport$:Oe,header$:rt,main$:Ft})),...ae("palette").map(e=>Gn(e)),...ae("progress").map(e=>Jn(e,{progress$:ro})),...ae("search").map(e=>mi(e,{index$:Li,keyboard$:eo})),...ae("source").map(e=>bi(e))),bs=C(()=>O(...ae("announce").map(e=>yn(e)),...ae("content").map(e=>Nn(e,{viewport$:Oe,target$:Mt,print$:Mi})),...ae("content").map(e=>B("search.highlight")?fi(e,{index$:Li,location$:Wt}):S),...ae("header-title").map(e=>Yn(e,{viewport$:Oe,header$:rt})),...ae("sidebar").map(e=>e.getAttribute("data-md-type")==="navigation"?Nr(Oi,()=>Xr(e,{viewport$:Oe,header$:rt,main$:Ft})):Nr(hr,()=>Xr(e,{viewport$:Oe,header$:rt,main$:Ft}))),...ae("tabs").map(e=>vi(e,{viewport$:Oe,header$:rt})),...ae("toc").map(e=>gi(e,{viewport$:Oe,header$:rt,main$:Ft,target$:Mt})),...ae("top").map(e=>yi(e,{viewport$:Oe,header$:rt,main$:Ft,target$:Mt})))),_i=ot.pipe(v(()=>bs),Re(hs),G(1));_i.subscribe();window.document$=ot;window.location$=Wt;window.target$=Mt;window.keyboard$=eo;window.viewport$=Oe;window.tablet$=hr;window.screen$=Oi;window.print$=Mi;window.alert$=to;window.progress$=ro;window.component$=_i;})();
+//# sourceMappingURL=bundle.56dfad97.min.js.map
+
diff --git a/docs/assets/javascripts/bundle.56dfad97.min.js.map b/docs/assets/javascripts/bundle.56dfad97.min.js.map
new file mode 100644
index 00000000..eb83bdb3
--- /dev/null
+++ b/docs/assets/javascripts/bundle.56dfad97.min.js.map
@@ -0,0 +1,7 @@
+{
+  "version": 3,
+  "sources": ["node_modules/focus-visible/dist/focus-visible.js", "node_modules/escape-html/index.js", "node_modules/clipboard/dist/clipboard.js", "src/templates/assets/javascripts/bundle.ts", "node_modules/tslib/tslib.es6.mjs", "node_modules/rxjs/src/internal/util/isFunction.ts", "node_modules/rxjs/src/internal/util/createErrorClass.ts", "node_modules/rxjs/src/internal/util/UnsubscriptionError.ts", "node_modules/rxjs/src/internal/util/arrRemove.ts", "node_modules/rxjs/src/internal/Subscription.ts", "node_modules/rxjs/src/internal/config.ts", "node_modules/rxjs/src/internal/scheduler/timeoutProvider.ts", "node_modules/rxjs/src/internal/util/reportUnhandledError.ts", "node_modules/rxjs/src/internal/util/noop.ts", "node_modules/rxjs/src/internal/NotificationFactories.ts", "node_modules/rxjs/src/internal/util/errorContext.ts", "node_modules/rxjs/src/internal/Subscriber.ts", "node_modules/rxjs/src/internal/symbol/observable.ts", "node_modules/rxjs/src/internal/util/identity.ts", "node_modules/rxjs/src/internal/util/pipe.ts", "node_modules/rxjs/src/internal/Observable.ts", "node_modules/rxjs/src/internal/util/lift.ts", "node_modules/rxjs/src/internal/operators/OperatorSubscriber.ts", "node_modules/rxjs/src/internal/scheduler/animationFrameProvider.ts", "node_modules/rxjs/src/internal/util/ObjectUnsubscribedError.ts", "node_modules/rxjs/src/internal/Subject.ts", "node_modules/rxjs/src/internal/BehaviorSubject.ts", "node_modules/rxjs/src/internal/scheduler/dateTimestampProvider.ts", "node_modules/rxjs/src/internal/ReplaySubject.ts", "node_modules/rxjs/src/internal/scheduler/Action.ts", "node_modules/rxjs/src/internal/scheduler/intervalProvider.ts", "node_modules/rxjs/src/internal/scheduler/AsyncAction.ts", "node_modules/rxjs/src/internal/Scheduler.ts", "node_modules/rxjs/src/internal/scheduler/AsyncScheduler.ts", "node_modules/rxjs/src/internal/scheduler/async.ts", "node_modules/rxjs/src/internal/scheduler/QueueAction.ts", "node_modules/rxjs/src/internal/scheduler/QueueScheduler.ts", "node_modules/rxjs/src/internal/scheduler/queue.ts", "node_modules/rxjs/src/internal/scheduler/AnimationFrameAction.ts", "node_modules/rxjs/src/internal/scheduler/AnimationFrameScheduler.ts", "node_modules/rxjs/src/internal/scheduler/animationFrame.ts", "node_modules/rxjs/src/internal/observable/empty.ts", "node_modules/rxjs/src/internal/util/isScheduler.ts", "node_modules/rxjs/src/internal/util/args.ts", "node_modules/rxjs/src/internal/util/isArrayLike.ts", "node_modules/rxjs/src/internal/util/isPromise.ts", "node_modules/rxjs/src/internal/util/isInteropObservable.ts", "node_modules/rxjs/src/internal/util/isAsyncIterable.ts", "node_modules/rxjs/src/internal/util/throwUnobservableError.ts", "node_modules/rxjs/src/internal/symbol/iterator.ts", "node_modules/rxjs/src/internal/util/isIterable.ts", "node_modules/rxjs/src/internal/util/isReadableStreamLike.ts", "node_modules/rxjs/src/internal/observable/innerFrom.ts", "node_modules/rxjs/src/internal/util/executeSchedule.ts", "node_modules/rxjs/src/internal/operators/observeOn.ts", "node_modules/rxjs/src/internal/operators/subscribeOn.ts", "node_modules/rxjs/src/internal/scheduled/scheduleObservable.ts", "node_modules/rxjs/src/internal/scheduled/schedulePromise.ts", "node_modules/rxjs/src/internal/scheduled/scheduleArray.ts", "node_modules/rxjs/src/internal/scheduled/scheduleIterable.ts", "node_modules/rxjs/src/internal/scheduled/scheduleAsyncIterable.ts", "node_modules/rxjs/src/internal/scheduled/scheduleReadableStreamLike.ts", "node_modules/rxjs/src/internal/scheduled/scheduled.ts", "node_modules/rxjs/src/internal/observable/from.ts", "node_modules/rxjs/src/internal/observable/of.ts", "node_modules/rxjs/src/internal/observable/throwError.ts", "node_modules/rxjs/src/internal/util/EmptyError.ts", "node_modules/rxjs/src/internal/util/isDate.ts", "node_modules/rxjs/src/internal/operators/map.ts", 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+  "sourcesContent": ["(function (global, factory) {\n  typeof exports === 'object' && typeof module !== 'undefined' ? factory() :\n  typeof define === 'function' && define.amd ? define(factory) :\n  (factory());\n}(this, (function () { 'use strict';\n\n  /**\n   * Applies the :focus-visible polyfill at the given scope.\n   * A scope in this case is either the top-level Document or a Shadow Root.\n   *\n   * @param {(Document|ShadowRoot)} scope\n   * @see https://github.com/WICG/focus-visible\n   */\n  function applyFocusVisiblePolyfill(scope) {\n    var hadKeyboardEvent = true;\n    var hadFocusVisibleRecently = false;\n    var hadFocusVisibleRecentlyTimeout = null;\n\n    var inputTypesAllowlist = {\n      text: true,\n      search: true,\n      url: true,\n      tel: true,\n      email: true,\n      password: true,\n      number: true,\n      date: true,\n      month: true,\n      week: true,\n      time: true,\n      datetime: true,\n      'datetime-local': true\n    };\n\n    /**\n     * Helper function for legacy browsers and iframes which sometimes focus\n     * elements like document, body, and non-interactive SVG.\n     * @param {Element} el\n     */\n    function isValidFocusTarget(el) {\n      if (\n        el &&\n        el !== document &&\n        el.nodeName !== 'HTML' &&\n        el.nodeName !== 'BODY' &&\n        'classList' in el &&\n        'contains' in el.classList\n      ) {\n        return true;\n      }\n      return false;\n    }\n\n    /**\n     * Computes whether the given element should automatically trigger the\n     * `focus-visible` class being added, i.e. whether it should always match\n     * `:focus-visible` when focused.\n     * @param {Element} el\n     * @return {boolean}\n     */\n    function focusTriggersKeyboardModality(el) {\n      var type = el.type;\n      var tagName = el.tagName;\n\n      if (tagName === 'INPUT' && inputTypesAllowlist[type] && !el.readOnly) {\n        return true;\n      }\n\n      if (tagName === 'TEXTAREA' && !el.readOnly) {\n        return true;\n      }\n\n      if (el.isContentEditable) {\n        return true;\n      }\n\n      return false;\n    }\n\n    /**\n     * Add the `focus-visible` class to the given element if it was not added by\n     * the author.\n     * @param {Element} el\n     */\n    function addFocusVisibleClass(el) {\n      if (el.classList.contains('focus-visible')) {\n        return;\n      }\n      el.classList.add('focus-visible');\n      el.setAttribute('data-focus-visible-added', '');\n    }\n\n    /**\n     * Remove the `focus-visible` class from the given element if it was not\n     * originally added by the author.\n     * @param {Element} el\n     */\n    function removeFocusVisibleClass(el) {\n      if (!el.hasAttribute('data-focus-visible-added')) {\n        return;\n      }\n      el.classList.remove('focus-visible');\n      el.removeAttribute('data-focus-visible-added');\n    }\n\n    /**\n     * If the most recent user interaction was via the keyboard;\n     * and the key press did not include a meta, alt/option, or control key;\n     * then the modality is keyboard. Otherwise, the modality is not keyboard.\n     * Apply `focus-visible` to any current active element and keep track\n     * of our keyboard modality state with `hadKeyboardEvent`.\n     * @param {KeyboardEvent} e\n     */\n    function onKeyDown(e) {\n      if (e.metaKey || e.altKey || e.ctrlKey) {\n        return;\n      }\n\n      if (isValidFocusTarget(scope.activeElement)) {\n        addFocusVisibleClass(scope.activeElement);\n      }\n\n      hadKeyboardEvent = true;\n    }\n\n    /**\n     * If at any point a user clicks with a pointing device, ensure that we change\n     * the modality away from keyboard.\n     * This avoids the situation where a user presses a key on an already focused\n     * element, and then clicks on a different element, focusing it with a\n     * pointing device, while we still think we're in keyboard modality.\n     * @param {Event} e\n     */\n    function onPointerDown(e) {\n      hadKeyboardEvent = false;\n    }\n\n    /**\n     * On `focus`, add the `focus-visible` class to the target if:\n     * - the target received focus as a result of keyboard navigation, or\n     * - the event target is an element that will likely require interaction\n     *   via the keyboard (e.g. a text box)\n     * @param {Event} e\n     */\n    function onFocus(e) {\n      // Prevent IE from focusing the document or HTML element.\n      if (!isValidFocusTarget(e.target)) {\n        return;\n      }\n\n      if (hadKeyboardEvent || focusTriggersKeyboardModality(e.target)) {\n        addFocusVisibleClass(e.target);\n      }\n    }\n\n    /**\n     * On `blur`, remove the `focus-visible` class from the target.\n     * @param {Event} e\n     */\n    function onBlur(e) {\n      if (!isValidFocusTarget(e.target)) {\n        return;\n      }\n\n      if (\n        e.target.classList.contains('focus-visible') ||\n        e.target.hasAttribute('data-focus-visible-added')\n      ) {\n        // To detect a tab/window switch, we look for a blur event followed\n        // rapidly by a visibility change.\n        // If we don't see a visibility change within 100ms, it's probably a\n        // regular focus change.\n        hadFocusVisibleRecently = true;\n        window.clearTimeout(hadFocusVisibleRecentlyTimeout);\n        hadFocusVisibleRecentlyTimeout = window.setTimeout(function() {\n          hadFocusVisibleRecently = false;\n        }, 100);\n        removeFocusVisibleClass(e.target);\n      }\n    }\n\n    /**\n     * If the user changes tabs, keep track of whether or not the previously\n     * focused element had .focus-visible.\n     * @param {Event} e\n     */\n    function onVisibilityChange(e) {\n      if (document.visibilityState === 'hidden') {\n        // If the tab becomes active again, the browser will handle calling focus\n        // on the element (Safari actually calls it twice).\n        // If this tab change caused a blur on an element with focus-visible,\n        // re-apply the class when the user switches back to the tab.\n        if (hadFocusVisibleRecently) {\n          hadKeyboardEvent = true;\n        }\n        addInitialPointerMoveListeners();\n      }\n    }\n\n    /**\n     * Add a group of listeners to detect usage of any pointing devices.\n     * These listeners will be added when the polyfill first loads, and anytime\n     * the window is blurred, so that they are active when the window regains\n     * focus.\n     */\n    function addInitialPointerMoveListeners() {\n      document.addEventListener('mousemove', onInitialPointerMove);\n      document.addEventListener('mousedown', onInitialPointerMove);\n      document.addEventListener('mouseup', onInitialPointerMove);\n      document.addEventListener('pointermove', onInitialPointerMove);\n      document.addEventListener('pointerdown', onInitialPointerMove);\n      document.addEventListener('pointerup', onInitialPointerMove);\n      document.addEventListener('touchmove', onInitialPointerMove);\n      document.addEventListener('touchstart', onInitialPointerMove);\n      document.addEventListener('touchend', onInitialPointerMove);\n    }\n\n    function removeInitialPointerMoveListeners() {\n      document.removeEventListener('mousemove', onInitialPointerMove);\n      document.removeEventListener('mousedown', onInitialPointerMove);\n      document.removeEventListener('mouseup', onInitialPointerMove);\n      document.removeEventListener('pointermove', onInitialPointerMove);\n      document.removeEventListener('pointerdown', onInitialPointerMove);\n      document.removeEventListener('pointerup', onInitialPointerMove);\n      document.removeEventListener('touchmove', onInitialPointerMove);\n      document.removeEventListener('touchstart', onInitialPointerMove);\n      document.removeEventListener('touchend', onInitialPointerMove);\n    }\n\n    /**\n     * When the polfyill first loads, assume the user is in keyboard modality.\n     * If any event is received from a pointing device (e.g. mouse, pointer,\n     * touch), turn off keyboard modality.\n     * This accounts for situations where focus enters the page from the URL bar.\n     * @param {Event} e\n     */\n    function onInitialPointerMove(e) {\n      // Work around a Safari quirk that fires a mousemove on <html> whenever the\n      // window blurs, even if you're tabbing out of the page. \u00AF\\_(\u30C4)_/\u00AF\n      if (e.target.nodeName && e.target.nodeName.toLowerCase() === 'html') {\n        return;\n      }\n\n      hadKeyboardEvent = false;\n      removeInitialPointerMoveListeners();\n    }\n\n    // For some kinds of state, we are interested in changes at the global scope\n    // only. For example, global pointer input, global key presses and global\n    // visibility change should affect the state at every scope:\n    document.addEventListener('keydown', onKeyDown, true);\n    document.addEventListener('mousedown', onPointerDown, true);\n    document.addEventListener('pointerdown', onPointerDown, true);\n    document.addEventListener('touchstart', onPointerDown, true);\n    document.addEventListener('visibilitychange', onVisibilityChange, true);\n\n    addInitialPointerMoveListeners();\n\n    // For focus and blur, we specifically care about state changes in the local\n    // scope. This is because focus / blur events that originate from within a\n    // shadow root are not re-dispatched from the host element if it was already\n    // the active element in its own scope:\n    scope.addEventListener('focus', onFocus, true);\n    scope.addEventListener('blur', onBlur, true);\n\n    // We detect that a node is a ShadowRoot by ensuring that it is a\n    // DocumentFragment and also has a host property. This check covers native\n    // implementation and polyfill implementation transparently. If we only cared\n    // about the native implementation, we could just check if the scope was\n    // an instance of a ShadowRoot.\n    if (scope.nodeType === Node.DOCUMENT_FRAGMENT_NODE && scope.host) {\n      // Since a ShadowRoot is a special kind of DocumentFragment, it does not\n      // have a root element to add a class to. So, we add this attribute to the\n      // host element instead:\n      scope.host.setAttribute('data-js-focus-visible', '');\n    } else if (scope.nodeType === Node.DOCUMENT_NODE) {\n      document.documentElement.classList.add('js-focus-visible');\n      document.documentElement.setAttribute('data-js-focus-visible', '');\n    }\n  }\n\n  // It is important to wrap all references to global window and document in\n  // these checks to support server-side rendering use cases\n  // @see https://github.com/WICG/focus-visible/issues/199\n  if (typeof window !== 'undefined' && typeof document !== 'undefined') {\n    // Make the polyfill helper globally available. This can be used as a signal\n    // to interested libraries that wish to coordinate with the polyfill for e.g.,\n    // applying the polyfill to a shadow root:\n    window.applyFocusVisiblePolyfill = applyFocusVisiblePolyfill;\n\n    // Notify interested libraries of the polyfill's presence, in case the\n    // polyfill was loaded lazily:\n    var event;\n\n    try {\n      event = new CustomEvent('focus-visible-polyfill-ready');\n    } catch (error) {\n      // IE11 does not support using CustomEvent as a constructor directly:\n      event = document.createEvent('CustomEvent');\n      event.initCustomEvent('focus-visible-polyfill-ready', false, false, {});\n    }\n\n    window.dispatchEvent(event);\n  }\n\n  if (typeof document !== 'undefined') {\n    // Apply the polyfill to the global document, so that no JavaScript\n    // coordination is required to use the polyfill in the top-level document:\n    applyFocusVisiblePolyfill(document);\n  }\n\n})));\n", "/*!\n * escape-html\n * Copyright(c) 2012-2013 TJ Holowaychuk\n * Copyright(c) 2015 Andreas Lubbe\n * Copyright(c) 2015 Tiancheng \"Timothy\" Gu\n * MIT Licensed\n */\n\n'use strict';\n\n/**\n * Module variables.\n * @private\n */\n\nvar matchHtmlRegExp = /[\"'&<>]/;\n\n/**\n * Module exports.\n * @public\n */\n\nmodule.exports = escapeHtml;\n\n/**\n * Escape special characters in the given string of html.\n *\n * @param  {string} string The string to escape for inserting into HTML\n * @return {string}\n * @public\n */\n\nfunction escapeHtml(string) {\n  var str = '' + string;\n  var match = matchHtmlRegExp.exec(str);\n\n  if (!match) {\n    return str;\n  }\n\n  var escape;\n  var html = '';\n  var index = 0;\n  var lastIndex = 0;\n\n  for (index = match.index; index < str.length; index++) {\n    switch (str.charCodeAt(index)) {\n      case 34: // \"\n        escape = '&quot;';\n        break;\n      case 38: // &\n        escape = '&amp;';\n        break;\n      case 39: // '\n        escape = '&#39;';\n        break;\n      case 60: // <\n        escape = '&lt;';\n        break;\n      case 62: // >\n        escape = '&gt;';\n        break;\n      default:\n        continue;\n    }\n\n    if (lastIndex !== index) {\n      html += str.substring(lastIndex, index);\n    }\n\n    lastIndex = index + 1;\n    html += escape;\n  }\n\n  return lastIndex !== index\n    ? html + str.substring(lastIndex, index)\n    : html;\n}\n", "/*!\n * clipboard.js v2.0.11\n * https://clipboardjs.com/\n *\n * Licensed MIT \u00A9 Zeno Rocha\n */\n(function webpackUniversalModuleDefinition(root, factory) {\n\tif(typeof exports === 'object' && typeof module === 'object')\n\t\tmodule.exports = factory();\n\telse if(typeof define === 'function' && define.amd)\n\t\tdefine([], factory);\n\telse if(typeof exports === 'object')\n\t\texports[\"ClipboardJS\"] = factory();\n\telse\n\t\troot[\"ClipboardJS\"] = factory();\n})(this, function() {\nreturn /******/ (function() { // webpackBootstrap\n/******/ \tvar __webpack_modules__ = ({\n\n/***/ 686:\n/***/ (function(__unused_webpack_module, __webpack_exports__, __webpack_require__) {\n\n\"use strict\";\n\n// EXPORTS\n__webpack_require__.d(__webpack_exports__, {\n  \"default\": function() { return /* binding */ clipboard; }\n});\n\n// EXTERNAL MODULE: ./node_modules/tiny-emitter/index.js\nvar tiny_emitter = __webpack_require__(279);\nvar tiny_emitter_default = /*#__PURE__*/__webpack_require__.n(tiny_emitter);\n// EXTERNAL MODULE: ./node_modules/good-listener/src/listen.js\nvar listen = __webpack_require__(370);\nvar listen_default = /*#__PURE__*/__webpack_require__.n(listen);\n// EXTERNAL MODULE: ./node_modules/select/src/select.js\nvar src_select = __webpack_require__(817);\nvar select_default = /*#__PURE__*/__webpack_require__.n(src_select);\n;// CONCATENATED MODULE: ./src/common/command.js\n/**\n * Executes a given operation type.\n * @param {String} type\n * @return {Boolean}\n */\nfunction command(type) {\n  try {\n    return document.execCommand(type);\n  } catch (err) {\n    return false;\n  }\n}\n;// CONCATENATED MODULE: ./src/actions/cut.js\n\n\n/**\n * Cut action wrapper.\n * @param {String|HTMLElement} target\n * @return {String}\n */\n\nvar ClipboardActionCut = function ClipboardActionCut(target) {\n  var selectedText = select_default()(target);\n  command('cut');\n  return selectedText;\n};\n\n/* harmony default export */ var actions_cut = (ClipboardActionCut);\n;// CONCATENATED MODULE: ./src/common/create-fake-element.js\n/**\n * Creates a fake textarea element with a value.\n * @param {String} value\n * @return {HTMLElement}\n */\nfunction createFakeElement(value) {\n  var isRTL = document.documentElement.getAttribute('dir') === 'rtl';\n  var fakeElement = document.createElement('textarea'); // Prevent zooming on iOS\n\n  fakeElement.style.fontSize = '12pt'; // Reset box model\n\n  fakeElement.style.border = '0';\n  fakeElement.style.padding = '0';\n  fakeElement.style.margin = '0'; // Move element out of screen horizontally\n\n  fakeElement.style.position = 'absolute';\n  fakeElement.style[isRTL ? 'right' : 'left'] = '-9999px'; // Move element to the same position vertically\n\n  var yPosition = window.pageYOffset || document.documentElement.scrollTop;\n  fakeElement.style.top = \"\".concat(yPosition, \"px\");\n  fakeElement.setAttribute('readonly', '');\n  fakeElement.value = value;\n  return fakeElement;\n}\n;// CONCATENATED MODULE: ./src/actions/copy.js\n\n\n\n/**\n * Create fake copy action wrapper using a fake element.\n * @param {String} target\n * @param {Object} options\n * @return {String}\n */\n\nvar fakeCopyAction = function fakeCopyAction(value, options) {\n  var fakeElement = createFakeElement(value);\n  options.container.appendChild(fakeElement);\n  var selectedText = select_default()(fakeElement);\n  command('copy');\n  fakeElement.remove();\n  return selectedText;\n};\n/**\n * Copy action wrapper.\n * @param {String|HTMLElement} target\n * @param {Object} options\n * @return {String}\n */\n\n\nvar ClipboardActionCopy = function ClipboardActionCopy(target) {\n  var options = arguments.length > 1 && arguments[1] !== undefined ? arguments[1] : {\n    container: document.body\n  };\n  var selectedText = '';\n\n  if (typeof target === 'string') {\n    selectedText = fakeCopyAction(target, options);\n  } else if (target instanceof HTMLInputElement && !['text', 'search', 'url', 'tel', 'password'].includes(target === null || target === void 0 ? void 0 : target.type)) {\n    // If input type doesn't support `setSelectionRange`. Simulate it. https://developer.mozilla.org/en-US/docs/Web/API/HTMLInputElement/setSelectionRange\n    selectedText = fakeCopyAction(target.value, options);\n  } else {\n    selectedText = select_default()(target);\n    command('copy');\n  }\n\n  return selectedText;\n};\n\n/* harmony default export */ var actions_copy = (ClipboardActionCopy);\n;// CONCATENATED MODULE: ./src/actions/default.js\nfunction _typeof(obj) { \"@babel/helpers - typeof\"; if (typeof Symbol === \"function\" && typeof Symbol.iterator === \"symbol\") { _typeof = function _typeof(obj) { return typeof obj; }; } else { _typeof = function _typeof(obj) { return obj && typeof Symbol === \"function\" && obj.constructor === Symbol && obj !== Symbol.prototype ? \"symbol\" : typeof obj; }; } return _typeof(obj); }\n\n\n\n/**\n * Inner function which performs selection from either `text` or `target`\n * properties and then executes copy or cut operations.\n * @param {Object} options\n */\n\nvar ClipboardActionDefault = function ClipboardActionDefault() {\n  var options = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : {};\n  // Defines base properties passed from constructor.\n  var _options$action = options.action,\n      action = _options$action === void 0 ? 'copy' : _options$action,\n      container = options.container,\n      target = options.target,\n      text = options.text; // Sets the `action` to be performed which can be either 'copy' or 'cut'.\n\n  if (action !== 'copy' && action !== 'cut') {\n    throw new Error('Invalid \"action\" value, use either \"copy\" or \"cut\"');\n  } // Sets the `target` property using an element that will be have its content copied.\n\n\n  if (target !== undefined) {\n    if (target && _typeof(target) === 'object' && target.nodeType === 1) {\n      if (action === 'copy' && target.hasAttribute('disabled')) {\n        throw new Error('Invalid \"target\" attribute. Please use \"readonly\" instead of \"disabled\" attribute');\n      }\n\n      if (action === 'cut' && (target.hasAttribute('readonly') || target.hasAttribute('disabled'))) {\n        throw new Error('Invalid \"target\" attribute. You can\\'t cut text from elements with \"readonly\" or \"disabled\" attributes');\n      }\n    } else {\n      throw new Error('Invalid \"target\" value, use a valid Element');\n    }\n  } // Define selection strategy based on `text` property.\n\n\n  if (text) {\n    return actions_copy(text, {\n      container: container\n    });\n  } // Defines which selection strategy based on `target` property.\n\n\n  if (target) {\n    return action === 'cut' ? actions_cut(target) : actions_copy(target, {\n      container: container\n    });\n  }\n};\n\n/* harmony default export */ var actions_default = (ClipboardActionDefault);\n;// CONCATENATED MODULE: ./src/clipboard.js\nfunction clipboard_typeof(obj) { \"@babel/helpers - typeof\"; if (typeof Symbol === \"function\" && typeof Symbol.iterator === \"symbol\") { clipboard_typeof = function _typeof(obj) { return typeof obj; }; } else { clipboard_typeof = function _typeof(obj) { return obj && typeof Symbol === \"function\" && obj.constructor === Symbol && obj !== Symbol.prototype ? \"symbol\" : typeof obj; }; } return clipboard_typeof(obj); }\n\nfunction _classCallCheck(instance, Constructor) { if (!(instance instanceof Constructor)) { throw new TypeError(\"Cannot call a class as a function\"); } }\n\nfunction _defineProperties(target, props) { for (var i = 0; i < props.length; i++) { var descriptor = props[i]; descriptor.enumerable = descriptor.enumerable || false; descriptor.configurable = true; if (\"value\" in descriptor) descriptor.writable = true; Object.defineProperty(target, descriptor.key, descriptor); } }\n\nfunction _createClass(Constructor, protoProps, staticProps) { if (protoProps) _defineProperties(Constructor.prototype, protoProps); if (staticProps) _defineProperties(Constructor, staticProps); return Constructor; }\n\nfunction _inherits(subClass, superClass) { if (typeof superClass !== \"function\" && superClass !== null) { throw new TypeError(\"Super expression must either be null or a function\"); } subClass.prototype = Object.create(superClass && superClass.prototype, { constructor: { value: subClass, writable: true, configurable: true } }); if (superClass) _setPrototypeOf(subClass, superClass); }\n\nfunction _setPrototypeOf(o, p) { _setPrototypeOf = Object.setPrototypeOf || function _setPrototypeOf(o, p) { o.__proto__ = p; return o; }; return _setPrototypeOf(o, p); }\n\nfunction _createSuper(Derived) { var hasNativeReflectConstruct = _isNativeReflectConstruct(); return function _createSuperInternal() { var Super = _getPrototypeOf(Derived), result; if (hasNativeReflectConstruct) { var NewTarget = _getPrototypeOf(this).constructor; result = Reflect.construct(Super, arguments, NewTarget); } else { result = Super.apply(this, arguments); } return _possibleConstructorReturn(this, result); }; }\n\nfunction _possibleConstructorReturn(self, call) { if (call && (clipboard_typeof(call) === \"object\" || typeof call === \"function\")) { return call; } return _assertThisInitialized(self); }\n\nfunction _assertThisInitialized(self) { if (self === void 0) { throw new ReferenceError(\"this hasn't been initialised - super() hasn't been called\"); } return self; }\n\nfunction _isNativeReflectConstruct() { if (typeof Reflect === \"undefined\" || !Reflect.construct) return false; if (Reflect.construct.sham) return false; if (typeof Proxy === \"function\") return true; try { Date.prototype.toString.call(Reflect.construct(Date, [], function () {})); return true; } catch (e) { return false; } }\n\nfunction _getPrototypeOf(o) { _getPrototypeOf = Object.setPrototypeOf ? Object.getPrototypeOf : function _getPrototypeOf(o) { return o.__proto__ || Object.getPrototypeOf(o); }; return _getPrototypeOf(o); }\n\n\n\n\n\n\n/**\n * Helper function to retrieve attribute value.\n * @param {String} suffix\n * @param {Element} element\n */\n\nfunction getAttributeValue(suffix, element) {\n  var attribute = \"data-clipboard-\".concat(suffix);\n\n  if (!element.hasAttribute(attribute)) {\n    return;\n  }\n\n  return element.getAttribute(attribute);\n}\n/**\n * Base class which takes one or more elements, adds event listeners to them,\n * and instantiates a new `ClipboardAction` on each click.\n */\n\n\nvar Clipboard = /*#__PURE__*/function (_Emitter) {\n  _inherits(Clipboard, _Emitter);\n\n  var _super = _createSuper(Clipboard);\n\n  /**\n   * @param {String|HTMLElement|HTMLCollection|NodeList} trigger\n   * @param {Object} options\n   */\n  function Clipboard(trigger, options) {\n    var _this;\n\n    _classCallCheck(this, Clipboard);\n\n    _this = _super.call(this);\n\n    _this.resolveOptions(options);\n\n    _this.listenClick(trigger);\n\n    return _this;\n  }\n  /**\n   * Defines if attributes would be resolved using internal setter functions\n   * or custom functions that were passed in the constructor.\n   * @param {Object} options\n   */\n\n\n  _createClass(Clipboard, [{\n    key: \"resolveOptions\",\n    value: function resolveOptions() {\n      var options = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : {};\n      this.action = typeof options.action === 'function' ? options.action : this.defaultAction;\n      this.target = typeof options.target === 'function' ? options.target : this.defaultTarget;\n      this.text = typeof options.text === 'function' ? options.text : this.defaultText;\n      this.container = clipboard_typeof(options.container) === 'object' ? options.container : document.body;\n    }\n    /**\n     * Adds a click event listener to the passed trigger.\n     * @param {String|HTMLElement|HTMLCollection|NodeList} trigger\n     */\n\n  }, {\n    key: \"listenClick\",\n    value: function listenClick(trigger) {\n      var _this2 = this;\n\n      this.listener = listen_default()(trigger, 'click', function (e) {\n        return _this2.onClick(e);\n      });\n    }\n    /**\n     * Defines a new `ClipboardAction` on each click event.\n     * @param {Event} e\n     */\n\n  }, {\n    key: \"onClick\",\n    value: function onClick(e) {\n      var trigger = e.delegateTarget || e.currentTarget;\n      var action = this.action(trigger) || 'copy';\n      var text = actions_default({\n        action: action,\n        container: this.container,\n        target: this.target(trigger),\n        text: this.text(trigger)\n      }); // Fires an event based on the copy operation result.\n\n      this.emit(text ? 'success' : 'error', {\n        action: action,\n        text: text,\n        trigger: trigger,\n        clearSelection: function clearSelection() {\n          if (trigger) {\n            trigger.focus();\n          }\n\n          window.getSelection().removeAllRanges();\n        }\n      });\n    }\n    /**\n     * Default `action` lookup function.\n     * @param {Element} trigger\n     */\n\n  }, {\n    key: \"defaultAction\",\n    value: function defaultAction(trigger) {\n      return getAttributeValue('action', trigger);\n    }\n    /**\n     * Default `target` lookup function.\n     * @param {Element} trigger\n     */\n\n  }, {\n    key: \"defaultTarget\",\n    value: function defaultTarget(trigger) {\n      var selector = getAttributeValue('target', trigger);\n\n      if (selector) {\n        return document.querySelector(selector);\n      }\n    }\n    /**\n     * Allow fire programmatically a copy action\n     * @param {String|HTMLElement} target\n     * @param {Object} options\n     * @returns Text copied.\n     */\n\n  }, {\n    key: \"defaultText\",\n\n    /**\n     * Default `text` lookup function.\n     * @param {Element} trigger\n     */\n    value: function defaultText(trigger) {\n      return getAttributeValue('text', trigger);\n    }\n    /**\n     * Destroy lifecycle.\n     */\n\n  }, {\n    key: \"destroy\",\n    value: function destroy() {\n      this.listener.destroy();\n    }\n  }], [{\n    key: \"copy\",\n    value: function copy(target) {\n      var options = arguments.length > 1 && arguments[1] !== undefined ? arguments[1] : {\n        container: document.body\n      };\n      return actions_copy(target, options);\n    }\n    /**\n     * Allow fire programmatically a cut action\n     * @param {String|HTMLElement} target\n     * @returns Text cutted.\n     */\n\n  }, {\n    key: \"cut\",\n    value: function cut(target) {\n      return actions_cut(target);\n    }\n    /**\n     * Returns the support of the given action, or all actions if no action is\n     * given.\n     * @param {String} [action]\n     */\n\n  }, {\n    key: \"isSupported\",\n    value: function isSupported() {\n      var action = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : ['copy', 'cut'];\n      var actions = typeof action === 'string' ? [action] : action;\n      var support = !!document.queryCommandSupported;\n      actions.forEach(function (action) {\n        support = support && !!document.queryCommandSupported(action);\n      });\n      return support;\n    }\n  }]);\n\n  return Clipboard;\n}((tiny_emitter_default()));\n\n/* harmony default export */ var clipboard = (Clipboard);\n\n/***/ }),\n\n/***/ 828:\n/***/ (function(module) {\n\nvar DOCUMENT_NODE_TYPE = 9;\n\n/**\n * A polyfill for Element.matches()\n */\nif (typeof Element !== 'undefined' && !Element.prototype.matches) {\n    var proto = Element.prototype;\n\n    proto.matches = proto.matchesSelector ||\n                    proto.mozMatchesSelector ||\n                    proto.msMatchesSelector ||\n                    proto.oMatchesSelector ||\n                    proto.webkitMatchesSelector;\n}\n\n/**\n * Finds the closest parent that matches a selector.\n *\n * @param {Element} element\n * @param {String} selector\n * @return {Function}\n */\nfunction closest (element, selector) {\n    while (element && element.nodeType !== DOCUMENT_NODE_TYPE) {\n        if (typeof element.matches === 'function' &&\n            element.matches(selector)) {\n          return element;\n        }\n        element = element.parentNode;\n    }\n}\n\nmodule.exports = closest;\n\n\n/***/ }),\n\n/***/ 438:\n/***/ (function(module, __unused_webpack_exports, __webpack_require__) {\n\nvar closest = __webpack_require__(828);\n\n/**\n * Delegates event to a selector.\n *\n * @param {Element} element\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @param {Boolean} useCapture\n * @return {Object}\n */\nfunction _delegate(element, selector, type, callback, useCapture) {\n    var listenerFn = listener.apply(this, arguments);\n\n    element.addEventListener(type, listenerFn, useCapture);\n\n    return {\n        destroy: function() {\n            element.removeEventListener(type, listenerFn, useCapture);\n        }\n    }\n}\n\n/**\n * Delegates event to a selector.\n *\n * @param {Element|String|Array} [elements]\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @param {Boolean} useCapture\n * @return {Object}\n */\nfunction delegate(elements, selector, type, callback, useCapture) {\n    // Handle the regular Element usage\n    if (typeof elements.addEventListener === 'function') {\n        return _delegate.apply(null, arguments);\n    }\n\n    // Handle Element-less usage, it defaults to global delegation\n    if (typeof type === 'function') {\n        // Use `document` as the first parameter, then apply arguments\n        // This is a short way to .unshift `arguments` without running into deoptimizations\n        return _delegate.bind(null, document).apply(null, arguments);\n    }\n\n    // Handle Selector-based usage\n    if (typeof elements === 'string') {\n        elements = document.querySelectorAll(elements);\n    }\n\n    // Handle Array-like based usage\n    return Array.prototype.map.call(elements, function (element) {\n        return _delegate(element, selector, type, callback, useCapture);\n    });\n}\n\n/**\n * Finds closest match and invokes callback.\n *\n * @param {Element} element\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @return {Function}\n */\nfunction listener(element, selector, type, callback) {\n    return function(e) {\n        e.delegateTarget = closest(e.target, selector);\n\n        if (e.delegateTarget) {\n            callback.call(element, e);\n        }\n    }\n}\n\nmodule.exports = delegate;\n\n\n/***/ }),\n\n/***/ 879:\n/***/ (function(__unused_webpack_module, exports) {\n\n/**\n * Check if argument is a HTML element.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.node = function(value) {\n    return value !== undefined\n        && value instanceof HTMLElement\n        && value.nodeType === 1;\n};\n\n/**\n * Check if argument is a list of HTML elements.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.nodeList = function(value) {\n    var type = Object.prototype.toString.call(value);\n\n    return value !== undefined\n        && (type === '[object NodeList]' || type === '[object HTMLCollection]')\n        && ('length' in value)\n        && (value.length === 0 || exports.node(value[0]));\n};\n\n/**\n * Check if argument is a string.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.string = function(value) {\n    return typeof value === 'string'\n        || value instanceof String;\n};\n\n/**\n * Check if argument is a function.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.fn = function(value) {\n    var type = Object.prototype.toString.call(value);\n\n    return type === '[object Function]';\n};\n\n\n/***/ }),\n\n/***/ 370:\n/***/ (function(module, __unused_webpack_exports, __webpack_require__) {\n\nvar is = __webpack_require__(879);\nvar delegate = __webpack_require__(438);\n\n/**\n * Validates all params and calls the right\n * listener function based on its target type.\n *\n * @param {String|HTMLElement|HTMLCollection|NodeList} target\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listen(target, type, callback) {\n    if (!target && !type && !callback) {\n        throw new Error('Missing required arguments');\n    }\n\n    if (!is.string(type)) {\n        throw new TypeError('Second argument must be a String');\n    }\n\n    if (!is.fn(callback)) {\n        throw new TypeError('Third argument must be a Function');\n    }\n\n    if (is.node(target)) {\n        return listenNode(target, type, callback);\n    }\n    else if (is.nodeList(target)) {\n        return listenNodeList(target, type, callback);\n    }\n    else if (is.string(target)) {\n        return listenSelector(target, type, callback);\n    }\n    else {\n        throw new TypeError('First argument must be a String, HTMLElement, HTMLCollection, or NodeList');\n    }\n}\n\n/**\n * Adds an event listener to a HTML element\n * and returns a remove listener function.\n *\n * @param {HTMLElement} node\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listenNode(node, type, callback) {\n    node.addEventListener(type, callback);\n\n    return {\n        destroy: function() {\n            node.removeEventListener(type, callback);\n        }\n    }\n}\n\n/**\n * Add an event listener to a list of HTML elements\n * and returns a remove listener function.\n *\n * @param {NodeList|HTMLCollection} nodeList\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listenNodeList(nodeList, type, callback) {\n    Array.prototype.forEach.call(nodeList, function(node) {\n        node.addEventListener(type, callback);\n    });\n\n    return {\n        destroy: function() {\n            Array.prototype.forEach.call(nodeList, function(node) {\n                node.removeEventListener(type, callback);\n            });\n        }\n    }\n}\n\n/**\n * Add an event listener to a selector\n * and returns a remove listener function.\n *\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listenSelector(selector, type, callback) {\n    return delegate(document.body, selector, type, callback);\n}\n\nmodule.exports = listen;\n\n\n/***/ }),\n\n/***/ 817:\n/***/ (function(module) {\n\nfunction select(element) {\n    var selectedText;\n\n    if (element.nodeName === 'SELECT') {\n        element.focus();\n\n        selectedText = element.value;\n    }\n    else if (element.nodeName === 'INPUT' || element.nodeName === 'TEXTAREA') {\n        var isReadOnly = element.hasAttribute('readonly');\n\n        if (!isReadOnly) {\n            element.setAttribute('readonly', '');\n        }\n\n        element.select();\n        element.setSelectionRange(0, element.value.length);\n\n        if (!isReadOnly) {\n            element.removeAttribute('readonly');\n        }\n\n        selectedText = element.value;\n    }\n    else {\n        if (element.hasAttribute('contenteditable')) {\n            element.focus();\n        }\n\n        var selection = window.getSelection();\n        var range = document.createRange();\n\n        range.selectNodeContents(element);\n        selection.removeAllRanges();\n        selection.addRange(range);\n\n        selectedText = selection.toString();\n    }\n\n    return selectedText;\n}\n\nmodule.exports = select;\n\n\n/***/ }),\n\n/***/ 279:\n/***/ (function(module) {\n\nfunction E () {\n  // Keep this empty so it's easier to inherit from\n  // (via https://github.com/lipsmack from https://github.com/scottcorgan/tiny-emitter/issues/3)\n}\n\nE.prototype = {\n  on: function (name, callback, ctx) {\n    var e = this.e || (this.e = {});\n\n    (e[name] || (e[name] = [])).push({\n      fn: callback,\n      ctx: ctx\n    });\n\n    return this;\n  },\n\n  once: function (name, callback, ctx) {\n    var self = this;\n    function listener () {\n      self.off(name, listener);\n      callback.apply(ctx, arguments);\n    };\n\n    listener._ = callback\n    return this.on(name, listener, ctx);\n  },\n\n  emit: function (name) {\n    var data = [].slice.call(arguments, 1);\n    var evtArr = ((this.e || (this.e = {}))[name] || []).slice();\n    var i = 0;\n    var len = evtArr.length;\n\n    for (i; i < len; i++) {\n      evtArr[i].fn.apply(evtArr[i].ctx, data);\n    }\n\n    return this;\n  },\n\n  off: function (name, callback) {\n    var e = this.e || (this.e = {});\n    var evts = e[name];\n    var liveEvents = [];\n\n    if (evts && callback) {\n      for (var i = 0, len = evts.length; i < len; i++) {\n        if (evts[i].fn !== callback && evts[i].fn._ !== callback)\n          liveEvents.push(evts[i]);\n      }\n    }\n\n    // Remove event from queue to prevent memory leak\n    // Suggested by https://github.com/lazd\n    // Ref: https://github.com/scottcorgan/tiny-emitter/commit/c6ebfaa9bc973b33d110a84a307742b7cf94c953#commitcomment-5024910\n\n    (liveEvents.length)\n      ? e[name] = liveEvents\n      : delete e[name];\n\n    return this;\n  }\n};\n\nmodule.exports = E;\nmodule.exports.TinyEmitter = E;\n\n\n/***/ })\n\n/******/ \t});\n/************************************************************************/\n/******/ \t// The module cache\n/******/ \tvar __webpack_module_cache__ = {};\n/******/ \t\n/******/ \t// The require function\n/******/ \tfunction __webpack_require__(moduleId) {\n/******/ \t\t// Check if module is in cache\n/******/ \t\tif(__webpack_module_cache__[moduleId]) {\n/******/ \t\t\treturn __webpack_module_cache__[moduleId].exports;\n/******/ \t\t}\n/******/ \t\t// Create a new module (and put it into the cache)\n/******/ \t\tvar module = __webpack_module_cache__[moduleId] = {\n/******/ \t\t\t// no module.id needed\n/******/ \t\t\t// no module.loaded needed\n/******/ \t\t\texports: {}\n/******/ \t\t};\n/******/ \t\n/******/ \t\t// Execute the module function\n/******/ \t\t__webpack_modules__[moduleId](module, module.exports, __webpack_require__);\n/******/ \t\n/******/ \t\t// Return the exports of the module\n/******/ \t\treturn module.exports;\n/******/ \t}\n/******/ \t\n/************************************************************************/\n/******/ \t/* webpack/runtime/compat get default export */\n/******/ \t!function() {\n/******/ \t\t// getDefaultExport function for compatibility with non-harmony modules\n/******/ \t\t__webpack_require__.n = function(module) {\n/******/ \t\t\tvar getter = module && module.__esModule ?\n/******/ \t\t\t\tfunction() { return module['default']; } :\n/******/ \t\t\t\tfunction() { return module; };\n/******/ \t\t\t__webpack_require__.d(getter, { a: getter });\n/******/ \t\t\treturn getter;\n/******/ \t\t};\n/******/ \t}();\n/******/ \t\n/******/ \t/* webpack/runtime/define property getters */\n/******/ \t!function() {\n/******/ \t\t// define getter functions for harmony exports\n/******/ \t\t__webpack_require__.d = function(exports, definition) {\n/******/ \t\t\tfor(var key in definition) {\n/******/ \t\t\t\tif(__webpack_require__.o(definition, key) && !__webpack_require__.o(exports, key)) {\n/******/ \t\t\t\t\tObject.defineProperty(exports, key, { enumerable: true, get: definition[key] });\n/******/ \t\t\t\t}\n/******/ \t\t\t}\n/******/ \t\t};\n/******/ \t}();\n/******/ \t\n/******/ \t/* webpack/runtime/hasOwnProperty shorthand */\n/******/ \t!function() {\n/******/ \t\t__webpack_require__.o = function(obj, prop) { return Object.prototype.hasOwnProperty.call(obj, prop); }\n/******/ \t}();\n/******/ \t\n/************************************************************************/\n/******/ \t// module exports must be returned from runtime so entry inlining is disabled\n/******/ \t// startup\n/******/ \t// Load entry module and return exports\n/******/ \treturn __webpack_require__(686);\n/******/ })()\n.default;\n});", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport \"focus-visible\"\n\nimport {\n  EMPTY,\n  NEVER,\n  Observable,\n  Subject,\n  defer,\n  delay,\n  filter,\n  map,\n  merge,\n  mergeWith,\n  shareReplay,\n  switchMap\n} from \"rxjs\"\n\nimport { configuration, feature } from \"./_\"\nimport {\n  at,\n  getActiveElement,\n  getOptionalElement,\n  requestJSON,\n  setLocation,\n  setToggle,\n  watchDocument,\n  watchKeyboard,\n  watchLocation,\n  watchLocationTarget,\n  watchMedia,\n  watchPrint,\n  watchScript,\n  watchViewport\n} from \"./browser\"\nimport {\n  getComponentElement,\n  getComponentElements,\n  mountAnnounce,\n  mountBackToTop,\n  mountConsent,\n  mountContent,\n  mountDialog,\n  mountHeader,\n  mountHeaderTitle,\n  mountPalette,\n  mountProgress,\n  mountSearch,\n  mountSearchHiglight,\n  mountSidebar,\n  mountSource,\n  mountTableOfContents,\n  mountTabs,\n  watchHeader,\n  watchMain\n} from \"./components\"\nimport {\n  SearchIndex,\n  setupClipboardJS,\n  setupInstantNavigation,\n  setupVersionSelector\n} from \"./integrations\"\nimport {\n  patchEllipsis,\n  patchIndeterminate,\n  patchScrollfix,\n  patchScrolllock\n} from \"./patches\"\nimport \"./polyfills\"\n\n/* ----------------------------------------------------------------------------\n * Functions - @todo refactor\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch search index\n *\n * @returns Search index observable\n */\nfunction fetchSearchIndex(): Observable<SearchIndex> {\n  if (location.protocol === \"file:\") {\n    return watchScript(\n      `${new URL(\"search/search_index.js\", config.base)}`\n    )\n      .pipe(\n        // @ts-ignore - @todo fix typings\n        map(() => __index),\n        shareReplay(1)\n      )\n  } else {\n    return requestJSON<SearchIndex>(\n      new URL(\"search/search_index.json\", config.base)\n    )\n  }\n}\n\n/* ----------------------------------------------------------------------------\n * Application\n * ------------------------------------------------------------------------- */\n\n/* Yay, JavaScript is available */\ndocument.documentElement.classList.remove(\"no-js\")\ndocument.documentElement.classList.add(\"js\")\n\n/* Set up navigation observables and subjects */\nconst document$ = watchDocument()\nconst location$ = watchLocation()\nconst target$   = watchLocationTarget(location$)\nconst keyboard$ = watchKeyboard()\n\n/* Set up media observables */\nconst viewport$ = watchViewport()\nconst tablet$   = watchMedia(\"(min-width: 960px)\")\nconst screen$   = watchMedia(\"(min-width: 1220px)\")\nconst print$    = watchPrint()\n\n/* Retrieve search index, if search is enabled */\nconst config = configuration()\nconst index$ = document.forms.namedItem(\"search\")\n  ? fetchSearchIndex()\n  : NEVER\n\n/* Set up Clipboard.js integration */\nconst alert$ = new Subject<string>()\nsetupClipboardJS({ alert$ })\n\n/* Set up progress indicator */\nconst progress$ = new Subject<number>()\n\n/* Set up instant navigation, if enabled */\nif (feature(\"navigation.instant\"))\n  setupInstantNavigation({ location$, viewport$, progress$ })\n    .subscribe(document$)\n\n/* Set up version selector */\nif (config.version?.provider === \"mike\")\n  setupVersionSelector({ document$ })\n\n/* Always close drawer and search on navigation */\nmerge(location$, target$)\n  .pipe(\n    delay(125)\n  )\n    .subscribe(() => {\n      setToggle(\"drawer\", false)\n      setToggle(\"search\", false)\n    })\n\n/* Set up global keyboard handlers */\nkeyboard$\n  .pipe(\n    filter(({ mode }) => mode === \"global\")\n  )\n    .subscribe(key => {\n      switch (key.type) {\n\n        /* Go to previous page */\n        case \"p\":\n        case \",\":\n          const prev = getOptionalElement<HTMLLinkElement>(\"link[rel=prev]\")\n          if (typeof prev !== \"undefined\")\n            setLocation(prev)\n          break\n\n        /* Go to next page */\n        case \"n\":\n        case \".\":\n          const next = getOptionalElement<HTMLLinkElement>(\"link[rel=next]\")\n          if (typeof next !== \"undefined\")\n            setLocation(next)\n          break\n\n        /* Expand navigation, see https://bit.ly/3ZjG5io */\n        case \"Enter\":\n          const active = getActiveElement()\n          if (active instanceof HTMLLabelElement)\n            active.click()\n      }\n    })\n\n/* Set up patches */\npatchEllipsis({ viewport$, document$ })\npatchIndeterminate({ document$, tablet$ })\npatchScrollfix({ document$ })\npatchScrolllock({ viewport$, tablet$ })\n\n/* Set up header and main area observable */\nconst header$ = watchHeader(getComponentElement(\"header\"), { viewport$ })\nconst main$ = document$\n  .pipe(\n    map(() => getComponentElement(\"main\")),\n    switchMap(el => watchMain(el, { viewport$, header$ })),\n    shareReplay(1)\n  )\n\n/* Set up control component observables */\nconst control$ = merge(\n\n  /* Consent */\n  ...getComponentElements(\"consent\")\n    .map(el => mountConsent(el, { target$ })),\n\n  /* Dialog */\n  ...getComponentElements(\"dialog\")\n    .map(el => mountDialog(el, { alert$ })),\n\n  /* Header */\n  ...getComponentElements(\"header\")\n    .map(el => mountHeader(el, { viewport$, header$, main$ })),\n\n  /* Color palette */\n  ...getComponentElements(\"palette\")\n    .map(el => mountPalette(el)),\n\n  /* Progress bar */\n  ...getComponentElements(\"progress\")\n    .map(el => mountProgress(el, { progress$ })),\n\n  /* Search */\n  ...getComponentElements(\"search\")\n    .map(el => mountSearch(el, { index$, keyboard$ })),\n\n  /* Repository information */\n  ...getComponentElements(\"source\")\n    .map(el => mountSource(el))\n)\n\n/* Set up content component observables */\nconst content$ = defer(() => merge(\n\n  /* Announcement bar */\n  ...getComponentElements(\"announce\")\n    .map(el => mountAnnounce(el)),\n\n  /* Content */\n  ...getComponentElements(\"content\")\n    .map(el => mountContent(el, { viewport$, target$, print$ })),\n\n  /* Search highlighting */\n  ...getComponentElements(\"content\")\n    .map(el => feature(\"search.highlight\")\n      ? mountSearchHiglight(el, { index$, location$ })\n      : EMPTY\n    ),\n\n  /* Header title */\n  ...getComponentElements(\"header-title\")\n    .map(el => mountHeaderTitle(el, { viewport$, header$ })),\n\n  /* Sidebar */\n  ...getComponentElements(\"sidebar\")\n    .map(el => el.getAttribute(\"data-md-type\") === \"navigation\"\n      ? at(screen$, () => mountSidebar(el, { viewport$, header$, main$ }))\n      : at(tablet$, () => mountSidebar(el, { viewport$, header$, main$ }))\n    ),\n\n  /* Navigation tabs */\n  ...getComponentElements(\"tabs\")\n    .map(el => mountTabs(el, { viewport$, header$ })),\n\n  /* Table of contents */\n  ...getComponentElements(\"toc\")\n    .map(el => mountTableOfContents(el, {\n      viewport$, header$, main$, target$\n    })),\n\n  /* Back-to-top button */\n  ...getComponentElements(\"top\")\n    .map(el => mountBackToTop(el, { viewport$, header$, main$, target$ }))\n))\n\n/* Set up component observables */\nconst component$ = document$\n  .pipe(\n    switchMap(() => content$),\n    mergeWith(control$),\n    shareReplay(1)\n  )\n\n/* Subscribe to all components */\ncomponent$.subscribe()\n\n/* ----------------------------------------------------------------------------\n * Exports\n * ------------------------------------------------------------------------- */\n\nwindow.document$  = document$          /* Document observable */\nwindow.location$  = location$          /* Location subject */\nwindow.target$    = target$            /* Location target observable */\nwindow.keyboard$  = keyboard$          /* Keyboard observable */\nwindow.viewport$  = viewport$          /* Viewport observable */\nwindow.tablet$    = tablet$            /* Media tablet observable */\nwindow.screen$    = screen$            /* Media screen observable */\nwindow.print$     = print$             /* Media print observable */\nwindow.alert$     = alert$             /* Alert subject */\nwindow.progress$  = progress$          /* Progress indicator subject */\nwindow.component$ = component$         /* Component observable */\n", "/******************************************************************************\nCopyright (c) Microsoft Corporation.\n\nPermission to use, copy, modify, and/or distribute this software for any\npurpose with or without fee is hereby granted.\n\nTHE SOFTWARE IS PROVIDED \"AS IS\" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH\nREGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY\nAND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT,\nINDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM\nLOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR\nOTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR\nPERFORMANCE OF THIS SOFTWARE.\n***************************************************************************** */\n/* global Reflect, Promise, SuppressedError, Symbol, Iterator */\n\nvar extendStatics = function(d, b) {\n  extendStatics = Object.setPrototypeOf ||\n      ({ __proto__: [] } instanceof Array && function (d, b) { d.__proto__ = b; }) ||\n      function (d, b) { for (var p in b) if (Object.prototype.hasOwnProperty.call(b, p)) d[p] = b[p]; };\n  return extendStatics(d, b);\n};\n\nexport function __extends(d, b) {\n  if (typeof b !== \"function\" && b !== null)\n      throw new TypeError(\"Class extends value \" + String(b) + \" is not a constructor or null\");\n  extendStatics(d, b);\n  function __() { this.constructor = d; }\n  d.prototype = b === null ? Object.create(b) : (__.prototype = b.prototype, new __());\n}\n\nexport var __assign = function() {\n  __assign = Object.assign || function __assign(t) {\n      for (var s, i = 1, n = arguments.length; i < n; i++) {\n          s = arguments[i];\n          for (var p in s) if (Object.prototype.hasOwnProperty.call(s, p)) t[p] = s[p];\n      }\n      return t;\n  }\n  return __assign.apply(this, arguments);\n}\n\nexport function __rest(s, e) {\n  var t = {};\n  for (var p in s) if (Object.prototype.hasOwnProperty.call(s, p) && e.indexOf(p) < 0)\n      t[p] = s[p];\n  if (s != null && typeof Object.getOwnPropertySymbols === \"function\")\n      for (var i = 0, p = Object.getOwnPropertySymbols(s); i < p.length; i++) {\n          if (e.indexOf(p[i]) < 0 && Object.prototype.propertyIsEnumerable.call(s, p[i]))\n              t[p[i]] = s[p[i]];\n      }\n  return t;\n}\n\nexport function __decorate(decorators, target, key, desc) {\n  var c = arguments.length, r = c < 3 ? target : desc === null ? desc = Object.getOwnPropertyDescriptor(target, key) : desc, d;\n  if (typeof Reflect === \"object\" && typeof Reflect.decorate === \"function\") r = Reflect.decorate(decorators, target, key, desc);\n  else for (var i = decorators.length - 1; i >= 0; i--) if (d = decorators[i]) r = (c < 3 ? d(r) : c > 3 ? d(target, key, r) : d(target, key)) || r;\n  return c > 3 && r && Object.defineProperty(target, key, r), r;\n}\n\nexport function __param(paramIndex, decorator) {\n  return function (target, key) { decorator(target, key, paramIndex); }\n}\n\nexport function __esDecorate(ctor, descriptorIn, decorators, contextIn, initializers, extraInitializers) {\n  function accept(f) { if (f !== void 0 && typeof f !== \"function\") throw new TypeError(\"Function expected\"); return f; }\n  var kind = contextIn.kind, key = kind === \"getter\" ? \"get\" : kind === \"setter\" ? \"set\" : \"value\";\n  var target = !descriptorIn && ctor ? contextIn[\"static\"] ? ctor : ctor.prototype : null;\n  var descriptor = descriptorIn || (target ? Object.getOwnPropertyDescriptor(target, contextIn.name) : {});\n  var _, done = false;\n  for (var i = decorators.length - 1; i >= 0; i--) {\n      var context = {};\n      for (var p in contextIn) context[p] = p === \"access\" ? {} : contextIn[p];\n      for (var p in contextIn.access) context.access[p] = contextIn.access[p];\n      context.addInitializer = function (f) { if (done) throw new TypeError(\"Cannot add initializers after decoration has completed\"); extraInitializers.push(accept(f || null)); };\n      var result = (0, decorators[i])(kind === \"accessor\" ? { get: descriptor.get, set: descriptor.set } : descriptor[key], context);\n      if (kind === \"accessor\") {\n          if (result === void 0) continue;\n          if (result === null || typeof result !== \"object\") throw new TypeError(\"Object expected\");\n          if (_ = accept(result.get)) descriptor.get = _;\n          if (_ = accept(result.set)) descriptor.set = _;\n          if (_ = accept(result.init)) initializers.unshift(_);\n      }\n      else if (_ = accept(result)) {\n          if (kind === \"field\") initializers.unshift(_);\n          else descriptor[key] = _;\n      }\n  }\n  if (target) Object.defineProperty(target, contextIn.name, descriptor);\n  done = true;\n};\n\nexport function __runInitializers(thisArg, initializers, value) {\n  var useValue = arguments.length > 2;\n  for (var i = 0; i < initializers.length; i++) {\n      value = useValue ? initializers[i].call(thisArg, value) : initializers[i].call(thisArg);\n  }\n  return useValue ? value : void 0;\n};\n\nexport function __propKey(x) {\n  return typeof x === \"symbol\" ? x : \"\".concat(x);\n};\n\nexport function __setFunctionName(f, name, prefix) {\n  if (typeof name === \"symbol\") name = name.description ? \"[\".concat(name.description, \"]\") : \"\";\n  return Object.defineProperty(f, \"name\", { configurable: true, value: prefix ? \"\".concat(prefix, \" \", name) : name });\n};\n\nexport function __metadata(metadataKey, metadataValue) {\n  if (typeof Reflect === \"object\" && typeof Reflect.metadata === \"function\") return Reflect.metadata(metadataKey, metadataValue);\n}\n\nexport function __awaiter(thisArg, _arguments, P, generator) {\n  function adopt(value) { return value instanceof P ? value : new P(function (resolve) { resolve(value); }); }\n  return new (P || (P = Promise))(function (resolve, reject) {\n      function fulfilled(value) { try { step(generator.next(value)); } catch (e) { reject(e); } }\n      function rejected(value) { try { step(generator[\"throw\"](value)); } catch (e) { reject(e); } }\n      function step(result) { result.done ? resolve(result.value) : adopt(result.value).then(fulfilled, rejected); }\n      step((generator = generator.apply(thisArg, _arguments || [])).next());\n  });\n}\n\nexport function __generator(thisArg, body) {\n  var _ = { label: 0, sent: function() { if (t[0] & 1) throw t[1]; return t[1]; }, trys: [], ops: [] }, f, y, t, g = Object.create((typeof Iterator === \"function\" ? Iterator : Object).prototype);\n  return g.next = verb(0), g[\"throw\"] = verb(1), g[\"return\"] = verb(2), typeof Symbol === \"function\" && (g[Symbol.iterator] = function() { return this; }), g;\n  function verb(n) { return function (v) { return step([n, v]); }; }\n  function step(op) {\n      if (f) throw new TypeError(\"Generator is already executing.\");\n      while (g && (g = 0, op[0] && (_ = 0)), _) try {\n          if (f = 1, y && (t = op[0] & 2 ? y[\"return\"] : op[0] ? y[\"throw\"] || ((t = y[\"return\"]) && t.call(y), 0) : y.next) && !(t = t.call(y, op[1])).done) return t;\n          if (y = 0, t) op = [op[0] & 2, t.value];\n          switch (op[0]) {\n              case 0: case 1: t = op; break;\n              case 4: _.label++; return { value: op[1], done: false };\n              case 5: _.label++; y = op[1]; op = [0]; continue;\n              case 7: op = _.ops.pop(); _.trys.pop(); continue;\n              default:\n                  if (!(t = _.trys, t = t.length > 0 && t[t.length - 1]) && (op[0] === 6 || op[0] === 2)) { _ = 0; continue; }\n                  if (op[0] === 3 && (!t || (op[1] > t[0] && op[1] < t[3]))) { _.label = op[1]; break; }\n                  if (op[0] === 6 && _.label < t[1]) { _.label = t[1]; t = op; break; }\n                  if (t && _.label < t[2]) { _.label = t[2]; _.ops.push(op); break; }\n                  if (t[2]) _.ops.pop();\n                  _.trys.pop(); continue;\n          }\n          op = body.call(thisArg, _);\n      } catch (e) { op = [6, e]; y = 0; } finally { f = t = 0; }\n      if (op[0] & 5) throw op[1]; return { value: op[0] ? op[1] : void 0, done: true };\n  }\n}\n\nexport var __createBinding = Object.create ? (function(o, m, k, k2) {\n  if (k2 === undefined) k2 = k;\n  var desc = Object.getOwnPropertyDescriptor(m, k);\n  if (!desc || (\"get\" in desc ? !m.__esModule : desc.writable || desc.configurable)) {\n      desc = { enumerable: true, get: function() { return m[k]; } };\n  }\n  Object.defineProperty(o, k2, desc);\n}) : (function(o, m, k, k2) {\n  if (k2 === undefined) k2 = k;\n  o[k2] = m[k];\n});\n\nexport function __exportStar(m, o) {\n  for (var p in m) if (p !== \"default\" && !Object.prototype.hasOwnProperty.call(o, p)) __createBinding(o, m, p);\n}\n\nexport function __values(o) {\n  var s = typeof Symbol === \"function\" && Symbol.iterator, m = s && o[s], i = 0;\n  if (m) return m.call(o);\n  if (o && typeof o.length === \"number\") return {\n      next: function () {\n          if (o && i >= o.length) o = void 0;\n          return { value: o && o[i++], done: !o };\n      }\n  };\n  throw new TypeError(s ? \"Object is not iterable.\" : \"Symbol.iterator is not defined.\");\n}\n\nexport function __read(o, n) {\n  var m = typeof Symbol === \"function\" && o[Symbol.iterator];\n  if (!m) return o;\n  var i = m.call(o), r, ar = [], e;\n  try {\n      while ((n === void 0 || n-- > 0) && !(r = i.next()).done) ar.push(r.value);\n  }\n  catch (error) { e = { error: error }; }\n  finally {\n      try {\n          if (r && !r.done && (m = i[\"return\"])) m.call(i);\n      }\n      finally { if (e) throw e.error; }\n  }\n  return ar;\n}\n\n/** @deprecated */\nexport function __spread() {\n  for (var ar = [], i = 0; i < arguments.length; i++)\n      ar = ar.concat(__read(arguments[i]));\n  return ar;\n}\n\n/** @deprecated */\nexport function __spreadArrays() {\n  for (var s = 0, i = 0, il = arguments.length; i < il; i++) s += arguments[i].length;\n  for (var r = Array(s), k = 0, i = 0; i < il; i++)\n      for (var a = arguments[i], j = 0, jl = a.length; j < jl; j++, k++)\n          r[k] = a[j];\n  return r;\n}\n\nexport function __spreadArray(to, from, pack) {\n  if (pack || arguments.length === 2) for (var i = 0, l = from.length, ar; i < l; i++) {\n      if (ar || !(i in from)) {\n          if (!ar) ar = Array.prototype.slice.call(from, 0, i);\n          ar[i] = from[i];\n      }\n  }\n  return to.concat(ar || Array.prototype.slice.call(from));\n}\n\nexport function __await(v) {\n  return this instanceof __await ? (this.v = v, this) : new __await(v);\n}\n\nexport function __asyncGenerator(thisArg, _arguments, generator) {\n  if (!Symbol.asyncIterator) throw new TypeError(\"Symbol.asyncIterator is not defined.\");\n  var g = generator.apply(thisArg, _arguments || []), i, q = [];\n  return i = Object.create((typeof AsyncIterator === \"function\" ? AsyncIterator : Object).prototype), verb(\"next\"), verb(\"throw\"), verb(\"return\", awaitReturn), i[Symbol.asyncIterator] = function () { return this; }, i;\n  function awaitReturn(f) { return function (v) { return Promise.resolve(v).then(f, reject); }; }\n  function verb(n, f) { if (g[n]) { i[n] = function (v) { return new Promise(function (a, b) { q.push([n, v, a, b]) > 1 || resume(n, v); }); }; if (f) i[n] = f(i[n]); } }\n  function resume(n, v) { try { step(g[n](v)); } catch (e) { settle(q[0][3], e); } }\n  function step(r) { r.value instanceof __await ? Promise.resolve(r.value.v).then(fulfill, reject) : settle(q[0][2], r); }\n  function fulfill(value) { resume(\"next\", value); }\n  function reject(value) { resume(\"throw\", value); }\n  function settle(f, v) { if (f(v), q.shift(), q.length) resume(q[0][0], q[0][1]); }\n}\n\nexport function __asyncDelegator(o) {\n  var i, p;\n  return i = {}, verb(\"next\"), verb(\"throw\", function (e) { throw e; }), verb(\"return\"), i[Symbol.iterator] = function () { return this; }, i;\n  function verb(n, f) { i[n] = o[n] ? function (v) { return (p = !p) ? { value: __await(o[n](v)), done: false } : f ? f(v) : v; } : f; }\n}\n\nexport function __asyncValues(o) {\n  if (!Symbol.asyncIterator) throw new TypeError(\"Symbol.asyncIterator is not defined.\");\n  var m = o[Symbol.asyncIterator], i;\n  return m ? m.call(o) : (o = typeof __values === \"function\" ? __values(o) : o[Symbol.iterator](), i = {}, verb(\"next\"), verb(\"throw\"), verb(\"return\"), i[Symbol.asyncIterator] = function () { return this; }, i);\n  function verb(n) { i[n] = o[n] && function (v) { return new Promise(function (resolve, reject) { v = o[n](v), settle(resolve, reject, v.done, v.value); }); }; }\n  function settle(resolve, reject, d, v) { Promise.resolve(v).then(function(v) { resolve({ value: v, done: d }); }, reject); }\n}\n\nexport function __makeTemplateObject(cooked, raw) {\n  if (Object.defineProperty) { Object.defineProperty(cooked, \"raw\", { value: raw }); } else { cooked.raw = raw; }\n  return cooked;\n};\n\nvar __setModuleDefault = Object.create ? (function(o, v) {\n  Object.defineProperty(o, \"default\", { enumerable: true, value: v });\n}) : function(o, v) {\n  o[\"default\"] = v;\n};\n\nexport function __importStar(mod) {\n  if (mod && mod.__esModule) return mod;\n  var result = {};\n  if (mod != null) for (var k in mod) if (k !== \"default\" && Object.prototype.hasOwnProperty.call(mod, k)) __createBinding(result, mod, k);\n  __setModuleDefault(result, mod);\n  return result;\n}\n\nexport function __importDefault(mod) {\n  return (mod && mod.__esModule) ? mod : { default: mod };\n}\n\nexport function __classPrivateFieldGet(receiver, state, kind, f) {\n  if (kind === \"a\" && !f) throw new TypeError(\"Private accessor was defined without a getter\");\n  if (typeof state === \"function\" ? receiver !== state || !f : !state.has(receiver)) throw new TypeError(\"Cannot read private member from an object whose class did not declare it\");\n  return kind === \"m\" ? f : kind === \"a\" ? f.call(receiver) : f ? f.value : state.get(receiver);\n}\n\nexport function __classPrivateFieldSet(receiver, state, value, kind, f) {\n  if (kind === \"m\") throw new TypeError(\"Private method is not writable\");\n  if (kind === \"a\" && !f) throw new TypeError(\"Private accessor was defined without a setter\");\n  if (typeof state === \"function\" ? receiver !== state || !f : !state.has(receiver)) throw new TypeError(\"Cannot write private member to an object whose class did not declare it\");\n  return (kind === \"a\" ? f.call(receiver, value) : f ? f.value = value : state.set(receiver, value)), value;\n}\n\nexport function __classPrivateFieldIn(state, receiver) {\n  if (receiver === null || (typeof receiver !== \"object\" && typeof receiver !== \"function\")) throw new TypeError(\"Cannot use 'in' operator on non-object\");\n  return typeof state === \"function\" ? receiver === state : state.has(receiver);\n}\n\nexport function __addDisposableResource(env, value, async) {\n  if (value !== null && value !== void 0) {\n    if (typeof value !== \"object\" && typeof value !== \"function\") throw new TypeError(\"Object expected.\");\n    var dispose, inner;\n    if (async) {\n      if (!Symbol.asyncDispose) throw new TypeError(\"Symbol.asyncDispose is not defined.\");\n      dispose = value[Symbol.asyncDispose];\n    }\n    if (dispose === void 0) {\n      if (!Symbol.dispose) throw new TypeError(\"Symbol.dispose is not defined.\");\n      dispose = value[Symbol.dispose];\n      if (async) inner = dispose;\n    }\n    if (typeof dispose !== \"function\") throw new TypeError(\"Object not disposable.\");\n    if (inner) dispose = function() { try { inner.call(this); } catch (e) { return Promise.reject(e); } };\n    env.stack.push({ value: value, dispose: dispose, async: async });\n  }\n  else if (async) {\n    env.stack.push({ async: true });\n  }\n  return value;\n}\n\nvar _SuppressedError = typeof SuppressedError === \"function\" ? SuppressedError : function (error, suppressed, message) {\n  var e = new Error(message);\n  return e.name = \"SuppressedError\", e.error = error, e.suppressed = suppressed, e;\n};\n\nexport function __disposeResources(env) {\n  function fail(e) {\n    env.error = env.hasError ? new _SuppressedError(e, env.error, \"An error was suppressed during disposal.\") : e;\n    env.hasError = true;\n  }\n  var r, s = 0;\n  function next() {\n    while (r = env.stack.pop()) {\n      try {\n        if (!r.async && s === 1) return s = 0, env.stack.push(r), Promise.resolve().then(next);\n        if (r.dispose) {\n          var result = r.dispose.call(r.value);\n          if (r.async) return s |= 2, Promise.resolve(result).then(next, function(e) { fail(e); return next(); });\n        }\n        else s |= 1;\n      }\n      catch (e) {\n        fail(e);\n      }\n    }\n    if (s === 1) return env.hasError ? Promise.reject(env.error) : Promise.resolve();\n    if (env.hasError) throw env.error;\n  }\n  return next();\n}\n\nexport default {\n  __extends,\n  __assign,\n  __rest,\n  __decorate,\n  __param,\n  __metadata,\n  __awaiter,\n  __generator,\n  __createBinding,\n  __exportStar,\n  __values,\n  __read,\n  __spread,\n  __spreadArrays,\n  __spreadArray,\n  __await,\n  __asyncGenerator,\n  __asyncDelegator,\n  __asyncValues,\n  __makeTemplateObject,\n  __importStar,\n  __importDefault,\n  __classPrivateFieldGet,\n  __classPrivateFieldSet,\n  __classPrivateFieldIn,\n  __addDisposableResource,\n  __disposeResources,\n};\n", "/**\n * Returns true if the object is a function.\n * @param value The value to check\n */\nexport function isFunction(value: any): value is (...args: any[]) => any {\n  return typeof value === 'function';\n}\n", "/**\n * Used to create Error subclasses until the community moves away from ES5.\n *\n * This is because compiling from TypeScript down to ES5 has issues with subclassing Errors\n * as well as other built-in types: https://github.com/Microsoft/TypeScript/issues/12123\n *\n * @param createImpl A factory function to create the actual constructor implementation. The returned\n * function should be a named function that calls `_super` internally.\n */\nexport function createErrorClass<T>(createImpl: (_super: any) => any): T {\n  const _super = (instance: any) => {\n    Error.call(instance);\n    instance.stack = new Error().stack;\n  };\n\n  const ctorFunc = createImpl(_super);\n  ctorFunc.prototype = Object.create(Error.prototype);\n  ctorFunc.prototype.constructor = ctorFunc;\n  return ctorFunc;\n}\n", "import { createErrorClass } from './createErrorClass';\n\nexport interface UnsubscriptionError extends Error {\n  readonly errors: any[];\n}\n\nexport interface UnsubscriptionErrorCtor {\n  /**\n   * @deprecated Internal implementation detail. Do not construct error instances.\n   * Cannot be tagged as internal: https://github.com/ReactiveX/rxjs/issues/6269\n   */\n  new (errors: any[]): UnsubscriptionError;\n}\n\n/**\n * An error thrown when one or more errors have occurred during the\n * `unsubscribe` of a {@link Subscription}.\n */\nexport const UnsubscriptionError: UnsubscriptionErrorCtor = createErrorClass(\n  (_super) =>\n    function UnsubscriptionErrorImpl(this: any, errors: (Error | string)[]) {\n      _super(this);\n      this.message = errors\n        ? `${errors.length} errors occurred during unsubscription:\n${errors.map((err, i) => `${i + 1}) ${err.toString()}`).join('\\n  ')}`\n        : '';\n      this.name = 'UnsubscriptionError';\n      this.errors = errors;\n    }\n);\n", "/**\n * Removes an item from an array, mutating it.\n * @param arr The array to remove the item from\n * @param item The item to remove\n */\nexport function arrRemove<T>(arr: T[] | undefined | null, item: T) {\n  if (arr) {\n    const index = arr.indexOf(item);\n    0 <= index && arr.splice(index, 1);\n  }\n}\n", "import { isFunction } from './util/isFunction';\nimport { UnsubscriptionError } from './util/UnsubscriptionError';\nimport { SubscriptionLike, TeardownLogic, Unsubscribable } from './types';\nimport { arrRemove } from './util/arrRemove';\n\n/**\n * Represents a disposable resource, such as the execution of an Observable. A\n * Subscription has one important method, `unsubscribe`, that takes no argument\n * and just disposes the resource held by the subscription.\n *\n * Additionally, subscriptions may be grouped together through the `add()`\n * method, which will attach a child Subscription to the current Subscription.\n * When a Subscription is unsubscribed, all its children (and its grandchildren)\n * will be unsubscribed as well.\n *\n * @class Subscription\n */\nexport class Subscription implements SubscriptionLike {\n  /** @nocollapse */\n  public static EMPTY = (() => {\n    const empty = new Subscription();\n    empty.closed = true;\n    return empty;\n  })();\n\n  /**\n   * A flag to indicate whether this Subscription has already been unsubscribed.\n   */\n  public closed = false;\n\n  private _parentage: Subscription[] | Subscription | null = null;\n\n  /**\n   * The list of registered finalizers to execute upon unsubscription. Adding and removing from this\n   * list occurs in the {@link #add} and {@link #remove} methods.\n   */\n  private _finalizers: Exclude<TeardownLogic, void>[] | null = null;\n\n  /**\n   * @param initialTeardown A function executed first as part of the finalization\n   * process that is kicked off when {@link #unsubscribe} is called.\n   */\n  constructor(private initialTeardown?: () => void) {}\n\n  /**\n   * Disposes the resources held by the subscription. May, for instance, cancel\n   * an ongoing Observable execution or cancel any other type of work that\n   * started when the Subscription was created.\n   * @return {void}\n   */\n  unsubscribe(): void {\n    let errors: any[] | undefined;\n\n    if (!this.closed) {\n      this.closed = true;\n\n      // Remove this from it's parents.\n      const { _parentage } = this;\n      if (_parentage) {\n        this._parentage = null;\n        if (Array.isArray(_parentage)) {\n          for (const parent of _parentage) {\n            parent.remove(this);\n          }\n        } else {\n          _parentage.remove(this);\n        }\n      }\n\n      const { initialTeardown: initialFinalizer } = this;\n      if (isFunction(initialFinalizer)) {\n        try {\n          initialFinalizer();\n        } catch (e) {\n          errors = e instanceof UnsubscriptionError ? e.errors : [e];\n        }\n      }\n\n      const { _finalizers } = this;\n      if (_finalizers) {\n        this._finalizers = null;\n        for (const finalizer of _finalizers) {\n          try {\n            execFinalizer(finalizer);\n          } catch (err) {\n            errors = errors ?? [];\n            if (err instanceof UnsubscriptionError) {\n              errors = [...errors, ...err.errors];\n            } else {\n              errors.push(err);\n            }\n          }\n        }\n      }\n\n      if (errors) {\n        throw new UnsubscriptionError(errors);\n      }\n    }\n  }\n\n  /**\n   * Adds a finalizer to this subscription, so that finalization will be unsubscribed/called\n   * when this subscription is unsubscribed. If this subscription is already {@link #closed},\n   * because it has already been unsubscribed, then whatever finalizer is passed to it\n   * will automatically be executed (unless the finalizer itself is also a closed subscription).\n   *\n   * Closed Subscriptions cannot be added as finalizers to any subscription. Adding a closed\n   * subscription to a any subscription will result in no operation. (A noop).\n   *\n   * Adding a subscription to itself, or adding `null` or `undefined` will not perform any\n   * operation at all. (A noop).\n   *\n   * `Subscription` instances that are added to this instance will automatically remove themselves\n   * if they are unsubscribed. Functions and {@link Unsubscribable} objects that you wish to remove\n   * will need to be removed manually with {@link #remove}\n   *\n   * @param teardown The finalization logic to add to this subscription.\n   */\n  add(teardown: TeardownLogic): void {\n    // Only add the finalizer if it's not undefined\n    // and don't add a subscription to itself.\n    if (teardown && teardown !== this) {\n      if (this.closed) {\n        // If this subscription is already closed,\n        // execute whatever finalizer is handed to it automatically.\n        execFinalizer(teardown);\n      } else {\n        if (teardown instanceof Subscription) {\n          // We don't add closed subscriptions, and we don't add the same subscription\n          // twice. Subscription unsubscribe is idempotent.\n          if (teardown.closed || teardown._hasParent(this)) {\n            return;\n          }\n          teardown._addParent(this);\n        }\n        (this._finalizers = this._finalizers ?? []).push(teardown);\n      }\n    }\n  }\n\n  /**\n   * Checks to see if a this subscription already has a particular parent.\n   * This will signal that this subscription has already been added to the parent in question.\n   * @param parent the parent to check for\n   */\n  private _hasParent(parent: Subscription) {\n    const { _parentage } = this;\n    return _parentage === parent || (Array.isArray(_parentage) && _parentage.includes(parent));\n  }\n\n  /**\n   * Adds a parent to this subscription so it can be removed from the parent if it\n   * unsubscribes on it's own.\n   *\n   * NOTE: THIS ASSUMES THAT {@link _hasParent} HAS ALREADY BEEN CHECKED.\n   * @param parent The parent subscription to add\n   */\n  private _addParent(parent: Subscription) {\n    const { _parentage } = this;\n    this._parentage = Array.isArray(_parentage) ? (_parentage.push(parent), _parentage) : _parentage ? [_parentage, parent] : parent;\n  }\n\n  /**\n   * Called on a child when it is removed via {@link #remove}.\n   * @param parent The parent to remove\n   */\n  private _removeParent(parent: Subscription) {\n    const { _parentage } = this;\n    if (_parentage === parent) {\n      this._parentage = null;\n    } else if (Array.isArray(_parentage)) {\n      arrRemove(_parentage, parent);\n    }\n  }\n\n  /**\n   * Removes a finalizer from this subscription that was previously added with the {@link #add} method.\n   *\n   * Note that `Subscription` instances, when unsubscribed, will automatically remove themselves\n   * from every other `Subscription` they have been added to. This means that using the `remove` method\n   * is not a common thing and should be used thoughtfully.\n   *\n   * If you add the same finalizer instance of a function or an unsubscribable object to a `Subscription` instance\n   * more than once, you will need to call `remove` the same number of times to remove all instances.\n   *\n   * All finalizer instances are removed to free up memory upon unsubscription.\n   *\n   * @param teardown The finalizer to remove from this subscription\n   */\n  remove(teardown: Exclude<TeardownLogic, void>): void {\n    const { _finalizers } = this;\n    _finalizers && arrRemove(_finalizers, teardown);\n\n    if (teardown instanceof Subscription) {\n      teardown._removeParent(this);\n    }\n  }\n}\n\nexport const EMPTY_SUBSCRIPTION = Subscription.EMPTY;\n\nexport function isSubscription(value: any): value is Subscription {\n  return (\n    value instanceof Subscription ||\n    (value && 'closed' in value && isFunction(value.remove) && isFunction(value.add) && isFunction(value.unsubscribe))\n  );\n}\n\nfunction execFinalizer(finalizer: Unsubscribable | (() => void)) {\n  if (isFunction(finalizer)) {\n    finalizer();\n  } else {\n    finalizer.unsubscribe();\n  }\n}\n", "import { Subscriber } from './Subscriber';\nimport { ObservableNotification } from './types';\n\n/**\n * The {@link GlobalConfig} object for RxJS. It is used to configure things\n * like how to react on unhandled errors.\n */\nexport const config: GlobalConfig = {\n  onUnhandledError: null,\n  onStoppedNotification: null,\n  Promise: undefined,\n  useDeprecatedSynchronousErrorHandling: false,\n  useDeprecatedNextContext: false,\n};\n\n/**\n * The global configuration object for RxJS, used to configure things\n * like how to react on unhandled errors. Accessible via {@link config}\n * object.\n */\nexport interface GlobalConfig {\n  /**\n   * A registration point for unhandled errors from RxJS. These are errors that\n   * cannot were not handled by consuming code in the usual subscription path. For\n   * example, if you have this configured, and you subscribe to an observable without\n   * providing an error handler, errors from that subscription will end up here. This\n   * will _always_ be called asynchronously on another job in the runtime. This is because\n   * we do not want errors thrown in this user-configured handler to interfere with the\n   * behavior of the library.\n   */\n  onUnhandledError: ((err: any) => void) | null;\n\n  /**\n   * A registration point for notifications that cannot be sent to subscribers because they\n   * have completed, errored or have been explicitly unsubscribed. By default, next, complete\n   * and error notifications sent to stopped subscribers are noops. However, sometimes callers\n   * might want a different behavior. For example, with sources that attempt to report errors\n   * to stopped subscribers, a caller can configure RxJS to throw an unhandled error instead.\n   * This will _always_ be called asynchronously on another job in the runtime. This is because\n   * we do not want errors thrown in this user-configured handler to interfere with the\n   * behavior of the library.\n   */\n  onStoppedNotification: ((notification: ObservableNotification<any>, subscriber: Subscriber<any>) => void) | null;\n\n  /**\n   * The promise constructor used by default for {@link Observable#toPromise toPromise} and {@link Observable#forEach forEach}\n   * methods.\n   *\n   * @deprecated As of version 8, RxJS will no longer support this sort of injection of a\n   * Promise constructor. If you need a Promise implementation other than native promises,\n   * please polyfill/patch Promise as you see appropriate. Will be removed in v8.\n   */\n  Promise?: PromiseConstructorLike;\n\n  /**\n   * If true, turns on synchronous error rethrowing, which is a deprecated behavior\n   * in v6 and higher. This behavior enables bad patterns like wrapping a subscribe\n   * call in a try/catch block. It also enables producer interference, a nasty bug\n   * where a multicast can be broken for all observers by a downstream consumer with\n   * an unhandled error. DO NOT USE THIS FLAG UNLESS IT'S NEEDED TO BUY TIME\n   * FOR MIGRATION REASONS.\n   *\n   * @deprecated As of version 8, RxJS will no longer support synchronous throwing\n   * of unhandled errors. All errors will be thrown on a separate call stack to prevent bad\n   * behaviors described above. Will be removed in v8.\n   */\n  useDeprecatedSynchronousErrorHandling: boolean;\n\n  /**\n   * If true, enables an as-of-yet undocumented feature from v5: The ability to access\n   * `unsubscribe()` via `this` context in `next` functions created in observers passed\n   * to `subscribe`.\n   *\n   * This is being removed because the performance was severely problematic, and it could also cause\n   * issues when types other than POJOs are passed to subscribe as subscribers, as they will likely have\n   * their `this` context overwritten.\n   *\n   * @deprecated As of version 8, RxJS will no longer support altering the\n   * context of next functions provided as part of an observer to Subscribe. Instead,\n   * you will have access to a subscription or a signal or token that will allow you to do things like\n   * unsubscribe and test closed status. Will be removed in v8.\n   */\n  useDeprecatedNextContext: boolean;\n}\n", "import type { TimerHandle } from './timerHandle';\ntype SetTimeoutFunction = (handler: () => void, timeout?: number, ...args: any[]) => TimerHandle;\ntype ClearTimeoutFunction = (handle: TimerHandle) => void;\n\ninterface TimeoutProvider {\n  setTimeout: SetTimeoutFunction;\n  clearTimeout: ClearTimeoutFunction;\n  delegate:\n    | {\n        setTimeout: SetTimeoutFunction;\n        clearTimeout: ClearTimeoutFunction;\n      }\n    | undefined;\n}\n\nexport const timeoutProvider: TimeoutProvider = {\n  // When accessing the delegate, use the variable rather than `this` so that\n  // the functions can be called without being bound to the provider.\n  setTimeout(handler: () => void, timeout?: number, ...args) {\n    const { delegate } = timeoutProvider;\n    if (delegate?.setTimeout) {\n      return delegate.setTimeout(handler, timeout, ...args);\n    }\n    return setTimeout(handler, timeout, ...args);\n  },\n  clearTimeout(handle) {\n    const { delegate } = timeoutProvider;\n    return (delegate?.clearTimeout || clearTimeout)(handle as any);\n  },\n  delegate: undefined,\n};\n", "import { config } from '../config';\nimport { timeoutProvider } from '../scheduler/timeoutProvider';\n\n/**\n * Handles an error on another job either with the user-configured {@link onUnhandledError},\n * or by throwing it on that new job so it can be picked up by `window.onerror`, `process.on('error')`, etc.\n *\n * This should be called whenever there is an error that is out-of-band with the subscription\n * or when an error hits a terminal boundary of the subscription and no error handler was provided.\n *\n * @param err the error to report\n */\nexport function reportUnhandledError(err: any) {\n  timeoutProvider.setTimeout(() => {\n    const { onUnhandledError } = config;\n    if (onUnhandledError) {\n      // Execute the user-configured error handler.\n      onUnhandledError(err);\n    } else {\n      // Throw so it is picked up by the runtime's uncaught error mechanism.\n      throw err;\n    }\n  });\n}\n", "/* tslint:disable:no-empty */\nexport function noop() { }\n", "import { CompleteNotification, NextNotification, ErrorNotification } from './types';\n\n/**\n * A completion object optimized for memory use and created to be the\n * same \"shape\" as other notifications in v8.\n * @internal\n */\nexport const COMPLETE_NOTIFICATION = (() => createNotification('C', undefined, undefined) as CompleteNotification)();\n\n/**\n * Internal use only. Creates an optimized error notification that is the same \"shape\"\n * as other notifications.\n * @internal\n */\nexport function errorNotification(error: any): ErrorNotification {\n  return createNotification('E', undefined, error) as any;\n}\n\n/**\n * Internal use only. Creates an optimized next notification that is the same \"shape\"\n * as other notifications.\n * @internal\n */\nexport function nextNotification<T>(value: T) {\n  return createNotification('N', value, undefined) as NextNotification<T>;\n}\n\n/**\n * Ensures that all notifications created internally have the same \"shape\" in v8.\n *\n * TODO: This is only exported to support a crazy legacy test in `groupBy`.\n * @internal\n */\nexport function createNotification(kind: 'N' | 'E' | 'C', value: any, error: any) {\n  return {\n    kind,\n    value,\n    error,\n  };\n}\n", "import { config } from '../config';\n\nlet context: { errorThrown: boolean; error: any } | null = null;\n\n/**\n * Handles dealing with errors for super-gross mode. Creates a context, in which\n * any synchronously thrown errors will be passed to {@link captureError}. Which\n * will record the error such that it will be rethrown after the call back is complete.\n * TODO: Remove in v8\n * @param cb An immediately executed function.\n */\nexport function errorContext(cb: () => void) {\n  if (config.useDeprecatedSynchronousErrorHandling) {\n    const isRoot = !context;\n    if (isRoot) {\n      context = { errorThrown: false, error: null };\n    }\n    cb();\n    if (isRoot) {\n      const { errorThrown, error } = context!;\n      context = null;\n      if (errorThrown) {\n        throw error;\n      }\n    }\n  } else {\n    // This is the general non-deprecated path for everyone that\n    // isn't crazy enough to use super-gross mode (useDeprecatedSynchronousErrorHandling)\n    cb();\n  }\n}\n\n/**\n * Captures errors only in super-gross mode.\n * @param err the error to capture\n */\nexport function captureError(err: any) {\n  if (config.useDeprecatedSynchronousErrorHandling && context) {\n    context.errorThrown = true;\n    context.error = err;\n  }\n}\n", "import { isFunction } from './util/isFunction';\nimport { Observer, ObservableNotification } from './types';\nimport { isSubscription, Subscription } from './Subscription';\nimport { config } from './config';\nimport { reportUnhandledError } from './util/reportUnhandledError';\nimport { noop } from './util/noop';\nimport { nextNotification, errorNotification, COMPLETE_NOTIFICATION } from './NotificationFactories';\nimport { timeoutProvider } from './scheduler/timeoutProvider';\nimport { captureError } from './util/errorContext';\n\n/**\n * Implements the {@link Observer} interface and extends the\n * {@link Subscription} class. While the {@link Observer} is the public API for\n * consuming the values of an {@link Observable}, all Observers get converted to\n * a Subscriber, in order to provide Subscription-like capabilities such as\n * `unsubscribe`. Subscriber is a common type in RxJS, and crucial for\n * implementing operators, but it is rarely used as a public API.\n *\n * @class Subscriber<T>\n */\nexport class Subscriber<T> extends Subscription implements Observer<T> {\n  /**\n   * A static factory for a Subscriber, given a (potentially partial) definition\n   * of an Observer.\n   * @param next The `next` callback of an Observer.\n   * @param error The `error` callback of an\n   * Observer.\n   * @param complete The `complete` callback of an\n   * Observer.\n   * @return A Subscriber wrapping the (partially defined)\n   * Observer represented by the given arguments.\n   * @nocollapse\n   * @deprecated Do not use. Will be removed in v8. There is no replacement for this\n   * method, and there is no reason to be creating instances of `Subscriber` directly.\n   * If you have a specific use case, please file an issue.\n   */\n  static create<T>(next?: (x?: T) => void, error?: (e?: any) => void, complete?: () => void): Subscriber<T> {\n    return new SafeSubscriber(next, error, complete);\n  }\n\n  /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n  protected isStopped: boolean = false;\n  /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n  protected destination: Subscriber<any> | Observer<any>; // this `any` is the escape hatch to erase extra type param (e.g. R)\n\n  /**\n   * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n   * There is no reason to directly create an instance of Subscriber. This type is exported for typings reasons.\n   */\n  constructor(destination?: Subscriber<any> | Observer<any>) {\n    super();\n    if (destination) {\n      this.destination = destination;\n      // Automatically chain subscriptions together here.\n      // if destination is a Subscription, then it is a Subscriber.\n      if (isSubscription(destination)) {\n        destination.add(this);\n      }\n    } else {\n      this.destination = EMPTY_OBSERVER;\n    }\n  }\n\n  /**\n   * The {@link Observer} callback to receive notifications of type `next` from\n   * the Observable, with a value. The Observable may call this method 0 or more\n   * times.\n   * @param {T} [value] The `next` value.\n   * @return {void}\n   */\n  next(value?: T): void {\n    if (this.isStopped) {\n      handleStoppedNotification(nextNotification(value), this);\n    } else {\n      this._next(value!);\n    }\n  }\n\n  /**\n   * The {@link Observer} callback to receive notifications of type `error` from\n   * the Observable, with an attached `Error`. Notifies the Observer that\n   * the Observable has experienced an error condition.\n   * @param {any} [err] The `error` exception.\n   * @return {void}\n   */\n  error(err?: any): void {\n    if (this.isStopped) {\n      handleStoppedNotification(errorNotification(err), this);\n    } else {\n      this.isStopped = true;\n      this._error(err);\n    }\n  }\n\n  /**\n   * The {@link Observer} callback to receive a valueless notification of type\n   * `complete` from the Observable. Notifies the Observer that the Observable\n   * has finished sending push-based notifications.\n   * @return {void}\n   */\n  complete(): void {\n    if (this.isStopped) {\n      handleStoppedNotification(COMPLETE_NOTIFICATION, this);\n    } else {\n      this.isStopped = true;\n      this._complete();\n    }\n  }\n\n  unsubscribe(): void {\n    if (!this.closed) {\n      this.isStopped = true;\n      super.unsubscribe();\n      this.destination = null!;\n    }\n  }\n\n  protected _next(value: T): void {\n    this.destination.next(value);\n  }\n\n  protected _error(err: any): void {\n    try {\n      this.destination.error(err);\n    } finally {\n      this.unsubscribe();\n    }\n  }\n\n  protected _complete(): void {\n    try {\n      this.destination.complete();\n    } finally {\n      this.unsubscribe();\n    }\n  }\n}\n\n/**\n * This bind is captured here because we want to be able to have\n * compatibility with monoid libraries that tend to use a method named\n * `bind`. In particular, a library called Monio requires this.\n */\nconst _bind = Function.prototype.bind;\n\nfunction bind<Fn extends (...args: any[]) => any>(fn: Fn, thisArg: any): Fn {\n  return _bind.call(fn, thisArg);\n}\n\n/**\n * Internal optimization only, DO NOT EXPOSE.\n * @internal\n */\nclass ConsumerObserver<T> implements Observer<T> {\n  constructor(private partialObserver: Partial<Observer<T>>) {}\n\n  next(value: T): void {\n    const { partialObserver } = this;\n    if (partialObserver.next) {\n      try {\n        partialObserver.next(value);\n      } catch (error) {\n        handleUnhandledError(error);\n      }\n    }\n  }\n\n  error(err: any): void {\n    const { partialObserver } = this;\n    if (partialObserver.error) {\n      try {\n        partialObserver.error(err);\n      } catch (error) {\n        handleUnhandledError(error);\n      }\n    } else {\n      handleUnhandledError(err);\n    }\n  }\n\n  complete(): void {\n    const { partialObserver } = this;\n    if (partialObserver.complete) {\n      try {\n        partialObserver.complete();\n      } catch (error) {\n        handleUnhandledError(error);\n      }\n    }\n  }\n}\n\nexport class SafeSubscriber<T> extends Subscriber<T> {\n  constructor(\n    observerOrNext?: Partial<Observer<T>> | ((value: T) => void) | null,\n    error?: ((e?: any) => void) | null,\n    complete?: (() => void) | null\n  ) {\n    super();\n\n    let partialObserver: Partial<Observer<T>>;\n    if (isFunction(observerOrNext) || !observerOrNext) {\n      // The first argument is a function, not an observer. The next\n      // two arguments *could* be observers, or they could be empty.\n      partialObserver = {\n        next: (observerOrNext ?? undefined) as (((value: T) => void) | undefined),\n        error: error ?? undefined,\n        complete: complete ?? undefined,\n      };\n    } else {\n      // The first argument is a partial observer.\n      let context: any;\n      if (this && config.useDeprecatedNextContext) {\n        // This is a deprecated path that made `this.unsubscribe()` available in\n        // next handler functions passed to subscribe. This only exists behind a flag\n        // now, as it is *very* slow.\n        context = Object.create(observerOrNext);\n        context.unsubscribe = () => this.unsubscribe();\n        partialObserver = {\n          next: observerOrNext.next && bind(observerOrNext.next, context),\n          error: observerOrNext.error && bind(observerOrNext.error, context),\n          complete: observerOrNext.complete && bind(observerOrNext.complete, context),\n        };\n      } else {\n        // The \"normal\" path. Just use the partial observer directly.\n        partialObserver = observerOrNext;\n      }\n    }\n\n    // Wrap the partial observer to ensure it's a full observer, and\n    // make sure proper error handling is accounted for.\n    this.destination = new ConsumerObserver(partialObserver);\n  }\n}\n\nfunction handleUnhandledError(error: any) {\n  if (config.useDeprecatedSynchronousErrorHandling) {\n    captureError(error);\n  } else {\n    // Ideal path, we report this as an unhandled error,\n    // which is thrown on a new call stack.\n    reportUnhandledError(error);\n  }\n}\n\n/**\n * An error handler used when no error handler was supplied\n * to the SafeSubscriber -- meaning no error handler was supplied\n * do the `subscribe` call on our observable.\n * @param err The error to handle\n */\nfunction defaultErrorHandler(err: any) {\n  throw err;\n}\n\n/**\n * A handler for notifications that cannot be sent to a stopped subscriber.\n * @param notification The notification being sent\n * @param subscriber The stopped subscriber\n */\nfunction handleStoppedNotification(notification: ObservableNotification<any>, subscriber: Subscriber<any>) {\n  const { onStoppedNotification } = config;\n  onStoppedNotification && timeoutProvider.setTimeout(() => onStoppedNotification(notification, subscriber));\n}\n\n/**\n * The observer used as a stub for subscriptions where the user did not\n * pass any arguments to `subscribe`. Comes with the default error handling\n * behavior.\n */\nexport const EMPTY_OBSERVER: Readonly<Observer<any>> & { closed: true } = {\n  closed: true,\n  next: noop,\n  error: defaultErrorHandler,\n  complete: noop,\n};\n", "/**\n * Symbol.observable or a string \"@@observable\". Used for interop\n *\n * @deprecated We will no longer be exporting this symbol in upcoming versions of RxJS.\n * Instead polyfill and use Symbol.observable directly *or* use https://www.npmjs.com/package/symbol-observable\n */\nexport const observable: string | symbol = (() => (typeof Symbol === 'function' && Symbol.observable) || '@@observable')();\n", "/**\n * This function takes one parameter and just returns it. Simply put,\n * this is like `<T>(x: T): T => x`.\n *\n * ## Examples\n *\n * This is useful in some cases when using things like `mergeMap`\n *\n * ```ts\n * import { interval, take, map, range, mergeMap, identity } from 'rxjs';\n *\n * const source$ = interval(1000).pipe(take(5));\n *\n * const result$ = source$.pipe(\n *   map(i => range(i)),\n *   mergeMap(identity) // same as mergeMap(x => x)\n * );\n *\n * result$.subscribe({\n *   next: console.log\n * });\n * ```\n *\n * Or when you want to selectively apply an operator\n *\n * ```ts\n * import { interval, take, identity } from 'rxjs';\n *\n * const shouldLimit = () => Math.random() < 0.5;\n *\n * const source$ = interval(1000);\n *\n * const result$ = source$.pipe(shouldLimit() ? take(5) : identity);\n *\n * result$.subscribe({\n *   next: console.log\n * });\n * ```\n *\n * @param x Any value that is returned by this function\n * @returns The value passed as the first parameter to this function\n */\nexport function identity<T>(x: T): T {\n  return x;\n}\n", "import { identity } from './identity';\nimport { UnaryFunction } from '../types';\n\nexport function pipe(): typeof identity;\nexport function pipe<T, A>(fn1: UnaryFunction<T, A>): UnaryFunction<T, A>;\nexport function pipe<T, A, B>(fn1: UnaryFunction<T, A>, fn2: UnaryFunction<A, B>): UnaryFunction<T, B>;\nexport function pipe<T, A, B, C>(fn1: UnaryFunction<T, A>, fn2: UnaryFunction<A, B>, fn3: UnaryFunction<B, C>): UnaryFunction<T, C>;\nexport function pipe<T, A, B, C, D>(\n  fn1: UnaryFunction<T, A>,\n  fn2: UnaryFunction<A, B>,\n  fn3: UnaryFunction<B, C>,\n  fn4: UnaryFunction<C, D>\n): UnaryFunction<T, D>;\nexport function pipe<T, A, B, C, D, E>(\n  fn1: UnaryFunction<T, A>,\n  fn2: UnaryFunction<A, B>,\n  fn3: UnaryFunction<B, C>,\n  fn4: UnaryFunction<C, D>,\n  fn5: UnaryFunction<D, E>\n): UnaryFunction<T, E>;\nexport function pipe<T, A, B, C, D, E, F>(\n  fn1: UnaryFunction<T, A>,\n  fn2: UnaryFunction<A, B>,\n  fn3: UnaryFunction<B, C>,\n  fn4: UnaryFunction<C, D>,\n  fn5: UnaryFunction<D, E>,\n  fn6: UnaryFunction<E, F>\n): UnaryFunction<T, F>;\nexport function pipe<T, A, B, C, D, E, F, G>(\n  fn1: UnaryFunction<T, A>,\n  fn2: UnaryFunction<A, B>,\n  fn3: UnaryFunction<B, C>,\n  fn4: UnaryFunction<C, D>,\n  fn5: UnaryFunction<D, E>,\n  fn6: UnaryFunction<E, F>,\n  fn7: UnaryFunction<F, G>\n): UnaryFunction<T, G>;\nexport function pipe<T, A, B, C, D, E, F, G, H>(\n  fn1: UnaryFunction<T, A>,\n  fn2: UnaryFunction<A, B>,\n  fn3: UnaryFunction<B, C>,\n  fn4: UnaryFunction<C, D>,\n  fn5: UnaryFunction<D, E>,\n  fn6: UnaryFunction<E, F>,\n  fn7: UnaryFunction<F, G>,\n  fn8: UnaryFunction<G, H>\n): UnaryFunction<T, H>;\nexport function pipe<T, A, B, C, D, E, F, G, H, I>(\n  fn1: UnaryFunction<T, A>,\n  fn2: UnaryFunction<A, B>,\n  fn3: UnaryFunction<B, C>,\n  fn4: UnaryFunction<C, D>,\n  fn5: UnaryFunction<D, E>,\n  fn6: UnaryFunction<E, F>,\n  fn7: UnaryFunction<F, G>,\n  fn8: UnaryFunction<G, H>,\n  fn9: UnaryFunction<H, I>\n): UnaryFunction<T, I>;\nexport function pipe<T, A, B, C, D, E, F, G, H, I>(\n  fn1: UnaryFunction<T, A>,\n  fn2: UnaryFunction<A, B>,\n  fn3: UnaryFunction<B, C>,\n  fn4: UnaryFunction<C, D>,\n  fn5: UnaryFunction<D, E>,\n  fn6: UnaryFunction<E, F>,\n  fn7: UnaryFunction<F, G>,\n  fn8: UnaryFunction<G, H>,\n  fn9: UnaryFunction<H, I>,\n  ...fns: UnaryFunction<any, any>[]\n): UnaryFunction<T, unknown>;\n\n/**\n * pipe() can be called on one or more functions, each of which can take one argument (\"UnaryFunction\")\n * and uses it to return a value.\n * It returns a function that takes one argument, passes it to the first UnaryFunction, and then\n * passes the result to the next one, passes that result to the next one, and so on.  \n */\nexport function pipe(...fns: Array<UnaryFunction<any, any>>): UnaryFunction<any, any> {\n  return pipeFromArray(fns);\n}\n\n/** @internal */\nexport function pipeFromArray<T, R>(fns: Array<UnaryFunction<T, R>>): UnaryFunction<T, R> {\n  if (fns.length === 0) {\n    return identity as UnaryFunction<any, any>;\n  }\n\n  if (fns.length === 1) {\n    return fns[0];\n  }\n\n  return function piped(input: T): R {\n    return fns.reduce((prev: any, fn: UnaryFunction<T, R>) => fn(prev), input as any);\n  };\n}\n", "import { Operator } from './Operator';\nimport { SafeSubscriber, Subscriber } from './Subscriber';\nimport { isSubscription, Subscription } from './Subscription';\nimport { TeardownLogic, OperatorFunction, Subscribable, Observer } from './types';\nimport { observable as Symbol_observable } from './symbol/observable';\nimport { pipeFromArray } from './util/pipe';\nimport { config } from './config';\nimport { isFunction } from './util/isFunction';\nimport { errorContext } from './util/errorContext';\n\n/**\n * A representation of any set of values over any amount of time. This is the most basic building block\n * of RxJS.\n *\n * @class Observable<T>\n */\nexport class Observable<T> implements Subscribable<T> {\n  /**\n   * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n   */\n  source: Observable<any> | undefined;\n\n  /**\n   * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n   */\n  operator: Operator<any, T> | undefined;\n\n  /**\n   * @constructor\n   * @param {Function} subscribe the function that is called when the Observable is\n   * initially subscribed to. This function is given a Subscriber, to which new values\n   * can be `next`ed, or an `error` method can be called to raise an error, or\n   * `complete` can be called to notify of a successful completion.\n   */\n  constructor(subscribe?: (this: Observable<T>, subscriber: Subscriber<T>) => TeardownLogic) {\n    if (subscribe) {\n      this._subscribe = subscribe;\n    }\n  }\n\n  // HACK: Since TypeScript inherits static properties too, we have to\n  // fight against TypeScript here so Subject can have a different static create signature\n  /**\n   * Creates a new Observable by calling the Observable constructor\n   * @owner Observable\n   * @method create\n   * @param {Function} subscribe? the subscriber function to be passed to the Observable constructor\n   * @return {Observable} a new observable\n   * @nocollapse\n   * @deprecated Use `new Observable()` instead. Will be removed in v8.\n   */\n  static create: (...args: any[]) => any = <T>(subscribe?: (subscriber: Subscriber<T>) => TeardownLogic) => {\n    return new Observable<T>(subscribe);\n  };\n\n  /**\n   * Creates a new Observable, with this Observable instance as the source, and the passed\n   * operator defined as the new observable's operator.\n   * @method lift\n   * @param operator the operator defining the operation to take on the observable\n   * @return a new observable with the Operator applied\n   * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n   * If you have implemented an operator using `lift`, it is recommended that you create an\n   * operator by simply returning `new Observable()` directly. See \"Creating new operators from\n   * scratch\" section here: https://rxjs.dev/guide/operators\n   */\n  lift<R>(operator?: Operator<T, R>): Observable<R> {\n    const observable = new Observable<R>();\n    observable.source = this;\n    observable.operator = operator;\n    return observable;\n  }\n\n  subscribe(observerOrNext?: Partial<Observer<T>> | ((value: T) => void)): Subscription;\n  /** @deprecated Instead of passing separate callback arguments, use an observer argument. Signatures taking separate callback arguments will be removed in v8. Details: https://rxjs.dev/deprecations/subscribe-arguments */\n  subscribe(next?: ((value: T) => void) | null, error?: ((error: any) => void) | null, complete?: (() => void) | null): Subscription;\n  /**\n   * Invokes an execution of an Observable and registers Observer handlers for notifications it will emit.\n   *\n   * <span class=\"informal\">Use it when you have all these Observables, but still nothing is happening.</span>\n   *\n   * `subscribe` is not a regular operator, but a method that calls Observable's internal `subscribe` function. It\n   * might be for example a function that you passed to Observable's constructor, but most of the time it is\n   * a library implementation, which defines what will be emitted by an Observable, and when it be will emitted. This means\n   * that calling `subscribe` is actually the moment when Observable starts its work, not when it is created, as it is often\n   * the thought.\n   *\n   * Apart from starting the execution of an Observable, this method allows you to listen for values\n   * that an Observable emits, as well as for when it completes or errors. You can achieve this in two\n   * of the following ways.\n   *\n   * The first way is creating an object that implements {@link Observer} interface. It should have methods\n   * defined by that interface, but note that it should be just a regular JavaScript object, which you can create\n   * yourself in any way you want (ES6 class, classic function constructor, object literal etc.). In particular, do\n   * not attempt to use any RxJS implementation details to create Observers - you don't need them. Remember also\n   * that your object does not have to implement all methods. If you find yourself creating a method that doesn't\n   * do anything, you can simply omit it. Note however, if the `error` method is not provided and an error happens,\n   * it will be thrown asynchronously. Errors thrown asynchronously cannot be caught using `try`/`catch`. Instead,\n   * use the {@link onUnhandledError} configuration option or use a runtime handler (like `window.onerror` or\n   * `process.on('error)`) to be notified of unhandled errors. Because of this, it's recommended that you provide\n   * an `error` method to avoid missing thrown errors.\n   *\n   * The second way is to give up on Observer object altogether and simply provide callback functions in place of its methods.\n   * This means you can provide three functions as arguments to `subscribe`, where the first function is equivalent\n   * of a `next` method, the second of an `error` method and the third of a `complete` method. Just as in case of an Observer,\n   * if you do not need to listen for something, you can omit a function by passing `undefined` or `null`,\n   * since `subscribe` recognizes these functions by where they were placed in function call. When it comes\n   * to the `error` function, as with an Observer, if not provided, errors emitted by an Observable will be thrown asynchronously.\n   *\n   * You can, however, subscribe with no parameters at all. This may be the case where you're not interested in terminal events\n   * and you also handled emissions internally by using operators (e.g. using `tap`).\n   *\n   * Whichever style of calling `subscribe` you use, in both cases it returns a Subscription object.\n   * This object allows you to call `unsubscribe` on it, which in turn will stop the work that an Observable does and will clean\n   * up all resources that an Observable used. Note that cancelling a subscription will not call `complete` callback\n   * provided to `subscribe` function, which is reserved for a regular completion signal that comes from an Observable.\n   *\n   * Remember that callbacks provided to `subscribe` are not guaranteed to be called asynchronously.\n   * It is an Observable itself that decides when these functions will be called. For example {@link of}\n   * by default emits all its values synchronously. Always check documentation for how given Observable\n   * will behave when subscribed and if its default behavior can be modified with a `scheduler`.\n   *\n   * #### Examples\n   *\n   * Subscribe with an {@link guide/observer Observer}\n   *\n   * ```ts\n   * import { of } from 'rxjs';\n   *\n   * const sumObserver = {\n   *   sum: 0,\n   *   next(value) {\n   *     console.log('Adding: ' + value);\n   *     this.sum = this.sum + value;\n   *   },\n   *   error() {\n   *     // We actually could just remove this method,\n   *     // since we do not really care about errors right now.\n   *   },\n   *   complete() {\n   *     console.log('Sum equals: ' + this.sum);\n   *   }\n   * };\n   *\n   * of(1, 2, 3) // Synchronously emits 1, 2, 3 and then completes.\n   *   .subscribe(sumObserver);\n   *\n   * // Logs:\n   * // 'Adding: 1'\n   * // 'Adding: 2'\n   * // 'Adding: 3'\n   * // 'Sum equals: 6'\n   * ```\n   *\n   * Subscribe with functions ({@link deprecations/subscribe-arguments deprecated})\n   *\n   * ```ts\n   * import { of } from 'rxjs'\n   *\n   * let sum = 0;\n   *\n   * of(1, 2, 3).subscribe(\n   *   value => {\n   *     console.log('Adding: ' + value);\n   *     sum = sum + value;\n   *   },\n   *   undefined,\n   *   () => console.log('Sum equals: ' + sum)\n   * );\n   *\n   * // Logs:\n   * // 'Adding: 1'\n   * // 'Adding: 2'\n   * // 'Adding: 3'\n   * // 'Sum equals: 6'\n   * ```\n   *\n   * Cancel a subscription\n   *\n   * ```ts\n   * import { interval } from 'rxjs';\n   *\n   * const subscription = interval(1000).subscribe({\n   *   next(num) {\n   *     console.log(num)\n   *   },\n   *   complete() {\n   *     // Will not be called, even when cancelling subscription.\n   *     console.log('completed!');\n   *   }\n   * });\n   *\n   * setTimeout(() => {\n   *   subscription.unsubscribe();\n   *   console.log('unsubscribed!');\n   * }, 2500);\n   *\n   * // Logs:\n   * // 0 after 1s\n   * // 1 after 2s\n   * // 'unsubscribed!' after 2.5s\n   * ```\n   *\n   * @param {Observer|Function} observerOrNext (optional) Either an observer with methods to be called,\n   * or the first of three possible handlers, which is the handler for each value emitted from the subscribed\n   * Observable.\n   * @param {Function} error (optional) A handler for a terminal event resulting from an error. If no error handler is provided,\n   * the error will be thrown asynchronously as unhandled.\n   * @param {Function} complete (optional) A handler for a terminal event resulting from successful completion.\n   * @return {Subscription} a subscription reference to the registered handlers\n   * @method subscribe\n   */\n  subscribe(\n    observerOrNext?: Partial<Observer<T>> | ((value: T) => void) | null,\n    error?: ((error: any) => void) | null,\n    complete?: (() => void) | null\n  ): Subscription {\n    const subscriber = isSubscriber(observerOrNext) ? observerOrNext : new SafeSubscriber(observerOrNext, error, complete);\n\n    errorContext(() => {\n      const { operator, source } = this;\n      subscriber.add(\n        operator\n          ? // We're dealing with a subscription in the\n            // operator chain to one of our lifted operators.\n            operator.call(subscriber, source)\n          : source\n          ? // If `source` has a value, but `operator` does not, something that\n            // had intimate knowledge of our API, like our `Subject`, must have\n            // set it. We're going to just call `_subscribe` directly.\n            this._subscribe(subscriber)\n          : // In all other cases, we're likely wrapping a user-provided initializer\n            // function, so we need to catch errors and handle them appropriately.\n            this._trySubscribe(subscriber)\n      );\n    });\n\n    return subscriber;\n  }\n\n  /** @internal */\n  protected _trySubscribe(sink: Subscriber<T>): TeardownLogic {\n    try {\n      return this._subscribe(sink);\n    } catch (err) {\n      // We don't need to return anything in this case,\n      // because it's just going to try to `add()` to a subscription\n      // above.\n      sink.error(err);\n    }\n  }\n\n  /**\n   * Used as a NON-CANCELLABLE means of subscribing to an observable, for use with\n   * APIs that expect promises, like `async/await`. You cannot unsubscribe from this.\n   *\n   * **WARNING**: Only use this with observables you *know* will complete. If the source\n   * observable does not complete, you will end up with a promise that is hung up, and\n   * potentially all of the state of an async function hanging out in memory. To avoid\n   * this situation, look into adding something like {@link timeout}, {@link take},\n   * {@link takeWhile}, or {@link takeUntil} amongst others.\n   *\n   * #### Example\n   *\n   * ```ts\n   * import { interval, take } from 'rxjs';\n   *\n   * const source$ = interval(1000).pipe(take(4));\n   *\n   * async function getTotal() {\n   *   let total = 0;\n   *\n   *   await source$.forEach(value => {\n   *     total += value;\n   *     console.log('observable -> ' + value);\n   *   });\n   *\n   *   return total;\n   * }\n   *\n   * getTotal().then(\n   *   total => console.log('Total: ' + total)\n   * );\n   *\n   * // Expected:\n   * // 'observable -> 0'\n   * // 'observable -> 1'\n   * // 'observable -> 2'\n   * // 'observable -> 3'\n   * // 'Total: 6'\n   * ```\n   *\n   * @param next a handler for each value emitted by the observable\n   * @return a promise that either resolves on observable completion or\n   *  rejects with the handled error\n   */\n  forEach(next: (value: T) => void): Promise<void>;\n\n  /**\n   * @param next a handler for each value emitted by the observable\n   * @param promiseCtor a constructor function used to instantiate the Promise\n   * @return a promise that either resolves on observable completion or\n   *  rejects with the handled error\n   * @deprecated Passing a Promise constructor will no longer be available\n   * in upcoming versions of RxJS. This is because it adds weight to the library, for very\n   * little benefit. If you need this functionality, it is recommended that you either\n   * polyfill Promise, or you create an adapter to convert the returned native promise\n   * to whatever promise implementation you wanted. Will be removed in v8.\n   */\n  forEach(next: (value: T) => void, promiseCtor: PromiseConstructorLike): Promise<void>;\n\n  forEach(next: (value: T) => void, promiseCtor?: PromiseConstructorLike): Promise<void> {\n    promiseCtor = getPromiseCtor(promiseCtor);\n\n    return new promiseCtor<void>((resolve, reject) => {\n      const subscriber = new SafeSubscriber<T>({\n        next: (value) => {\n          try {\n            next(value);\n          } catch (err) {\n            reject(err);\n            subscriber.unsubscribe();\n          }\n        },\n        error: reject,\n        complete: resolve,\n      });\n      this.subscribe(subscriber);\n    }) as Promise<void>;\n  }\n\n  /** @internal */\n  protected _subscribe(subscriber: Subscriber<any>): TeardownLogic {\n    return this.source?.subscribe(subscriber);\n  }\n\n  /**\n   * An interop point defined by the es7-observable spec https://github.com/zenparsing/es-observable\n   * @method Symbol.observable\n   * @return {Observable} this instance of the observable\n   */\n  [Symbol_observable]() {\n    return this;\n  }\n\n  /* tslint:disable:max-line-length */\n  pipe(): Observable<T>;\n  pipe<A>(op1: OperatorFunction<T, A>): Observable<A>;\n  pipe<A, B>(op1: OperatorFunction<T, A>, op2: OperatorFunction<A, B>): Observable<B>;\n  pipe<A, B, C>(op1: OperatorFunction<T, A>, op2: OperatorFunction<A, B>, op3: OperatorFunction<B, C>): Observable<C>;\n  pipe<A, B, C, D>(\n    op1: OperatorFunction<T, A>,\n    op2: OperatorFunction<A, B>,\n    op3: OperatorFunction<B, C>,\n    op4: OperatorFunction<C, D>\n  ): Observable<D>;\n  pipe<A, B, C, D, E>(\n    op1: OperatorFunction<T, A>,\n    op2: OperatorFunction<A, B>,\n    op3: OperatorFunction<B, C>,\n    op4: OperatorFunction<C, D>,\n    op5: OperatorFunction<D, E>\n  ): Observable<E>;\n  pipe<A, B, C, D, E, F>(\n    op1: OperatorFunction<T, A>,\n    op2: OperatorFunction<A, B>,\n    op3: OperatorFunction<B, C>,\n    op4: OperatorFunction<C, D>,\n    op5: OperatorFunction<D, E>,\n    op6: OperatorFunction<E, F>\n  ): Observable<F>;\n  pipe<A, B, C, D, E, F, G>(\n    op1: OperatorFunction<T, A>,\n    op2: OperatorFunction<A, B>,\n    op3: OperatorFunction<B, C>,\n    op4: OperatorFunction<C, D>,\n    op5: OperatorFunction<D, E>,\n    op6: OperatorFunction<E, F>,\n    op7: OperatorFunction<F, G>\n  ): Observable<G>;\n  pipe<A, B, C, D, E, F, G, H>(\n    op1: OperatorFunction<T, A>,\n    op2: OperatorFunction<A, B>,\n    op3: OperatorFunction<B, C>,\n    op4: OperatorFunction<C, D>,\n    op5: OperatorFunction<D, E>,\n    op6: OperatorFunction<E, F>,\n    op7: OperatorFunction<F, G>,\n    op8: OperatorFunction<G, H>\n  ): Observable<H>;\n  pipe<A, B, C, D, E, F, G, H, I>(\n    op1: OperatorFunction<T, A>,\n    op2: OperatorFunction<A, B>,\n    op3: OperatorFunction<B, C>,\n    op4: OperatorFunction<C, D>,\n    op5: OperatorFunction<D, E>,\n    op6: OperatorFunction<E, F>,\n    op7: OperatorFunction<F, G>,\n    op8: OperatorFunction<G, H>,\n    op9: OperatorFunction<H, I>\n  ): Observable<I>;\n  pipe<A, B, C, D, E, F, G, H, I>(\n    op1: OperatorFunction<T, A>,\n    op2: OperatorFunction<A, B>,\n    op3: OperatorFunction<B, C>,\n    op4: OperatorFunction<C, D>,\n    op5: OperatorFunction<D, E>,\n    op6: OperatorFunction<E, F>,\n    op7: OperatorFunction<F, G>,\n    op8: OperatorFunction<G, H>,\n    op9: OperatorFunction<H, I>,\n    ...operations: OperatorFunction<any, any>[]\n  ): Observable<unknown>;\n  /* tslint:enable:max-line-length */\n\n  /**\n   * Used to stitch together functional operators into a chain.\n   * @method pipe\n   * @return {Observable} the Observable result of all of the operators having\n   * been called in the order they were passed in.\n   *\n   * ## Example\n   *\n   * ```ts\n   * import { interval, filter, map, scan } from 'rxjs';\n   *\n   * interval(1000)\n   *   .pipe(\n   *     filter(x => x % 2 === 0),\n   *     map(x => x + x),\n   *     scan((acc, x) => acc + x)\n   *   )\n   *   .subscribe(x => console.log(x));\n   * ```\n   */\n  pipe(...operations: OperatorFunction<any, any>[]): Observable<any> {\n    return pipeFromArray(operations)(this);\n  }\n\n  /* tslint:disable:max-line-length */\n  /** @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise */\n  toPromise(): Promise<T | undefined>;\n  /** @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise */\n  toPromise(PromiseCtor: typeof Promise): Promise<T | undefined>;\n  /** @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise */\n  toPromise(PromiseCtor: PromiseConstructorLike): Promise<T | undefined>;\n  /* tslint:enable:max-line-length */\n\n  /**\n   * Subscribe to this Observable and get a Promise resolving on\n   * `complete` with the last emission (if any).\n   *\n   * **WARNING**: Only use this with observables you *know* will complete. If the source\n   * observable does not complete, you will end up with a promise that is hung up, and\n   * potentially all of the state of an async function hanging out in memory. To avoid\n   * this situation, look into adding something like {@link timeout}, {@link take},\n   * {@link takeWhile}, or {@link takeUntil} amongst others.\n   *\n   * @method toPromise\n   * @param [promiseCtor] a constructor function used to instantiate\n   * the Promise\n   * @return A Promise that resolves with the last value emit, or\n   * rejects on an error. If there were no emissions, Promise\n   * resolves with undefined.\n   * @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise\n   */\n  toPromise(promiseCtor?: PromiseConstructorLike): Promise<T | undefined> {\n    promiseCtor = getPromiseCtor(promiseCtor);\n\n    return new promiseCtor((resolve, reject) => {\n      let value: T | undefined;\n      this.subscribe(\n        (x: T) => (value = x),\n        (err: any) => reject(err),\n        () => resolve(value)\n      );\n    }) as Promise<T | undefined>;\n  }\n}\n\n/**\n * Decides between a passed promise constructor from consuming code,\n * A default configured promise constructor, and the native promise\n * constructor and returns it. If nothing can be found, it will throw\n * an error.\n * @param promiseCtor The optional promise constructor to passed by consuming code\n */\nfunction getPromiseCtor(promiseCtor: PromiseConstructorLike | undefined) {\n  return promiseCtor ?? config.Promise ?? Promise;\n}\n\nfunction isObserver<T>(value: any): value is Observer<T> {\n  return value && isFunction(value.next) && isFunction(value.error) && isFunction(value.complete);\n}\n\nfunction isSubscriber<T>(value: any): value is Subscriber<T> {\n  return (value && value instanceof Subscriber) || (isObserver(value) && isSubscription(value));\n}\n", "import { Observable } from '../Observable';\nimport { Subscriber } from '../Subscriber';\nimport { OperatorFunction } from '../types';\nimport { isFunction } from './isFunction';\n\n/**\n * Used to determine if an object is an Observable with a lift function.\n */\nexport function hasLift(source: any): source is { lift: InstanceType<typeof Observable>['lift'] } {\n  return isFunction(source?.lift);\n}\n\n/**\n * Creates an `OperatorFunction`. Used to define operators throughout the library in a concise way.\n * @param init The logic to connect the liftedSource to the subscriber at the moment of subscription.\n */\nexport function operate<T, R>(\n  init: (liftedSource: Observable<T>, subscriber: Subscriber<R>) => (() => void) | void\n): OperatorFunction<T, R> {\n  return (source: Observable<T>) => {\n    if (hasLift(source)) {\n      return source.lift(function (this: Subscriber<R>, liftedSource: Observable<T>) {\n        try {\n          return init(liftedSource, this);\n        } catch (err) {\n          this.error(err);\n        }\n      });\n    }\n    throw new TypeError('Unable to lift unknown Observable type');\n  };\n}\n", "import { Subscriber } from '../Subscriber';\n\n/**\n * Creates an instance of an `OperatorSubscriber`.\n * @param destination The downstream subscriber.\n * @param onNext Handles next values, only called if this subscriber is not stopped or closed. Any\n * error that occurs in this function is caught and sent to the `error` method of this subscriber.\n * @param onError Handles errors from the subscription, any errors that occur in this handler are caught\n * and send to the `destination` error handler.\n * @param onComplete Handles completion notification from the subscription. Any errors that occur in\n * this handler are sent to the `destination` error handler.\n * @param onFinalize Additional teardown logic here. This will only be called on teardown if the\n * subscriber itself is not already closed. This is called after all other teardown logic is executed.\n */\nexport function createOperatorSubscriber<T>(\n  destination: Subscriber<any>,\n  onNext?: (value: T) => void,\n  onComplete?: () => void,\n  onError?: (err: any) => void,\n  onFinalize?: () => void\n): Subscriber<T> {\n  return new OperatorSubscriber(destination, onNext, onComplete, onError, onFinalize);\n}\n\n/**\n * A generic helper for allowing operators to be created with a Subscriber and\n * use closures to capture necessary state from the operator function itself.\n */\nexport class OperatorSubscriber<T> extends Subscriber<T> {\n  /**\n   * Creates an instance of an `OperatorSubscriber`.\n   * @param destination The downstream subscriber.\n   * @param onNext Handles next values, only called if this subscriber is not stopped or closed. Any\n   * error that occurs in this function is caught and sent to the `error` method of this subscriber.\n   * @param onError Handles errors from the subscription, any errors that occur in this handler are caught\n   * and send to the `destination` error handler.\n   * @param onComplete Handles completion notification from the subscription. Any errors that occur in\n   * this handler are sent to the `destination` error handler.\n   * @param onFinalize Additional finalization logic here. This will only be called on finalization if the\n   * subscriber itself is not already closed. This is called after all other finalization logic is executed.\n   * @param shouldUnsubscribe An optional check to see if an unsubscribe call should truly unsubscribe.\n   * NOTE: This currently **ONLY** exists to support the strange behavior of {@link groupBy}, where unsubscription\n   * to the resulting observable does not actually disconnect from the source if there are active subscriptions\n   * to any grouped observable. (DO NOT EXPOSE OR USE EXTERNALLY!!!)\n   */\n  constructor(\n    destination: Subscriber<any>,\n    onNext?: (value: T) => void,\n    onComplete?: () => void,\n    onError?: (err: any) => void,\n    private onFinalize?: () => void,\n    private shouldUnsubscribe?: () => boolean\n  ) {\n    // It's important - for performance reasons - that all of this class's\n    // members are initialized and that they are always initialized in the same\n    // order. This will ensure that all OperatorSubscriber instances have the\n    // same hidden class in V8. This, in turn, will help keep the number of\n    // hidden classes involved in property accesses within the base class as\n    // low as possible. If the number of hidden classes involved exceeds four,\n    // the property accesses will become megamorphic and performance penalties\n    // will be incurred - i.e. inline caches won't be used.\n    //\n    // The reasons for ensuring all instances have the same hidden class are\n    // further discussed in this blog post from Benedikt Meurer:\n    // https://benediktmeurer.de/2018/03/23/impact-of-polymorphism-on-component-based-frameworks-like-react/\n    super(destination);\n    this._next = onNext\n      ? function (this: OperatorSubscriber<T>, value: T) {\n          try {\n            onNext(value);\n          } catch (err) {\n            destination.error(err);\n          }\n        }\n      : super._next;\n    this._error = onError\n      ? function (this: OperatorSubscriber<T>, err: any) {\n          try {\n            onError(err);\n          } catch (err) {\n            // Send any errors that occur down stream.\n            destination.error(err);\n          } finally {\n            // Ensure finalization.\n            this.unsubscribe();\n          }\n        }\n      : super._error;\n    this._complete = onComplete\n      ? function (this: OperatorSubscriber<T>) {\n          try {\n            onComplete();\n          } catch (err) {\n            // Send any errors that occur down stream.\n            destination.error(err);\n          } finally {\n            // Ensure finalization.\n            this.unsubscribe();\n          }\n        }\n      : super._complete;\n  }\n\n  unsubscribe() {\n    if (!this.shouldUnsubscribe || this.shouldUnsubscribe()) {\n      const { closed } = this;\n      super.unsubscribe();\n      // Execute additional teardown if we have any and we didn't already do so.\n      !closed && this.onFinalize?.();\n    }\n  }\n}\n", "import { Subscription } from '../Subscription';\n\ninterface AnimationFrameProvider {\n  schedule(callback: FrameRequestCallback): Subscription;\n  requestAnimationFrame: typeof requestAnimationFrame;\n  cancelAnimationFrame: typeof cancelAnimationFrame;\n  delegate:\n    | {\n        requestAnimationFrame: typeof requestAnimationFrame;\n        cancelAnimationFrame: typeof cancelAnimationFrame;\n      }\n    | undefined;\n}\n\nexport const animationFrameProvider: AnimationFrameProvider = {\n  // When accessing the delegate, use the variable rather than `this` so that\n  // the functions can be called without being bound to the provider.\n  schedule(callback) {\n    let request = requestAnimationFrame;\n    let cancel: typeof cancelAnimationFrame | undefined = cancelAnimationFrame;\n    const { delegate } = animationFrameProvider;\n    if (delegate) {\n      request = delegate.requestAnimationFrame;\n      cancel = delegate.cancelAnimationFrame;\n    }\n    const handle = request((timestamp) => {\n      // Clear the cancel function. The request has been fulfilled, so\n      // attempting to cancel the request upon unsubscription would be\n      // pointless.\n      cancel = undefined;\n      callback(timestamp);\n    });\n    return new Subscription(() => cancel?.(handle));\n  },\n  requestAnimationFrame(...args) {\n    const { delegate } = animationFrameProvider;\n    return (delegate?.requestAnimationFrame || requestAnimationFrame)(...args);\n  },\n  cancelAnimationFrame(...args) {\n    const { delegate } = animationFrameProvider;\n    return (delegate?.cancelAnimationFrame || cancelAnimationFrame)(...args);\n  },\n  delegate: undefined,\n};\n", "import { createErrorClass } from './createErrorClass';\n\nexport interface ObjectUnsubscribedError extends Error {}\n\nexport interface ObjectUnsubscribedErrorCtor {\n  /**\n   * @deprecated Internal implementation detail. Do not construct error instances.\n   * Cannot be tagged as internal: https://github.com/ReactiveX/rxjs/issues/6269\n   */\n  new (): ObjectUnsubscribedError;\n}\n\n/**\n * An error thrown when an action is invalid because the object has been\n * unsubscribed.\n *\n * @see {@link Subject}\n * @see {@link BehaviorSubject}\n *\n * @class ObjectUnsubscribedError\n */\nexport const ObjectUnsubscribedError: ObjectUnsubscribedErrorCtor = createErrorClass(\n  (_super) =>\n    function ObjectUnsubscribedErrorImpl(this: any) {\n      _super(this);\n      this.name = 'ObjectUnsubscribedError';\n      this.message = 'object unsubscribed';\n    }\n);\n", "import { Operator } from './Operator';\nimport { Observable } from './Observable';\nimport { Subscriber } from './Subscriber';\nimport { Subscription, EMPTY_SUBSCRIPTION } from './Subscription';\nimport { Observer, SubscriptionLike, TeardownLogic } from './types';\nimport { ObjectUnsubscribedError } from './util/ObjectUnsubscribedError';\nimport { arrRemove } from './util/arrRemove';\nimport { errorContext } from './util/errorContext';\n\n/**\n * A Subject is a special type of Observable that allows values to be\n * multicasted to many Observers. Subjects are like EventEmitters.\n *\n * Every Subject is an Observable and an Observer. You can subscribe to a\n * Subject, and you can call next to feed values as well as error and complete.\n */\nexport class Subject<T> extends Observable<T> implements SubscriptionLike {\n  closed = false;\n\n  private currentObservers: Observer<T>[] | null = null;\n\n  /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n  observers: Observer<T>[] = [];\n  /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n  isStopped = false;\n  /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n  hasError = false;\n  /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n  thrownError: any = null;\n\n  /**\n   * Creates a \"subject\" by basically gluing an observer to an observable.\n   *\n   * @nocollapse\n   * @deprecated Recommended you do not use. Will be removed at some point in the future. Plans for replacement still under discussion.\n   */\n  static create: (...args: any[]) => any = <T>(destination: Observer<T>, source: Observable<T>): AnonymousSubject<T> => {\n    return new AnonymousSubject<T>(destination, source);\n  };\n\n  constructor() {\n    // NOTE: This must be here to obscure Observable's constructor.\n    super();\n  }\n\n  /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n  lift<R>(operator: Operator<T, R>): Observable<R> {\n    const subject = new AnonymousSubject(this, this);\n    subject.operator = operator as any;\n    return subject as any;\n  }\n\n  /** @internal */\n  protected _throwIfClosed() {\n    if (this.closed) {\n      throw new ObjectUnsubscribedError();\n    }\n  }\n\n  next(value: T) {\n    errorContext(() => {\n      this._throwIfClosed();\n      if (!this.isStopped) {\n        if (!this.currentObservers) {\n          this.currentObservers = Array.from(this.observers);\n        }\n        for (const observer of this.currentObservers) {\n          observer.next(value);\n        }\n      }\n    });\n  }\n\n  error(err: any) {\n    errorContext(() => {\n      this._throwIfClosed();\n      if (!this.isStopped) {\n        this.hasError = this.isStopped = true;\n        this.thrownError = err;\n        const { observers } = this;\n        while (observers.length) {\n          observers.shift()!.error(err);\n        }\n      }\n    });\n  }\n\n  complete() {\n    errorContext(() => {\n      this._throwIfClosed();\n      if (!this.isStopped) {\n        this.isStopped = true;\n        const { observers } = this;\n        while (observers.length) {\n          observers.shift()!.complete();\n        }\n      }\n    });\n  }\n\n  unsubscribe() {\n    this.isStopped = this.closed = true;\n    this.observers = this.currentObservers = null!;\n  }\n\n  get observed() {\n    return this.observers?.length > 0;\n  }\n\n  /** @internal */\n  protected _trySubscribe(subscriber: Subscriber<T>): TeardownLogic {\n    this._throwIfClosed();\n    return super._trySubscribe(subscriber);\n  }\n\n  /** @internal */\n  protected _subscribe(subscriber: Subscriber<T>): Subscription {\n    this._throwIfClosed();\n    this._checkFinalizedStatuses(subscriber);\n    return this._innerSubscribe(subscriber);\n  }\n\n  /** @internal */\n  protected _innerSubscribe(subscriber: Subscriber<any>) {\n    const { hasError, isStopped, observers } = this;\n    if (hasError || isStopped) {\n      return EMPTY_SUBSCRIPTION;\n    }\n    this.currentObservers = null;\n    observers.push(subscriber);\n    return new Subscription(() => {\n      this.currentObservers = null;\n      arrRemove(observers, subscriber);\n    });\n  }\n\n  /** @internal */\n  protected _checkFinalizedStatuses(subscriber: Subscriber<any>) {\n    const { hasError, thrownError, isStopped } = this;\n    if (hasError) {\n      subscriber.error(thrownError);\n    } else if (isStopped) {\n      subscriber.complete();\n    }\n  }\n\n  /**\n   * Creates a new Observable with this Subject as the source. You can do this\n   * to create custom Observer-side logic of the Subject and conceal it from\n   * code that uses the Observable.\n   * @return {Observable} Observable that the Subject casts to\n   */\n  asObservable(): Observable<T> {\n    const observable: any = new Observable<T>();\n    observable.source = this;\n    return observable;\n  }\n}\n\n/**\n * @class AnonymousSubject<T>\n */\nexport class AnonymousSubject<T> extends Subject<T> {\n  constructor(\n    /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n    public destination?: Observer<T>,\n    source?: Observable<T>\n  ) {\n    super();\n    this.source = source;\n  }\n\n  next(value: T) {\n    this.destination?.next?.(value);\n  }\n\n  error(err: any) {\n    this.destination?.error?.(err);\n  }\n\n  complete() {\n    this.destination?.complete?.();\n  }\n\n  /** @internal */\n  protected _subscribe(subscriber: Subscriber<T>): Subscription {\n    return this.source?.subscribe(subscriber) ?? EMPTY_SUBSCRIPTION;\n  }\n}\n", "import { Subject } from './Subject';\nimport { Subscriber } from './Subscriber';\nimport { Subscription } from './Subscription';\n\n/**\n * A variant of Subject that requires an initial value and emits its current\n * value whenever it is subscribed to.\n *\n * @class BehaviorSubject<T>\n */\nexport class BehaviorSubject<T> extends Subject<T> {\n  constructor(private _value: T) {\n    super();\n  }\n\n  get value(): T {\n    return this.getValue();\n  }\n\n  /** @internal */\n  protected _subscribe(subscriber: Subscriber<T>): Subscription {\n    const subscription = super._subscribe(subscriber);\n    !subscription.closed && subscriber.next(this._value);\n    return subscription;\n  }\n\n  getValue(): T {\n    const { hasError, thrownError, _value } = this;\n    if (hasError) {\n      throw thrownError;\n    }\n    this._throwIfClosed();\n    return _value;\n  }\n\n  next(value: T): void {\n    super.next((this._value = value));\n  }\n}\n", "import { TimestampProvider } from '../types';\n\ninterface DateTimestampProvider extends TimestampProvider {\n  delegate: TimestampProvider | undefined;\n}\n\nexport const dateTimestampProvider: DateTimestampProvider = {\n  now() {\n    // Use the variable rather than `this` so that the function can be called\n    // without being bound to the provider.\n    return (dateTimestampProvider.delegate || Date).now();\n  },\n  delegate: undefined,\n};\n", "import { Subject } from './Subject';\nimport { TimestampProvider } from './types';\nimport { Subscriber } from './Subscriber';\nimport { Subscription } from './Subscription';\nimport { dateTimestampProvider } from './scheduler/dateTimestampProvider';\n\n/**\n * A variant of {@link Subject} that \"replays\" old values to new subscribers by emitting them when they first subscribe.\n *\n * `ReplaySubject` has an internal buffer that will store a specified number of values that it has observed. Like `Subject`,\n * `ReplaySubject` \"observes\" values by having them passed to its `next` method. When it observes a value, it will store that\n * value for a time determined by the configuration of the `ReplaySubject`, as passed to its constructor.\n *\n * When a new subscriber subscribes to the `ReplaySubject` instance, it will synchronously emit all values in its buffer in\n * a First-In-First-Out (FIFO) manner. The `ReplaySubject` will also complete, if it has observed completion; and it will\n * error if it has observed an error.\n *\n * There are two main configuration items to be concerned with:\n *\n * 1. `bufferSize` - This will determine how many items are stored in the buffer, defaults to infinite.\n * 2. `windowTime` - The amount of time to hold a value in the buffer before removing it from the buffer.\n *\n * Both configurations may exist simultaneously. So if you would like to buffer a maximum of 3 values, as long as the values\n * are less than 2 seconds old, you could do so with a `new ReplaySubject(3, 2000)`.\n *\n * ### Differences with BehaviorSubject\n *\n * `BehaviorSubject` is similar to `new ReplaySubject(1)`, with a couple of exceptions:\n *\n * 1. `BehaviorSubject` comes \"primed\" with a single value upon construction.\n * 2. `ReplaySubject` will replay values, even after observing an error, where `BehaviorSubject` will not.\n *\n * @see {@link Subject}\n * @see {@link BehaviorSubject}\n * @see {@link shareReplay}\n */\nexport class ReplaySubject<T> extends Subject<T> {\n  private _buffer: (T | number)[] = [];\n  private _infiniteTimeWindow = true;\n\n  /**\n   * @param bufferSize The size of the buffer to replay on subscription\n   * @param windowTime The amount of time the buffered items will stay buffered\n   * @param timestampProvider An object with a `now()` method that provides the current timestamp. This is used to\n   * calculate the amount of time something has been buffered.\n   */\n  constructor(\n    private _bufferSize = Infinity,\n    private _windowTime = Infinity,\n    private _timestampProvider: TimestampProvider = dateTimestampProvider\n  ) {\n    super();\n    this._infiniteTimeWindow = _windowTime === Infinity;\n    this._bufferSize = Math.max(1, _bufferSize);\n    this._windowTime = Math.max(1, _windowTime);\n  }\n\n  next(value: T): void {\n    const { isStopped, _buffer, _infiniteTimeWindow, _timestampProvider, _windowTime } = this;\n    if (!isStopped) {\n      _buffer.push(value);\n      !_infiniteTimeWindow && _buffer.push(_timestampProvider.now() + _windowTime);\n    }\n    this._trimBuffer();\n    super.next(value);\n  }\n\n  /** @internal */\n  protected _subscribe(subscriber: Subscriber<T>): Subscription {\n    this._throwIfClosed();\n    this._trimBuffer();\n\n    const subscription = this._innerSubscribe(subscriber);\n\n    const { _infiniteTimeWindow, _buffer } = this;\n    // We use a copy here, so reentrant code does not mutate our array while we're\n    // emitting it to a new subscriber.\n    const copy = _buffer.slice();\n    for (let i = 0; i < copy.length && !subscriber.closed; i += _infiniteTimeWindow ? 1 : 2) {\n      subscriber.next(copy[i] as T);\n    }\n\n    this._checkFinalizedStatuses(subscriber);\n\n    return subscription;\n  }\n\n  private _trimBuffer() {\n    const { _bufferSize, _timestampProvider, _buffer, _infiniteTimeWindow } = this;\n    // If we don't have an infinite buffer size, and we're over the length,\n    // use splice to truncate the old buffer values off. Note that we have to\n    // double the size for instances where we're not using an infinite time window\n    // because we're storing the values and the timestamps in the same array.\n    const adjustedBufferSize = (_infiniteTimeWindow ? 1 : 2) * _bufferSize;\n    _bufferSize < Infinity && adjustedBufferSize < _buffer.length && _buffer.splice(0, _buffer.length - adjustedBufferSize);\n\n    // Now, if we're not in an infinite time window, remove all values where the time is\n    // older than what is allowed.\n    if (!_infiniteTimeWindow) {\n      const now = _timestampProvider.now();\n      let last = 0;\n      // Search the array for the first timestamp that isn't expired and\n      // truncate the buffer up to that point.\n      for (let i = 1; i < _buffer.length && (_buffer[i] as number) <= now; i += 2) {\n        last = i;\n      }\n      last && _buffer.splice(0, last + 1);\n    }\n  }\n}\n", "import { Scheduler } from '../Scheduler';\nimport { Subscription } from '../Subscription';\nimport { SchedulerAction } from '../types';\n\n/**\n * A unit of work to be executed in a `scheduler`. An action is typically\n * created from within a {@link SchedulerLike} and an RxJS user does not need to concern\n * themselves about creating and manipulating an Action.\n *\n * ```ts\n * class Action<T> extends Subscription {\n *   new (scheduler: Scheduler, work: (state?: T) => void);\n *   schedule(state?: T, delay: number = 0): Subscription;\n * }\n * ```\n *\n * @class Action<T>\n */\nexport class Action<T> extends Subscription {\n  constructor(scheduler: Scheduler, work: (this: SchedulerAction<T>, state?: T) => void) {\n    super();\n  }\n  /**\n   * Schedules this action on its parent {@link SchedulerLike} for execution. May be passed\n   * some context object, `state`. May happen at some point in the future,\n   * according to the `delay` parameter, if specified.\n   * @param {T} [state] Some contextual data that the `work` function uses when\n   * called by the Scheduler.\n   * @param {number} [delay] Time to wait before executing the work, where the\n   * time unit is implicit and defined by the Scheduler.\n   * @return {void}\n   */\n  public schedule(state?: T, delay: number = 0): Subscription {\n    return this;\n  }\n}\n", "import type { TimerHandle } from './timerHandle';\ntype SetIntervalFunction = (handler: () => void, timeout?: number, ...args: any[]) => TimerHandle;\ntype ClearIntervalFunction = (handle: TimerHandle) => void;\n\ninterface IntervalProvider {\n  setInterval: SetIntervalFunction;\n  clearInterval: ClearIntervalFunction;\n  delegate:\n    | {\n        setInterval: SetIntervalFunction;\n        clearInterval: ClearIntervalFunction;\n      }\n    | undefined;\n}\n\nexport const intervalProvider: IntervalProvider = {\n  // When accessing the delegate, use the variable rather than `this` so that\n  // the functions can be called without being bound to the provider.\n  setInterval(handler: () => void, timeout?: number, ...args) {\n    const { delegate } = intervalProvider;\n    if (delegate?.setInterval) {\n      return delegate.setInterval(handler, timeout, ...args);\n    }\n    return setInterval(handler, timeout, ...args);\n  },\n  clearInterval(handle) {\n    const { delegate } = intervalProvider;\n    return (delegate?.clearInterval || clearInterval)(handle as any);\n  },\n  delegate: undefined,\n};\n", "import { Action } from './Action';\nimport { SchedulerAction } from '../types';\nimport { Subscription } from '../Subscription';\nimport { AsyncScheduler } from './AsyncScheduler';\nimport { intervalProvider } from './intervalProvider';\nimport { arrRemove } from '../util/arrRemove';\nimport { TimerHandle } from './timerHandle';\n\nexport class AsyncAction<T> extends Action<T> {\n  public id: TimerHandle | undefined;\n  public state?: T;\n  // @ts-ignore: Property has no initializer and is not definitely assigned\n  public delay: number;\n  protected pending: boolean = false;\n\n  constructor(protected scheduler: AsyncScheduler, protected work: (this: SchedulerAction<T>, state?: T) => void) {\n    super(scheduler, work);\n  }\n\n  public schedule(state?: T, delay: number = 0): Subscription {\n    if (this.closed) {\n      return this;\n    }\n\n    // Always replace the current state with the new state.\n    this.state = state;\n\n    const id = this.id;\n    const scheduler = this.scheduler;\n\n    //\n    // Important implementation note:\n    //\n    // Actions only execute once by default, unless rescheduled from within the\n    // scheduled callback. This allows us to implement single and repeat\n    // actions via the same code path, without adding API surface area, as well\n    // as mimic traditional recursion but across asynchronous boundaries.\n    //\n    // However, JS runtimes and timers distinguish between intervals achieved by\n    // serial `setTimeout` calls vs. a single `setInterval` call. An interval of\n    // serial `setTimeout` calls can be individually delayed, which delays\n    // scheduling the next `setTimeout`, and so on. `setInterval` attempts to\n    // guarantee the interval callback will be invoked more precisely to the\n    // interval period, regardless of load.\n    //\n    // Therefore, we use `setInterval` to schedule single and repeat actions.\n    // If the action reschedules itself with the same delay, the interval is not\n    // canceled. If the action doesn't reschedule, or reschedules with a\n    // different delay, the interval will be canceled after scheduled callback\n    // execution.\n    //\n    if (id != null) {\n      this.id = this.recycleAsyncId(scheduler, id, delay);\n    }\n\n    // Set the pending flag indicating that this action has been scheduled, or\n    // has recursively rescheduled itself.\n    this.pending = true;\n\n    this.delay = delay;\n    // If this action has already an async Id, don't request a new one.\n    this.id = this.id ?? this.requestAsyncId(scheduler, this.id, delay);\n\n    return this;\n  }\n\n  protected requestAsyncId(scheduler: AsyncScheduler, _id?: TimerHandle, delay: number = 0): TimerHandle {\n    return intervalProvider.setInterval(scheduler.flush.bind(scheduler, this), delay);\n  }\n\n  protected recycleAsyncId(_scheduler: AsyncScheduler, id?: TimerHandle, delay: number | null = 0): TimerHandle | undefined {\n    // If this action is rescheduled with the same delay time, don't clear the interval id.\n    if (delay != null && this.delay === delay && this.pending === false) {\n      return id;\n    }\n    // Otherwise, if the action's delay time is different from the current delay,\n    // or the action has been rescheduled before it's executed, clear the interval id\n    if (id != null) {\n      intervalProvider.clearInterval(id);\n    }\n\n    return undefined;\n  }\n\n  /**\n   * Immediately executes this action and the `work` it contains.\n   * @return {any}\n   */\n  public execute(state: T, delay: number): any {\n    if (this.closed) {\n      return new Error('executing a cancelled action');\n    }\n\n    this.pending = false;\n    const error = this._execute(state, delay);\n    if (error) {\n      return error;\n    } else if (this.pending === false && this.id != null) {\n      // Dequeue if the action didn't reschedule itself. Don't call\n      // unsubscribe(), because the action could reschedule later.\n      // For example:\n      // ```\n      // scheduler.schedule(function doWork(counter) {\n      //   /* ... I'm a busy worker bee ... */\n      //   var originalAction = this;\n      //   /* wait 100ms before rescheduling the action */\n      //   setTimeout(function () {\n      //     originalAction.schedule(counter + 1);\n      //   }, 100);\n      // }, 1000);\n      // ```\n      this.id = this.recycleAsyncId(this.scheduler, this.id, null);\n    }\n  }\n\n  protected _execute(state: T, _delay: number): any {\n    let errored: boolean = false;\n    let errorValue: any;\n    try {\n      this.work(state);\n    } catch (e) {\n      errored = true;\n      // HACK: Since code elsewhere is relying on the \"truthiness\" of the\n      // return here, we can't have it return \"\" or 0 or false.\n      // TODO: Clean this up when we refactor schedulers mid-version-8 or so.\n      errorValue = e ? e : new Error('Scheduled action threw falsy error');\n    }\n    if (errored) {\n      this.unsubscribe();\n      return errorValue;\n    }\n  }\n\n  unsubscribe() {\n    if (!this.closed) {\n      const { id, scheduler } = this;\n      const { actions } = scheduler;\n\n      this.work = this.state = this.scheduler = null!;\n      this.pending = false;\n\n      arrRemove(actions, this);\n      if (id != null) {\n        this.id = this.recycleAsyncId(scheduler, id, null);\n      }\n\n      this.delay = null!;\n      super.unsubscribe();\n    }\n  }\n}\n", "import { Action } from './scheduler/Action';\nimport { Subscription } from './Subscription';\nimport { SchedulerLike, SchedulerAction } from './types';\nimport { dateTimestampProvider } from './scheduler/dateTimestampProvider';\n\n/**\n * An execution context and a data structure to order tasks and schedule their\n * execution. Provides a notion of (potentially virtual) time, through the\n * `now()` getter method.\n *\n * Each unit of work in a Scheduler is called an `Action`.\n *\n * ```ts\n * class Scheduler {\n *   now(): number;\n *   schedule(work, delay?, state?): Subscription;\n * }\n * ```\n *\n * @class Scheduler\n * @deprecated Scheduler is an internal implementation detail of RxJS, and\n * should not be used directly. Rather, create your own class and implement\n * {@link SchedulerLike}. Will be made internal in v8.\n */\nexport class Scheduler implements SchedulerLike {\n  public static now: () => number = dateTimestampProvider.now;\n\n  constructor(private schedulerActionCtor: typeof Action, now: () => number = Scheduler.now) {\n    this.now = now;\n  }\n\n  /**\n   * A getter method that returns a number representing the current time\n   * (at the time this function was called) according to the scheduler's own\n   * internal clock.\n   * @return {number} A number that represents the current time. May or may not\n   * have a relation to wall-clock time. May or may not refer to a time unit\n   * (e.g. milliseconds).\n   */\n  public now: () => number;\n\n  /**\n   * Schedules a function, `work`, for execution. May happen at some point in\n   * the future, according to the `delay` parameter, if specified. May be passed\n   * some context object, `state`, which will be passed to the `work` function.\n   *\n   * The given arguments will be processed an stored as an Action object in a\n   * queue of actions.\n   *\n   * @param {function(state: ?T): ?Subscription} work A function representing a\n   * task, or some unit of work to be executed by the Scheduler.\n   * @param {number} [delay] Time to wait before executing the work, where the\n   * time unit is implicit and defined by the Scheduler itself.\n   * @param {T} [state] Some contextual data that the `work` function uses when\n   * called by the Scheduler.\n   * @return {Subscription} A subscription in order to be able to unsubscribe\n   * the scheduled work.\n   */\n  public schedule<T>(work: (this: SchedulerAction<T>, state?: T) => void, delay: number = 0, state?: T): Subscription {\n    return new this.schedulerActionCtor<T>(this, work).schedule(state, delay);\n  }\n}\n", "import { Scheduler } from '../Scheduler';\nimport { Action } from './Action';\nimport { AsyncAction } from './AsyncAction';\nimport { TimerHandle } from './timerHandle';\n\nexport class AsyncScheduler extends Scheduler {\n  public actions: Array<AsyncAction<any>> = [];\n  /**\n   * A flag to indicate whether the Scheduler is currently executing a batch of\n   * queued actions.\n   * @type {boolean}\n   * @internal\n   */\n  public _active: boolean = false;\n  /**\n   * An internal ID used to track the latest asynchronous task such as those\n   * coming from `setTimeout`, `setInterval`, `requestAnimationFrame`, and\n   * others.\n   * @type {any}\n   * @internal\n   */\n  public _scheduled: TimerHandle | undefined;\n\n  constructor(SchedulerAction: typeof Action, now: () => number = Scheduler.now) {\n    super(SchedulerAction, now);\n  }\n\n  public flush(action: AsyncAction<any>): void {\n    const { actions } = this;\n\n    if (this._active) {\n      actions.push(action);\n      return;\n    }\n\n    let error: any;\n    this._active = true;\n\n    do {\n      if ((error = action.execute(action.state, action.delay))) {\n        break;\n      }\n    } while ((action = actions.shift()!)); // exhaust the scheduler queue\n\n    this._active = false;\n\n    if (error) {\n      while ((action = actions.shift()!)) {\n        action.unsubscribe();\n      }\n      throw error;\n    }\n  }\n}\n", "import { AsyncAction } from './AsyncAction';\nimport { AsyncScheduler } from './AsyncScheduler';\n\n/**\n *\n * Async Scheduler\n *\n * <span class=\"informal\">Schedule task as if you used setTimeout(task, duration)</span>\n *\n * `async` scheduler schedules tasks asynchronously, by putting them on the JavaScript\n * event loop queue. It is best used to delay tasks in time or to schedule tasks repeating\n * in intervals.\n *\n * If you just want to \"defer\" task, that is to perform it right after currently\n * executing synchronous code ends (commonly achieved by `setTimeout(deferredTask, 0)`),\n * better choice will be the {@link asapScheduler} scheduler.\n *\n * ## Examples\n * Use async scheduler to delay task\n * ```ts\n * import { asyncScheduler } from 'rxjs';\n *\n * const task = () => console.log('it works!');\n *\n * asyncScheduler.schedule(task, 2000);\n *\n * // After 2 seconds logs:\n * // \"it works!\"\n * ```\n *\n * Use async scheduler to repeat task in intervals\n * ```ts\n * import { asyncScheduler } from 'rxjs';\n *\n * function task(state) {\n *   console.log(state);\n *   this.schedule(state + 1, 1000); // `this` references currently executing Action,\n *                                   // which we reschedule with new state and delay\n * }\n *\n * asyncScheduler.schedule(task, 3000, 0);\n *\n * // Logs:\n * // 0 after 3s\n * // 1 after 4s\n * // 2 after 5s\n * // 3 after 6s\n * ```\n */\n\nexport const asyncScheduler = new AsyncScheduler(AsyncAction);\n\n/**\n * @deprecated Renamed to {@link asyncScheduler}. Will be removed in v8.\n */\nexport const async = asyncScheduler;\n", "import { AsyncAction } from './AsyncAction';\nimport { Subscription } from '../Subscription';\nimport { QueueScheduler } from './QueueScheduler';\nimport { SchedulerAction } from '../types';\nimport { TimerHandle } from './timerHandle';\n\nexport class QueueAction<T> extends AsyncAction<T> {\n  constructor(protected scheduler: QueueScheduler, protected work: (this: SchedulerAction<T>, state?: T) => void) {\n    super(scheduler, work);\n  }\n\n  public schedule(state?: T, delay: number = 0): Subscription {\n    if (delay > 0) {\n      return super.schedule(state, delay);\n    }\n    this.delay = delay;\n    this.state = state;\n    this.scheduler.flush(this);\n    return this;\n  }\n\n  public execute(state: T, delay: number): any {\n    return delay > 0 || this.closed ? super.execute(state, delay) : this._execute(state, delay);\n  }\n\n  protected requestAsyncId(scheduler: QueueScheduler, id?: TimerHandle, delay: number = 0): TimerHandle {\n    // If delay exists and is greater than 0, or if the delay is null (the\n    // action wasn't rescheduled) but was originally scheduled as an async\n    // action, then recycle as an async action.\n\n    if ((delay != null && delay > 0) || (delay == null && this.delay > 0)) {\n      return super.requestAsyncId(scheduler, id, delay);\n    }\n\n    // Otherwise flush the scheduler starting with this action.\n    scheduler.flush(this);\n\n    // HACK: In the past, this was returning `void`. However, `void` isn't a valid\n    // `TimerHandle`, and generally the return value here isn't really used. So the\n    // compromise is to return `0` which is both \"falsy\" and a valid `TimerHandle`,\n    // as opposed to refactoring every other instanceo of `requestAsyncId`.\n    return 0;\n  }\n}\n", "import { AsyncScheduler } from './AsyncScheduler';\n\nexport class QueueScheduler extends AsyncScheduler {\n}\n", "import { QueueAction } from './QueueAction';\nimport { QueueScheduler } from './QueueScheduler';\n\n/**\n *\n * Queue Scheduler\n *\n * <span class=\"informal\">Put every next task on a queue, instead of executing it immediately</span>\n *\n * `queue` scheduler, when used with delay, behaves the same as {@link asyncScheduler} scheduler.\n *\n * When used without delay, it schedules given task synchronously - executes it right when\n * it is scheduled. However when called recursively, that is when inside the scheduled task,\n * another task is scheduled with queue scheduler, instead of executing immediately as well,\n * that task will be put on a queue and wait for current one to finish.\n *\n * This means that when you execute task with `queue` scheduler, you are sure it will end\n * before any other task scheduled with that scheduler will start.\n *\n * ## Examples\n * Schedule recursively first, then do something\n * ```ts\n * import { queueScheduler } from 'rxjs';\n *\n * queueScheduler.schedule(() => {\n *   queueScheduler.schedule(() => console.log('second')); // will not happen now, but will be put on a queue\n *\n *   console.log('first');\n * });\n *\n * // Logs:\n * // \"first\"\n * // \"second\"\n * ```\n *\n * Reschedule itself recursively\n * ```ts\n * import { queueScheduler } from 'rxjs';\n *\n * queueScheduler.schedule(function(state) {\n *   if (state !== 0) {\n *     console.log('before', state);\n *     this.schedule(state - 1); // `this` references currently executing Action,\n *                               // which we reschedule with new state\n *     console.log('after', state);\n *   }\n * }, 0, 3);\n *\n * // In scheduler that runs recursively, you would expect:\n * // \"before\", 3\n * // \"before\", 2\n * // \"before\", 1\n * // \"after\", 1\n * // \"after\", 2\n * // \"after\", 3\n *\n * // But with queue it logs:\n * // \"before\", 3\n * // \"after\", 3\n * // \"before\", 2\n * // \"after\", 2\n * // \"before\", 1\n * // \"after\", 1\n * ```\n */\n\nexport const queueScheduler = new QueueScheduler(QueueAction);\n\n/**\n * @deprecated Renamed to {@link queueScheduler}. Will be removed in v8.\n */\nexport const queue = queueScheduler;\n", "import { AsyncAction } from './AsyncAction';\nimport { AnimationFrameScheduler } from './AnimationFrameScheduler';\nimport { SchedulerAction } from '../types';\nimport { animationFrameProvider } from './animationFrameProvider';\nimport { TimerHandle } from './timerHandle';\n\nexport class AnimationFrameAction<T> extends AsyncAction<T> {\n  constructor(protected scheduler: AnimationFrameScheduler, protected work: (this: SchedulerAction<T>, state?: T) => void) {\n    super(scheduler, work);\n  }\n\n  protected requestAsyncId(scheduler: AnimationFrameScheduler, id?: TimerHandle, delay: number = 0): TimerHandle {\n    // If delay is greater than 0, request as an async action.\n    if (delay !== null && delay > 0) {\n      return super.requestAsyncId(scheduler, id, delay);\n    }\n    // Push the action to the end of the scheduler queue.\n    scheduler.actions.push(this);\n    // If an animation frame has already been requested, don't request another\n    // one. If an animation frame hasn't been requested yet, request one. Return\n    // the current animation frame request id.\n    return scheduler._scheduled || (scheduler._scheduled = animationFrameProvider.requestAnimationFrame(() => scheduler.flush(undefined)));\n  }\n\n  protected recycleAsyncId(scheduler: AnimationFrameScheduler, id?: TimerHandle, delay: number = 0): TimerHandle | undefined {\n    // If delay exists and is greater than 0, or if the delay is null (the\n    // action wasn't rescheduled) but was originally scheduled as an async\n    // action, then recycle as an async action.\n    if (delay != null ? delay > 0 : this.delay > 0) {\n      return super.recycleAsyncId(scheduler, id, delay);\n    }\n    // If the scheduler queue has no remaining actions with the same async id,\n    // cancel the requested animation frame and set the scheduled flag to\n    // undefined so the next AnimationFrameAction will request its own.\n    const { actions } = scheduler;\n    if (id != null && actions[actions.length - 1]?.id !== id) {\n      animationFrameProvider.cancelAnimationFrame(id as number);\n      scheduler._scheduled = undefined;\n    }\n    // Return undefined so the action knows to request a new async id if it's rescheduled.\n    return undefined;\n  }\n}\n", "import { AsyncAction } from './AsyncAction';\nimport { AsyncScheduler } from './AsyncScheduler';\n\nexport class AnimationFrameScheduler extends AsyncScheduler {\n  public flush(action?: AsyncAction<any>): void {\n    this._active = true;\n    // The async id that effects a call to flush is stored in _scheduled.\n    // Before executing an action, it's necessary to check the action's async\n    // id to determine whether it's supposed to be executed in the current\n    // flush.\n    // Previous implementations of this method used a count to determine this,\n    // but that was unsound, as actions that are unsubscribed - i.e. cancelled -\n    // are removed from the actions array and that can shift actions that are\n    // scheduled to be executed in a subsequent flush into positions at which\n    // they are executed within the current flush.\n    const flushId = this._scheduled;\n    this._scheduled = undefined;\n\n    const { actions } = this;\n    let error: any;\n    action = action || actions.shift()!;\n\n    do {\n      if ((error = action.execute(action.state, action.delay))) {\n        break;\n      }\n    } while ((action = actions[0]) && action.id === flushId && actions.shift());\n\n    this._active = false;\n\n    if (error) {\n      while ((action = actions[0]) && action.id === flushId && actions.shift()) {\n        action.unsubscribe();\n      }\n      throw error;\n    }\n  }\n}\n", "import { AnimationFrameAction } from './AnimationFrameAction';\nimport { AnimationFrameScheduler } from './AnimationFrameScheduler';\n\n/**\n *\n * Animation Frame Scheduler\n *\n * <span class=\"informal\">Perform task when `window.requestAnimationFrame` would fire</span>\n *\n * When `animationFrame` scheduler is used with delay, it will fall back to {@link asyncScheduler} scheduler\n * behaviour.\n *\n * Without delay, `animationFrame` scheduler can be used to create smooth browser animations.\n * It makes sure scheduled task will happen just before next browser content repaint,\n * thus performing animations as efficiently as possible.\n *\n * ## Example\n * Schedule div height animation\n * ```ts\n * // html: <div style=\"background: #0ff;\"></div>\n * import { animationFrameScheduler } from 'rxjs';\n *\n * const div = document.querySelector('div');\n *\n * animationFrameScheduler.schedule(function(height) {\n *   div.style.height = height + \"px\";\n *\n *   this.schedule(height + 1);  // `this` references currently executing Action,\n *                               // which we reschedule with new state\n * }, 0, 0);\n *\n * // You will see a div element growing in height\n * ```\n */\n\nexport const animationFrameScheduler = new AnimationFrameScheduler(AnimationFrameAction);\n\n/**\n * @deprecated Renamed to {@link animationFrameScheduler}. Will be removed in v8.\n */\nexport const animationFrame = animationFrameScheduler;\n", "import { Observable } from '../Observable';\nimport { SchedulerLike } from '../types';\n\n/**\n * A simple Observable that emits no items to the Observer and immediately\n * emits a complete notification.\n *\n * <span class=\"informal\">Just emits 'complete', and nothing else.</span>\n *\n * ![](empty.png)\n *\n * A simple Observable that only emits the complete notification. It can be used\n * for composing with other Observables, such as in a {@link mergeMap}.\n *\n * ## Examples\n *\n * Log complete notification\n *\n * ```ts\n * import { EMPTY } from 'rxjs';\n *\n * EMPTY.subscribe({\n *   next: () => console.log('Next'),\n *   complete: () => console.log('Complete!')\n * });\n *\n * // Outputs\n * // Complete!\n * ```\n *\n * Emit the number 7, then complete\n *\n * ```ts\n * import { EMPTY, startWith } from 'rxjs';\n *\n * const result = EMPTY.pipe(startWith(7));\n * result.subscribe(x => console.log(x));\n *\n * // Outputs\n * // 7\n * ```\n *\n * Map and flatten only odd numbers to the sequence `'a'`, `'b'`, `'c'`\n *\n * ```ts\n * import { interval, mergeMap, of, EMPTY } from 'rxjs';\n *\n * const interval$ = interval(1000);\n * const result = interval$.pipe(\n *   mergeMap(x => x % 2 === 1 ? of('a', 'b', 'c') : EMPTY),\n * );\n * result.subscribe(x => console.log(x));\n *\n * // Results in the following to the console:\n * // x is equal to the count on the interval, e.g. (0, 1, 2, 3, ...)\n * // x will occur every 1000ms\n * // if x % 2 is equal to 1, print a, b, c (each on its own)\n * // if x % 2 is not equal to 1, nothing will be output\n * ```\n *\n * @see {@link Observable}\n * @see {@link NEVER}\n * @see {@link of}\n * @see {@link throwError}\n */\nexport const EMPTY = new Observable<never>((subscriber) => subscriber.complete());\n\n/**\n * @param scheduler A {@link SchedulerLike} to use for scheduling\n * the emission of the complete notification.\n * @deprecated Replaced with the {@link EMPTY} constant or {@link scheduled} (e.g. `scheduled([], scheduler)`). Will be removed in v8.\n */\nexport function empty(scheduler?: SchedulerLike) {\n  return scheduler ? emptyScheduled(scheduler) : EMPTY;\n}\n\nfunction emptyScheduled(scheduler: SchedulerLike) {\n  return new Observable<never>((subscriber) => scheduler.schedule(() => subscriber.complete()));\n}\n", "import { SchedulerLike } from '../types';\nimport { isFunction } from './isFunction';\n\nexport function isScheduler(value: any): value is SchedulerLike {\n  return value && isFunction(value.schedule);\n}\n", "import { SchedulerLike } from '../types';\nimport { isFunction } from './isFunction';\nimport { isScheduler } from './isScheduler';\n\nfunction last<T>(arr: T[]): T | undefined {\n  return arr[arr.length - 1];\n}\n\nexport function popResultSelector(args: any[]): ((...args: unknown[]) => unknown) | undefined {\n  return isFunction(last(args)) ? args.pop() : undefined;\n}\n\nexport function popScheduler(args: any[]): SchedulerLike | undefined {\n  return isScheduler(last(args)) ? args.pop() : undefined;\n}\n\nexport function popNumber(args: any[], defaultValue: number): number {\n  return typeof last(args) === 'number' ? args.pop()! : defaultValue;\n}\n", "export const isArrayLike = (<T>(x: any): x is ArrayLike<T> => x && typeof x.length === 'number' && typeof x !== 'function');", "import { isFunction } from \"./isFunction\";\n\n/**\n * Tests to see if the object is \"thennable\".\n * @param value the object to test\n */\nexport function isPromise(value: any): value is PromiseLike<any> {\n  return isFunction(value?.then);\n}\n", "import { InteropObservable } from '../types';\nimport { observable as Symbol_observable } from '../symbol/observable';\nimport { isFunction } from './isFunction';\n\n/** Identifies an input as being Observable (but not necessary an Rx Observable) */\nexport function isInteropObservable(input: any): input is InteropObservable<any> {\n  return isFunction(input[Symbol_observable]);\n}\n", "import { isFunction } from './isFunction';\n\nexport function isAsyncIterable<T>(obj: any): obj is AsyncIterable<T> {\n  return Symbol.asyncIterator && isFunction(obj?.[Symbol.asyncIterator]);\n}\n", "/**\n * Creates the TypeError to throw if an invalid object is passed to `from` or `scheduled`.\n * @param input The object that was passed.\n */\nexport function createInvalidObservableTypeError(input: any) {\n  // TODO: We should create error codes that can be looked up, so this can be less verbose.\n  return new TypeError(\n    `You provided ${\n      input !== null && typeof input === 'object' ? 'an invalid object' : `'${input}'`\n    } where a stream was expected. You can provide an Observable, Promise, ReadableStream, Array, AsyncIterable, or Iterable.`\n  );\n}\n", "export function getSymbolIterator(): symbol {\n  if (typeof Symbol !== 'function' || !Symbol.iterator) {\n    return '@@iterator' as any;\n  }\n\n  return Symbol.iterator;\n}\n\nexport const iterator = getSymbolIterator();\n", "import { iterator as Symbol_iterator } from '../symbol/iterator';\nimport { isFunction } from './isFunction';\n\n/** Identifies an input as being an Iterable */\nexport function isIterable(input: any): input is Iterable<any> {\n  return isFunction(input?.[Symbol_iterator]);\n}\n", "import { ReadableStreamLike } from '../types';\nimport { isFunction } from './isFunction';\n\nexport async function* readableStreamLikeToAsyncGenerator<T>(readableStream: ReadableStreamLike<T>): AsyncGenerator<T> {\n  const reader = readableStream.getReader();\n  try {\n    while (true) {\n      const { value, done } = await reader.read();\n      if (done) {\n        return;\n      }\n      yield value!;\n    }\n  } finally {\n    reader.releaseLock();\n  }\n}\n\nexport function isReadableStreamLike<T>(obj: any): obj is ReadableStreamLike<T> {\n  // We don't want to use instanceof checks because they would return\n  // false for instances from another Realm, like an <iframe>.\n  return isFunction(obj?.getReader);\n}\n", "import { isArrayLike } from '../util/isArrayLike';\nimport { isPromise } from '../util/isPromise';\nimport { Observable } from '../Observable';\nimport { ObservableInput, ObservedValueOf, ReadableStreamLike } from '../types';\nimport { isInteropObservable } from '../util/isInteropObservable';\nimport { isAsyncIterable } from '../util/isAsyncIterable';\nimport { createInvalidObservableTypeError } from '../util/throwUnobservableError';\nimport { isIterable } from '../util/isIterable';\nimport { isReadableStreamLike, readableStreamLikeToAsyncGenerator } from '../util/isReadableStreamLike';\nimport { Subscriber } from '../Subscriber';\nimport { isFunction } from '../util/isFunction';\nimport { reportUnhandledError } from '../util/reportUnhandledError';\nimport { observable as Symbol_observable } from '../symbol/observable';\n\nexport function innerFrom<O extends ObservableInput<any>>(input: O): Observable<ObservedValueOf<O>>;\nexport function innerFrom<T>(input: ObservableInput<T>): Observable<T> {\n  if (input instanceof Observable) {\n    return input;\n  }\n  if (input != null) {\n    if (isInteropObservable(input)) {\n      return fromInteropObservable(input);\n    }\n    if (isArrayLike(input)) {\n      return fromArrayLike(input);\n    }\n    if (isPromise(input)) {\n      return fromPromise(input);\n    }\n    if (isAsyncIterable(input)) {\n      return fromAsyncIterable(input);\n    }\n    if (isIterable(input)) {\n      return fromIterable(input);\n    }\n    if (isReadableStreamLike(input)) {\n      return fromReadableStreamLike(input);\n    }\n  }\n\n  throw createInvalidObservableTypeError(input);\n}\n\n/**\n * Creates an RxJS Observable from an object that implements `Symbol.observable`.\n * @param obj An object that properly implements `Symbol.observable`.\n */\nexport function fromInteropObservable<T>(obj: any) {\n  return new Observable((subscriber: Subscriber<T>) => {\n    const obs = obj[Symbol_observable]();\n    if (isFunction(obs.subscribe)) {\n      return obs.subscribe(subscriber);\n    }\n    // Should be caught by observable subscribe function error handling.\n    throw new TypeError('Provided object does not correctly implement Symbol.observable');\n  });\n}\n\n/**\n * Synchronously emits the values of an array like and completes.\n * This is exported because there are creation functions and operators that need to\n * make direct use of the same logic, and there's no reason to make them run through\n * `from` conditionals because we *know* they're dealing with an array.\n * @param array The array to emit values from\n */\nexport function fromArrayLike<T>(array: ArrayLike<T>) {\n  return new Observable((subscriber: Subscriber<T>) => {\n    // Loop over the array and emit each value. Note two things here:\n    // 1. We're making sure that the subscriber is not closed on each loop.\n    //    This is so we don't continue looping over a very large array after\n    //    something like a `take`, `takeWhile`, or other synchronous unsubscription\n    //    has already unsubscribed.\n    // 2. In this form, reentrant code can alter that array we're looping over.\n    //    This is a known issue, but considered an edge case. The alternative would\n    //    be to copy the array before executing the loop, but this has\n    //    performance implications.\n    for (let i = 0; i < array.length && !subscriber.closed; i++) {\n      subscriber.next(array[i]);\n    }\n    subscriber.complete();\n  });\n}\n\nexport function fromPromise<T>(promise: PromiseLike<T>) {\n  return new Observable((subscriber: Subscriber<T>) => {\n    promise\n      .then(\n        (value) => {\n          if (!subscriber.closed) {\n            subscriber.next(value);\n            subscriber.complete();\n          }\n        },\n        (err: any) => subscriber.error(err)\n      )\n      .then(null, reportUnhandledError);\n  });\n}\n\nexport function fromIterable<T>(iterable: Iterable<T>) {\n  return new Observable((subscriber: Subscriber<T>) => {\n    for (const value of iterable) {\n      subscriber.next(value);\n      if (subscriber.closed) {\n        return;\n      }\n    }\n    subscriber.complete();\n  });\n}\n\nexport function fromAsyncIterable<T>(asyncIterable: AsyncIterable<T>) {\n  return new Observable((subscriber: Subscriber<T>) => {\n    process(asyncIterable, subscriber).catch((err) => subscriber.error(err));\n  });\n}\n\nexport function fromReadableStreamLike<T>(readableStream: ReadableStreamLike<T>) {\n  return fromAsyncIterable(readableStreamLikeToAsyncGenerator(readableStream));\n}\n\nasync function process<T>(asyncIterable: AsyncIterable<T>, subscriber: Subscriber<T>) {\n  for await (const value of asyncIterable) {\n    subscriber.next(value);\n    // A side-effect may have closed our subscriber,\n    // check before the next iteration.\n    if (subscriber.closed) {\n      return;\n    }\n  }\n  subscriber.complete();\n}\n", "import { Subscription } from '../Subscription';\nimport { SchedulerAction, SchedulerLike } from '../types';\n\nexport function executeSchedule(\n  parentSubscription: Subscription,\n  scheduler: SchedulerLike,\n  work: () => void,\n  delay: number,\n  repeat: true\n): void;\nexport function executeSchedule(\n  parentSubscription: Subscription,\n  scheduler: SchedulerLike,\n  work: () => void,\n  delay?: number,\n  repeat?: false\n): Subscription;\n\nexport function executeSchedule(\n  parentSubscription: Subscription,\n  scheduler: SchedulerLike,\n  work: () => void,\n  delay = 0,\n  repeat = false\n): Subscription | void {\n  const scheduleSubscription = scheduler.schedule(function (this: SchedulerAction<any>) {\n    work();\n    if (repeat) {\n      parentSubscription.add(this.schedule(null, delay));\n    } else {\n      this.unsubscribe();\n    }\n  }, delay);\n\n  parentSubscription.add(scheduleSubscription);\n\n  if (!repeat) {\n    // Because user-land scheduler implementations are unlikely to properly reuse\n    // Actions for repeat scheduling, we can't trust that the returned subscription\n    // will control repeat subscription scenarios. So we're trying to avoid using them\n    // incorrectly within this library.\n    return scheduleSubscription;\n  }\n}\n", "/** @prettier */\nimport { MonoTypeOperatorFunction, SchedulerLike } from '../types';\nimport { executeSchedule } from '../util/executeSchedule';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * Re-emits all notifications from source Observable with specified scheduler.\n *\n * <span class=\"informal\">Ensure a specific scheduler is used, from outside of an Observable.</span>\n *\n * `observeOn` is an operator that accepts a scheduler as a first parameter, which will be used to reschedule\n * notifications emitted by the source Observable. It might be useful, if you do not have control over\n * internal scheduler of a given Observable, but want to control when its values are emitted nevertheless.\n *\n * Returned Observable emits the same notifications (nexted values, complete and error events) as the source Observable,\n * but rescheduled with provided scheduler. Note that this doesn't mean that source Observables internal\n * scheduler will be replaced in any way. Original scheduler still will be used, but when the source Observable emits\n * notification, it will be immediately scheduled again - this time with scheduler passed to `observeOn`.\n * An anti-pattern would be calling `observeOn` on Observable that emits lots of values synchronously, to split\n * that emissions into asynchronous chunks. For this to happen, scheduler would have to be passed into the source\n * Observable directly (usually into the operator that creates it). `observeOn` simply delays notifications a\n * little bit more, to ensure that they are emitted at expected moments.\n *\n * As a matter of fact, `observeOn` accepts second parameter, which specifies in milliseconds with what delay notifications\n * will be emitted. The main difference between {@link delay} operator and `observeOn` is that `observeOn`\n * will delay all notifications - including error notifications - while `delay` will pass through error\n * from source Observable immediately when it is emitted. In general it is highly recommended to use `delay` operator\n * for any kind of delaying of values in the stream, while using `observeOn` to specify which scheduler should be used\n * for notification emissions in general.\n *\n * ## Example\n *\n * Ensure values in subscribe are called just before browser repaint\n *\n * ```ts\n * import { interval, observeOn, animationFrameScheduler } from 'rxjs';\n *\n * const someDiv = document.createElement('div');\n * someDiv.style.cssText = 'width: 200px;background: #09c';\n * document.body.appendChild(someDiv);\n * const intervals = interval(10);      // Intervals are scheduled\n *                                      // with async scheduler by default...\n * intervals.pipe(\n *   observeOn(animationFrameScheduler) // ...but we will observe on animationFrame\n * )                                    // scheduler to ensure smooth animation.\n * .subscribe(val => {\n *   someDiv.style.height = val + 'px';\n * });\n * ```\n *\n * @see {@link delay}\n *\n * @param scheduler Scheduler that will be used to reschedule notifications from source Observable.\n * @param delay Number of milliseconds that states with what delay every notification should be rescheduled.\n * @return A function that returns an Observable that emits the same\n * notifications as the source Observable, but with provided scheduler.\n */\nexport function observeOn<T>(scheduler: SchedulerLike, delay = 0): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value) => executeSchedule(subscriber, scheduler, () => subscriber.next(value), delay),\n        () => executeSchedule(subscriber, scheduler, () => subscriber.complete(), delay),\n        (err) => executeSchedule(subscriber, scheduler, () => subscriber.error(err), delay)\n      )\n    );\n  });\n}\n", "import { MonoTypeOperatorFunction, SchedulerLike } from '../types';\nimport { operate } from '../util/lift';\n\n/**\n * Asynchronously subscribes Observers to this Observable on the specified {@link SchedulerLike}.\n *\n * With `subscribeOn` you can decide what type of scheduler a specific Observable will be using when it is subscribed to.\n *\n * Schedulers control the speed and order of emissions to observers from an Observable stream.\n *\n * ![](subscribeOn.png)\n *\n * ## Example\n *\n * Given the following code:\n *\n * ```ts\n * import { of, merge } from 'rxjs';\n *\n * const a = of(1, 2, 3);\n * const b = of(4, 5, 6);\n *\n * merge(a, b).subscribe(console.log);\n *\n * // Outputs\n * // 1\n * // 2\n * // 3\n * // 4\n * // 5\n * // 6\n * ```\n *\n * Both Observable `a` and `b` will emit their values directly and synchronously once they are subscribed to.\n *\n * If we instead use the `subscribeOn` operator declaring that we want to use the {@link asyncScheduler} for values emitted by Observable `a`:\n *\n * ```ts\n * import { of, subscribeOn, asyncScheduler, merge } from 'rxjs';\n *\n * const a = of(1, 2, 3).pipe(subscribeOn(asyncScheduler));\n * const b = of(4, 5, 6);\n *\n * merge(a, b).subscribe(console.log);\n *\n * // Outputs\n * // 4\n * // 5\n * // 6\n * // 1\n * // 2\n * // 3\n * ```\n *\n * The reason for this is that Observable `b` emits its values directly and synchronously like before\n * but the emissions from `a` are scheduled on the event loop because we are now using the {@link asyncScheduler} for that specific Observable.\n *\n * @param scheduler The {@link SchedulerLike} to perform subscription actions on.\n * @param delay A delay to pass to the scheduler to delay subscriptions\n * @return A function that returns an Observable modified so that its\n * subscriptions happen on the specified {@link SchedulerLike}.\n */\nexport function subscribeOn<T>(scheduler: SchedulerLike, delay: number = 0): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    subscriber.add(scheduler.schedule(() => source.subscribe(subscriber), delay));\n  });\n}\n", "import { innerFrom } from '../observable/innerFrom';\nimport { observeOn } from '../operators/observeOn';\nimport { subscribeOn } from '../operators/subscribeOn';\nimport { InteropObservable, SchedulerLike } from '../types';\n\nexport function scheduleObservable<T>(input: InteropObservable<T>, scheduler: SchedulerLike) {\n  return innerFrom(input).pipe(subscribeOn(scheduler), observeOn(scheduler));\n}\n", "import { innerFrom } from '../observable/innerFrom';\nimport { observeOn } from '../operators/observeOn';\nimport { subscribeOn } from '../operators/subscribeOn';\nimport { SchedulerLike } from '../types';\n\nexport function schedulePromise<T>(input: PromiseLike<T>, scheduler: SchedulerLike) {\n  return innerFrom(input).pipe(subscribeOn(scheduler), observeOn(scheduler));\n}\n", "import { Observable } from '../Observable';\nimport { SchedulerLike } from '../types';\n\nexport function scheduleArray<T>(input: ArrayLike<T>, scheduler: SchedulerLike) {\n  return new Observable<T>((subscriber) => {\n    // The current array index.\n    let i = 0;\n    // Start iterating over the array like on a schedule.\n    return scheduler.schedule(function () {\n      if (i === input.length) {\n        // If we have hit the end of the array like in the\n        // previous job, we can complete.\n        subscriber.complete();\n      } else {\n        // Otherwise let's next the value at the current index,\n        // then increment our index.\n        subscriber.next(input[i++]);\n        // If the last emission didn't cause us to close the subscriber\n        // (via take or some side effect), reschedule the job and we'll\n        // make another pass.\n        if (!subscriber.closed) {\n          this.schedule();\n        }\n      }\n    });\n  });\n}\n", "import { Observable } from '../Observable';\nimport { SchedulerLike } from '../types';\nimport { iterator as Symbol_iterator } from '../symbol/iterator';\nimport { isFunction } from '../util/isFunction';\nimport { executeSchedule } from '../util/executeSchedule';\n\n/**\n * Used in {@link scheduled} to create an observable from an Iterable.\n * @param input The iterable to create an observable from\n * @param scheduler The scheduler to use\n */\nexport function scheduleIterable<T>(input: Iterable<T>, scheduler: SchedulerLike) {\n  return new Observable<T>((subscriber) => {\n    let iterator: Iterator<T, T>;\n\n    // Schedule the initial creation of the iterator from\n    // the iterable. This is so the code in the iterable is\n    // not called until the scheduled job fires.\n    executeSchedule(subscriber, scheduler, () => {\n      // Create the iterator.\n      iterator = (input as any)[Symbol_iterator]();\n\n      executeSchedule(\n        subscriber,\n        scheduler,\n        () => {\n          let value: T;\n          let done: boolean | undefined;\n          try {\n            // Pull the value out of the iterator\n            ({ value, done } = iterator.next());\n          } catch (err) {\n            // We got an error while pulling from the iterator\n            subscriber.error(err);\n            return;\n          }\n\n          if (done) {\n            // If it is \"done\" we just complete. This mimics the\n            // behavior of JavaScript's `for..of` consumption of\n            // iterables, which will not emit the value from an iterator\n            // result of `{ done: true: value: 'here' }`.\n            subscriber.complete();\n          } else {\n            // The iterable is not done, emit the value.\n            subscriber.next(value);\n          }\n        },\n        0,\n        true\n      );\n    });\n\n    // During finalization, if we see this iterator has a `return` method,\n    // then we know it is a Generator, and not just an Iterator. So we call\n    // the `return()` function. This will ensure that any `finally { }` blocks\n    // inside of the generator we can hit will be hit properly.\n    return () => isFunction(iterator?.return) && iterator.return();\n  });\n}\n", "import { SchedulerLike } from '../types';\nimport { Observable } from '../Observable';\nimport { executeSchedule } from '../util/executeSchedule';\n\nexport function scheduleAsyncIterable<T>(input: AsyncIterable<T>, scheduler: SchedulerLike) {\n  if (!input) {\n    throw new Error('Iterable cannot be null');\n  }\n  return new Observable<T>((subscriber) => {\n    executeSchedule(subscriber, scheduler, () => {\n      const iterator = input[Symbol.asyncIterator]();\n      executeSchedule(\n        subscriber,\n        scheduler,\n        () => {\n          iterator.next().then((result) => {\n            if (result.done) {\n              // This will remove the subscriptions from\n              // the parent subscription.\n              subscriber.complete();\n            } else {\n              subscriber.next(result.value);\n            }\n          });\n        },\n        0,\n        true\n      );\n    });\n  });\n}\n", "import { SchedulerLike, ReadableStreamLike } from '../types';\nimport { Observable } from '../Observable';\nimport { scheduleAsyncIterable } from './scheduleAsyncIterable';\nimport { readableStreamLikeToAsyncGenerator } from '../util/isReadableStreamLike';\n\nexport function scheduleReadableStreamLike<T>(input: ReadableStreamLike<T>, scheduler: SchedulerLike): Observable<T> {\n  return scheduleAsyncIterable(readableStreamLikeToAsyncGenerator(input), scheduler);\n}\n", "import { scheduleObservable } from './scheduleObservable';\nimport { schedulePromise } from './schedulePromise';\nimport { scheduleArray } from './scheduleArray';\nimport { scheduleIterable } from './scheduleIterable';\nimport { scheduleAsyncIterable } from './scheduleAsyncIterable';\nimport { isInteropObservable } from '../util/isInteropObservable';\nimport { isPromise } from '../util/isPromise';\nimport { isArrayLike } from '../util/isArrayLike';\nimport { isIterable } from '../util/isIterable';\nimport { ObservableInput, SchedulerLike } from '../types';\nimport { Observable } from '../Observable';\nimport { isAsyncIterable } from '../util/isAsyncIterable';\nimport { createInvalidObservableTypeError } from '../util/throwUnobservableError';\nimport { isReadableStreamLike } from '../util/isReadableStreamLike';\nimport { scheduleReadableStreamLike } from './scheduleReadableStreamLike';\n\n/**\n * Converts from a common {@link ObservableInput} type to an observable where subscription and emissions\n * are scheduled on the provided scheduler.\n *\n * @see {@link from}\n * @see {@link of}\n *\n * @param input The observable, array, promise, iterable, etc you would like to schedule\n * @param scheduler The scheduler to use to schedule the subscription and emissions from\n * the returned observable.\n */\nexport function scheduled<T>(input: ObservableInput<T>, scheduler: SchedulerLike): Observable<T> {\n  if (input != null) {\n    if (isInteropObservable(input)) {\n      return scheduleObservable(input, scheduler);\n    }\n    if (isArrayLike(input)) {\n      return scheduleArray(input, scheduler);\n    }\n    if (isPromise(input)) {\n      return schedulePromise(input, scheduler);\n    }\n    if (isAsyncIterable(input)) {\n      return scheduleAsyncIterable(input, scheduler);\n    }\n    if (isIterable(input)) {\n      return scheduleIterable(input, scheduler);\n    }\n    if (isReadableStreamLike(input)) {\n      return scheduleReadableStreamLike(input, scheduler);\n    }\n  }\n  throw createInvalidObservableTypeError(input);\n}\n", "import { Observable } from '../Observable';\nimport { ObservableInput, SchedulerLike, ObservedValueOf } from '../types';\nimport { scheduled } from '../scheduled/scheduled';\nimport { innerFrom } from './innerFrom';\n\nexport function from<O extends ObservableInput<any>>(input: O): Observable<ObservedValueOf<O>>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function from<O extends ObservableInput<any>>(input: O, scheduler: SchedulerLike | undefined): Observable<ObservedValueOf<O>>;\n\n/**\n * Creates an Observable from an Array, an array-like object, a Promise, an iterable object, or an Observable-like object.\n *\n * <span class=\"informal\">Converts almost anything to an Observable.</span>\n *\n * ![](from.png)\n *\n * `from` converts various other objects and data types into Observables. It also converts a Promise, an array-like, or an\n * <a href=\"https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Iteration_protocols#iterable\" target=\"_blank\">iterable</a>\n * object into an Observable that emits the items in that promise, array, or iterable. A String, in this context, is treated\n * as an array of characters. Observable-like objects (contains a function named with the ES2015 Symbol for Observable) can also be\n * converted through this operator.\n *\n * ## Examples\n *\n * Converts an array to an Observable\n *\n * ```ts\n * import { from } from 'rxjs';\n *\n * const array = [10, 20, 30];\n * const result = from(array);\n *\n * result.subscribe(x => console.log(x));\n *\n * // Logs:\n * // 10\n * // 20\n * // 30\n * ```\n *\n * Convert an infinite iterable (from a generator) to an Observable\n *\n * ```ts\n * import { from, take } from 'rxjs';\n *\n * function* generateDoubles(seed) {\n *    let i = seed;\n *    while (true) {\n *      yield i;\n *      i = 2 * i; // double it\n *    }\n * }\n *\n * const iterator = generateDoubles(3);\n * const result = from(iterator).pipe(take(10));\n *\n * result.subscribe(x => console.log(x));\n *\n * // Logs:\n * // 3\n * // 6\n * // 12\n * // 24\n * // 48\n * // 96\n * // 192\n * // 384\n * // 768\n * // 1536\n * ```\n *\n * With `asyncScheduler`\n *\n * ```ts\n * import { from, asyncScheduler } from 'rxjs';\n *\n * console.log('start');\n *\n * const array = [10, 20, 30];\n * const result = from(array, asyncScheduler);\n *\n * result.subscribe(x => console.log(x));\n *\n * console.log('end');\n *\n * // Logs:\n * // 'start'\n * // 'end'\n * // 10\n * // 20\n * // 30\n * ```\n *\n * @see {@link fromEvent}\n * @see {@link fromEventPattern}\n *\n * @param {ObservableInput<T>} A subscription object, a Promise, an Observable-like,\n * an Array, an iterable, or an array-like object to be converted.\n * @param {SchedulerLike} An optional {@link SchedulerLike} on which to schedule the emission of values.\n * @return {Observable<T>}\n */\nexport function from<T>(input: ObservableInput<T>, scheduler?: SchedulerLike): Observable<T> {\n  return scheduler ? scheduled(input, scheduler) : innerFrom(input);\n}\n", "import { SchedulerLike, ValueFromArray } from '../types';\nimport { Observable } from '../Observable';\nimport { popScheduler } from '../util/args';\nimport { from } from './from';\n\n// Devs are more likely to pass null or undefined than they are a scheduler\n// without accompanying values. To make things easier for (naughty) devs who\n// use the `strictNullChecks: false` TypeScript compiler option, these\n// overloads with explicit null and undefined values are included.\n\nexport function of(value: null): Observable<null>;\nexport function of(value: undefined): Observable<undefined>;\n\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function of(scheduler: SchedulerLike): Observable<never>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function of<A extends readonly unknown[]>(...valuesAndScheduler: [...A, SchedulerLike]): Observable<ValueFromArray<A>>;\n\nexport function of(): Observable<never>;\n/** @deprecated Do not specify explicit type parameters. Signatures with type parameters that cannot be inferred will be removed in v8. */\nexport function of<T>(): Observable<T>;\nexport function of<T>(value: T): Observable<T>;\nexport function of<A extends readonly unknown[]>(...values: A): Observable<ValueFromArray<A>>;\n\n/**\n * Converts the arguments to an observable sequence.\n *\n * <span class=\"informal\">Each argument becomes a `next` notification.</span>\n *\n * ![](of.png)\n *\n * Unlike {@link from}, it does not do any flattening and emits each argument in whole\n * as a separate `next` notification.\n *\n * ## Examples\n *\n * Emit the values `10, 20, 30`\n *\n * ```ts\n * import { of } from 'rxjs';\n *\n * of(10, 20, 30)\n *   .subscribe({\n *     next: value => console.log('next:', value),\n *     error: err => console.log('error:', err),\n *     complete: () => console.log('the end'),\n *   });\n *\n * // Outputs\n * // next: 10\n * // next: 20\n * // next: 30\n * // the end\n * ```\n *\n * Emit the array `[1, 2, 3]`\n *\n * ```ts\n * import { of } from 'rxjs';\n *\n * of([1, 2, 3])\n *   .subscribe({\n *     next: value => console.log('next:', value),\n *     error: err => console.log('error:', err),\n *     complete: () => console.log('the end'),\n *   });\n *\n * // Outputs\n * // next: [1, 2, 3]\n * // the end\n * ```\n *\n * @see {@link from}\n * @see {@link range}\n *\n * @param {...T} values A comma separated list of arguments you want to be emitted\n * @return {Observable} An Observable that emits the arguments\n * described above and then completes.\n */\nexport function of<T>(...args: Array<T | SchedulerLike>): Observable<T> {\n  const scheduler = popScheduler(args);\n  return from(args as T[], scheduler);\n}\n", "import { Observable } from '../Observable';\nimport { Subscriber } from '../Subscriber';\nimport { SchedulerLike } from '../types';\nimport { isFunction } from '../util/isFunction';\n\n/**\n * Creates an observable that will create an error instance and push it to the consumer as an error\n * immediately upon subscription.\n *\n * <span class=\"informal\">Just errors and does nothing else</span>\n *\n * ![](throw.png)\n *\n * This creation function is useful for creating an observable that will create an error and error every\n * time it is subscribed to. Generally, inside of most operators when you might want to return an errored\n * observable, this is unnecessary. In most cases, such as in the inner return of {@link concatMap},\n * {@link mergeMap}, {@link defer}, and many others, you can simply throw the error, and RxJS will pick\n * that up and notify the consumer of the error.\n *\n * ## Example\n *\n * Create a simple observable that will create a new error with a timestamp and log it\n * and the message every time you subscribe to it\n *\n * ```ts\n * import { throwError } from 'rxjs';\n *\n * let errorCount = 0;\n *\n * const errorWithTimestamp$ = throwError(() => {\n *   const error: any = new Error(`This is error number ${ ++errorCount }`);\n *   error.timestamp = Date.now();\n *   return error;\n * });\n *\n * errorWithTimestamp$.subscribe({\n *   error: err => console.log(err.timestamp, err.message)\n * });\n *\n * errorWithTimestamp$.subscribe({\n *   error: err => console.log(err.timestamp, err.message)\n * });\n *\n * // Logs the timestamp and a new error message for each subscription\n * ```\n *\n * ### Unnecessary usage\n *\n * Using `throwError` inside of an operator or creation function\n * with a callback, is usually not necessary\n *\n * ```ts\n * import { of, concatMap, timer, throwError } from 'rxjs';\n *\n * const delays$ = of(1000, 2000, Infinity, 3000);\n *\n * delays$.pipe(\n *   concatMap(ms => {\n *     if (ms < 10000) {\n *       return timer(ms);\n *     } else {\n *       // This is probably overkill.\n *       return throwError(() => new Error(`Invalid time ${ ms }`));\n *     }\n *   })\n * )\n * .subscribe({\n *   next: console.log,\n *   error: console.error\n * });\n * ```\n *\n * You can just throw the error instead\n *\n * ```ts\n * import { of, concatMap, timer } from 'rxjs';\n *\n * const delays$ = of(1000, 2000, Infinity, 3000);\n *\n * delays$.pipe(\n *   concatMap(ms => {\n *     if (ms < 10000) {\n *       return timer(ms);\n *     } else {\n *       // Cleaner and easier to read for most folks.\n *       throw new Error(`Invalid time ${ ms }`);\n *     }\n *   })\n * )\n * .subscribe({\n *   next: console.log,\n *   error: console.error\n * });\n * ```\n *\n * @param errorFactory A factory function that will create the error instance that is pushed.\n */\nexport function throwError(errorFactory: () => any): Observable<never>;\n\n/**\n * Returns an observable that will error with the specified error immediately upon subscription.\n *\n * @param error The error instance to emit\n * @deprecated Support for passing an error value will be removed in v8. Instead, pass a factory function to `throwError(() => new Error('test'))`. This is\n * because it will create the error at the moment it should be created and capture a more appropriate stack trace. If\n * for some reason you need to create the error ahead of time, you can still do that: `const err = new Error('test'); throwError(() => err);`.\n */\nexport function throwError(error: any): Observable<never>;\n\n/**\n * Notifies the consumer of an error using a given scheduler by scheduling it at delay `0` upon subscription.\n *\n * @param errorOrErrorFactory An error instance or error factory\n * @param scheduler A scheduler to use to schedule the error notification\n * @deprecated The `scheduler` parameter will be removed in v8.\n * Use `throwError` in combination with {@link observeOn}: `throwError(() => new Error('test')).pipe(observeOn(scheduler));`.\n * Details: https://rxjs.dev/deprecations/scheduler-argument\n */\nexport function throwError(errorOrErrorFactory: any, scheduler: SchedulerLike): Observable<never>;\n\nexport function throwError(errorOrErrorFactory: any, scheduler?: SchedulerLike): Observable<never> {\n  const errorFactory = isFunction(errorOrErrorFactory) ? errorOrErrorFactory : () => errorOrErrorFactory;\n  const init = (subscriber: Subscriber<never>) => subscriber.error(errorFactory());\n  return new Observable(scheduler ? (subscriber) => scheduler.schedule(init as any, 0, subscriber) : init);\n}\n", "import { createErrorClass } from './createErrorClass';\n\nexport interface EmptyError extends Error {}\n\nexport interface EmptyErrorCtor {\n  /**\n   * @deprecated Internal implementation detail. Do not construct error instances.\n   * Cannot be tagged as internal: https://github.com/ReactiveX/rxjs/issues/6269\n   */\n  new (): EmptyError;\n}\n\n/**\n * An error thrown when an Observable or a sequence was queried but has no\n * elements.\n *\n * @see {@link first}\n * @see {@link last}\n * @see {@link single}\n * @see {@link firstValueFrom}\n * @see {@link lastValueFrom}\n *\n * @class EmptyError\n */\nexport const EmptyError: EmptyErrorCtor = createErrorClass((_super) => function EmptyErrorImpl(this: any) {\n  _super(this);\n  this.name = 'EmptyError';\n  this.message = 'no elements in sequence';\n});\n", "/**\n * Checks to see if a value is not only a `Date` object,\n * but a *valid* `Date` object that can be converted to a\n * number. For example, `new Date('blah')` is indeed an\n * `instanceof Date`, however it cannot be converted to a\n * number.\n */\nexport function isValidDate(value: any): value is Date {\n  return value instanceof Date && !isNaN(value as any);\n}\n", "import { OperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\nexport function map<T, R>(project: (value: T, index: number) => R): OperatorFunction<T, R>;\n/** @deprecated Use a closure instead of a `thisArg`. Signatures accepting a `thisArg` will be removed in v8. */\nexport function map<T, R, A>(project: (this: A, value: T, index: number) => R, thisArg: A): OperatorFunction<T, R>;\n\n/**\n * Applies a given `project` function to each value emitted by the source\n * Observable, and emits the resulting values as an Observable.\n *\n * <span class=\"informal\">Like [Array.prototype.map()](https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/Array/map),\n * it passes each source value through a transformation function to get\n * corresponding output values.</span>\n *\n * ![](map.png)\n *\n * Similar to the well known `Array.prototype.map` function, this operator\n * applies a projection to each value and emits that projection in the output\n * Observable.\n *\n * ## Example\n *\n * Map every click to the `clientX` position of that click\n *\n * ```ts\n * import { fromEvent, map } from 'rxjs';\n *\n * const clicks = fromEvent<PointerEvent>(document, 'click');\n * const positions = clicks.pipe(map(ev => ev.clientX));\n *\n * positions.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link mapTo}\n * @see {@link pluck}\n *\n * @param {function(value: T, index: number): R} project The function to apply\n * to each `value` emitted by the source Observable. The `index` parameter is\n * the number `i` for the i-th emission that has happened since the\n * subscription, starting from the number `0`.\n * @param {any} [thisArg] An optional argument to define what `this` is in the\n * `project` function.\n * @return A function that returns an Observable that emits the values from the\n * source Observable transformed by the given `project` function.\n */\nexport function map<T, R>(project: (value: T, index: number) => R, thisArg?: any): OperatorFunction<T, R> {\n  return operate((source, subscriber) => {\n    // The index of the value from the source. Used with projection.\n    let index = 0;\n    // Subscribe to the source, all errors and completions are sent along\n    // to the consumer.\n    source.subscribe(\n      createOperatorSubscriber(subscriber, (value: T) => {\n        // Call the projection function with the appropriate this context,\n        // and send the resulting value to the consumer.\n        subscriber.next(project.call(thisArg, value, index++));\n      })\n    );\n  });\n}\n", "import { OperatorFunction } from \"../types\";\nimport { map } from \"../operators/map\";\n\nconst { isArray } = Array;\n\nfunction callOrApply<T, R>(fn: ((...values: T[]) => R), args: T|T[]): R {\n    return isArray(args) ? fn(...args) : fn(args);\n}\n\n/**\n * Used in several -- mostly deprecated -- situations where we need to \n * apply a list of arguments or a single argument to a result selector.\n */\nexport function mapOneOrManyArgs<T, R>(fn: ((...values: T[]) => R)): OperatorFunction<T|T[], R> {\n    return map(args => callOrApply(fn, args))\n}", "const { isArray } = Array;\nconst { getPrototypeOf, prototype: objectProto, keys: getKeys } = Object;\n\n/**\n * Used in functions where either a list of arguments, a single array of arguments, or a\n * dictionary of arguments can be returned. Returns an object with an `args` property with\n * the arguments in an array, if it is a dictionary, it will also return the `keys` in another\n * property.\n */\nexport function argsArgArrayOrObject<T, O extends Record<string, T>>(args: T[] | [O] | [T[]]): { args: T[]; keys: string[] | null } {\n  if (args.length === 1) {\n    const first = args[0];\n    if (isArray(first)) {\n      return { args: first, keys: null };\n    }\n    if (isPOJO(first)) {\n      const keys = getKeys(first);\n      return {\n        args: keys.map((key) => first[key]),\n        keys,\n      };\n    }\n  }\n\n  return { args: args as T[], keys: null };\n}\n\nfunction isPOJO(obj: any): obj is object {\n  return obj && typeof obj === 'object' && getPrototypeOf(obj) === objectProto;\n}\n", "export function createObject(keys: string[], values: any[]) {\n  return keys.reduce((result, key, i) => ((result[key] = values[i]), result), {} as any);\n}\n", "import { Observable } from '../Observable';\nimport { ObservableInput, SchedulerLike, ObservedValueOf, ObservableInputTuple } from '../types';\nimport { argsArgArrayOrObject } from '../util/argsArgArrayOrObject';\nimport { Subscriber } from '../Subscriber';\nimport { from } from './from';\nimport { identity } from '../util/identity';\nimport { Subscription } from '../Subscription';\nimport { mapOneOrManyArgs } from '../util/mapOneOrManyArgs';\nimport { popResultSelector, popScheduler } from '../util/args';\nimport { createObject } from '../util/createObject';\nimport { createOperatorSubscriber } from '../operators/OperatorSubscriber';\nimport { AnyCatcher } from '../AnyCatcher';\nimport { executeSchedule } from '../util/executeSchedule';\n\n// combineLatest(any)\n// We put this first because we need to catch cases where the user has supplied\n// _exactly `any`_ as the argument. Since `any` literally matches _anything_,\n// we don't want it to randomly hit one of the other type signatures below,\n// as we have no idea at build-time what type we should be returning when given an any.\n\n/**\n * You have passed `any` here, we can't figure out if it is\n * an array or an object, so you're getting `unknown`. Use better types.\n * @param arg Something typed as `any`\n */\nexport function combineLatest<T extends AnyCatcher>(arg: T): Observable<unknown>;\n\n// combineLatest([a, b, c])\nexport function combineLatest(sources: []): Observable<never>;\nexport function combineLatest<A extends readonly unknown[]>(sources: readonly [...ObservableInputTuple<A>]): Observable<A>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `combineLatestAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function combineLatest<A extends readonly unknown[], R>(\n  sources: readonly [...ObservableInputTuple<A>],\n  resultSelector: (...values: A) => R,\n  scheduler: SchedulerLike\n): Observable<R>;\nexport function combineLatest<A extends readonly unknown[], R>(\n  sources: readonly [...ObservableInputTuple<A>],\n  resultSelector: (...values: A) => R\n): Observable<R>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `combineLatestAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function combineLatest<A extends readonly unknown[]>(\n  sources: readonly [...ObservableInputTuple<A>],\n  scheduler: SchedulerLike\n): Observable<A>;\n\n// combineLatest(a, b, c)\n/** @deprecated Pass an array of sources instead. The rest-parameters signature will be removed in v8. Details: https://rxjs.dev/deprecations/array-argument */\nexport function combineLatest<A extends readonly unknown[]>(...sources: [...ObservableInputTuple<A>]): Observable<A>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `combineLatestAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function combineLatest<A extends readonly unknown[], R>(\n  ...sourcesAndResultSelectorAndScheduler: [...ObservableInputTuple<A>, (...values: A) => R, SchedulerLike]\n): Observable<R>;\n/** @deprecated Pass an array of sources instead. The rest-parameters signature will be removed in v8. Details: https://rxjs.dev/deprecations/array-argument */\nexport function combineLatest<A extends readonly unknown[], R>(\n  ...sourcesAndResultSelector: [...ObservableInputTuple<A>, (...values: A) => R]\n): Observable<R>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `combineLatestAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function combineLatest<A extends readonly unknown[]>(\n  ...sourcesAndScheduler: [...ObservableInputTuple<A>, SchedulerLike]\n): Observable<A>;\n\n// combineLatest({a, b, c})\nexport function combineLatest(sourcesObject: { [K in any]: never }): Observable<never>;\nexport function combineLatest<T extends Record<string, ObservableInput<any>>>(\n  sourcesObject: T\n): Observable<{ [K in keyof T]: ObservedValueOf<T[K]> }>;\n\n/**\n * Combines multiple Observables to create an Observable whose values are\n * calculated from the latest values of each of its input Observables.\n *\n * <span class=\"informal\">Whenever any input Observable emits a value, it\n * computes a formula using the latest values from all the inputs, then emits\n * the output of that formula.</span>\n *\n * ![](combineLatest.png)\n *\n * `combineLatest` combines the values from all the Observables passed in the\n * observables array. This is done by subscribing to each Observable in order and,\n * whenever any Observable emits, collecting an array of the most recent\n * values from each Observable. So if you pass `n` Observables to this operator,\n * the returned Observable will always emit an array of `n` values, in an order\n * corresponding to the order of the passed Observables (the value from the first Observable\n * will be at index 0 of the array and so on).\n *\n * Static version of `combineLatest` accepts an array of Observables. Note that an array of\n * Observables is a good choice, if you don't know beforehand how many Observables\n * you will combine. Passing an empty array will result in an Observable that\n * completes immediately.\n *\n * To ensure the output array always has the same length, `combineLatest` will\n * actually wait for all input Observables to emit at least once,\n * before it starts emitting results. This means if some Observable emits\n * values before other Observables started emitting, all these values but the last\n * will be lost. On the other hand, if some Observable does not emit a value but\n * completes, resulting Observable will complete at the same moment without\n * emitting anything, since it will now be impossible to include a value from the\n * completed Observable in the resulting array. Also, if some input Observable does\n * not emit any value and never completes, `combineLatest` will also never emit\n * and never complete, since, again, it will wait for all streams to emit some\n * value.\n *\n * If at least one Observable was passed to `combineLatest` and all passed Observables\n * emitted something, the resulting Observable will complete when all combined\n * streams complete. So even if some Observable completes, the result of\n * `combineLatest` will still emit values when other Observables do. In case\n * of a completed Observable, its value from now on will always be the last\n * emitted value. On the other hand, if any Observable errors, `combineLatest`\n * will error immediately as well, and all other Observables will be unsubscribed.\n *\n * ## Examples\n *\n * Combine two timer Observables\n *\n * ```ts\n * import { timer, combineLatest } from 'rxjs';\n *\n * const firstTimer = timer(0, 1000); // emit 0, 1, 2... after every second, starting from now\n * const secondTimer = timer(500, 1000); // emit 0, 1, 2... after every second, starting 0,5s from now\n * const combinedTimers = combineLatest([firstTimer, secondTimer]);\n * combinedTimers.subscribe(value => console.log(value));\n * // Logs\n * // [0, 0] after 0.5s\n * // [1, 0] after 1s\n * // [1, 1] after 1.5s\n * // [2, 1] after 2s\n * ```\n *\n * Combine a dictionary of Observables\n *\n * ```ts\n * import { of, delay, startWith, combineLatest } from 'rxjs';\n *\n * const observables = {\n *   a: of(1).pipe(delay(1000), startWith(0)),\n *   b: of(5).pipe(delay(5000), startWith(0)),\n *   c: of(10).pipe(delay(10000), startWith(0))\n * };\n * const combined = combineLatest(observables);\n * combined.subscribe(value => console.log(value));\n * // Logs\n * // { a: 0, b: 0, c: 0 } immediately\n * // { a: 1, b: 0, c: 0 } after 1s\n * // { a: 1, b: 5, c: 0 } after 5s\n * // { a: 1, b: 5, c: 10 } after 10s\n * ```\n *\n * Combine an array of Observables\n *\n * ```ts\n * import { of, delay, startWith, combineLatest } from 'rxjs';\n *\n * const observables = [1, 5, 10].map(\n *   n => of(n).pipe(\n *     delay(n * 1000), // emit 0 and then emit n after n seconds\n *     startWith(0)\n *   )\n * );\n * const combined = combineLatest(observables);\n * combined.subscribe(value => console.log(value));\n * // Logs\n * // [0, 0, 0] immediately\n * // [1, 0, 0] after 1s\n * // [1, 5, 0] after 5s\n * // [1, 5, 10] after 10s\n * ```\n *\n * Use map operator to dynamically calculate the Body-Mass Index\n *\n * ```ts\n * import { of, combineLatest, map } from 'rxjs';\n *\n * const weight = of(70, 72, 76, 79, 75);\n * const height = of(1.76, 1.77, 1.78);\n * const bmi = combineLatest([weight, height]).pipe(\n *   map(([w, h]) => w / (h * h)),\n * );\n * bmi.subscribe(x => console.log('BMI is ' + x));\n *\n * // With output to console:\n * // BMI is 24.212293388429753\n * // BMI is 23.93948099205209\n * // BMI is 23.671253629592222\n * ```\n *\n * @see {@link combineLatestAll}\n * @see {@link merge}\n * @see {@link withLatestFrom}\n *\n * @param {ObservableInput} [observables] An array of input Observables to combine with each other.\n * An array of Observables must be given as the first argument.\n * @param {function} [project] An optional function to project the values from\n * the combined latest values into a new value on the output Observable.\n * @param {SchedulerLike} [scheduler=null] The {@link SchedulerLike} to use for subscribing to\n * each input Observable.\n * @return {Observable} An Observable of projected values from the most recent\n * values from each input Observable, or an array of the most recent values from\n * each input Observable.\n */\nexport function combineLatest<O extends ObservableInput<any>, R>(...args: any[]): Observable<R> | Observable<ObservedValueOf<O>[]> {\n  const scheduler = popScheduler(args);\n  const resultSelector = popResultSelector(args);\n\n  const { args: observables, keys } = argsArgArrayOrObject(args);\n\n  if (observables.length === 0) {\n    // If no observables are passed, or someone has passed an empty array\n    // of observables, or even an empty object POJO, we need to just\n    // complete (EMPTY), but we have to honor the scheduler provided if any.\n    return from([], scheduler as any);\n  }\n\n  const result = new Observable<ObservedValueOf<O>[]>(\n    combineLatestInit(\n      observables as ObservableInput<ObservedValueOf<O>>[],\n      scheduler,\n      keys\n        ? // A handler for scrubbing the array of args into a dictionary.\n          (values) => createObject(keys, values)\n        : // A passthrough to just return the array\n          identity\n    )\n  );\n\n  return resultSelector ? (result.pipe(mapOneOrManyArgs(resultSelector)) as Observable<R>) : result;\n}\n\nexport function combineLatestInit(\n  observables: ObservableInput<any>[],\n  scheduler?: SchedulerLike,\n  valueTransform: (values: any[]) => any = identity\n) {\n  return (subscriber: Subscriber<any>) => {\n    // The outer subscription. We're capturing this in a function\n    // because we may have to schedule it.\n    maybeSchedule(\n      scheduler,\n      () => {\n        const { length } = observables;\n        // A store for the values each observable has emitted so far. We match observable to value on index.\n        const values = new Array(length);\n        // The number of currently active subscriptions, as they complete, we decrement this number to see if\n        // we are all done combining values, so we can complete the result.\n        let active = length;\n        // The number of inner sources that still haven't emitted the first value\n        // We need to track this because all sources need to emit one value in order\n        // to start emitting values.\n        let remainingFirstValues = length;\n        // The loop to kick off subscription. We're keying everything on index `i` to relate the observables passed\n        // in to the slot in the output array or the key in the array of keys in the output dictionary.\n        for (let i = 0; i < length; i++) {\n          maybeSchedule(\n            scheduler,\n            () => {\n              const source = from(observables[i], scheduler as any);\n              let hasFirstValue = false;\n              source.subscribe(\n                createOperatorSubscriber(\n                  subscriber,\n                  (value) => {\n                    // When we get a value, record it in our set of values.\n                    values[i] = value;\n                    if (!hasFirstValue) {\n                      // If this is our first value, record that.\n                      hasFirstValue = true;\n                      remainingFirstValues--;\n                    }\n                    if (!remainingFirstValues) {\n                      // We're not waiting for any more\n                      // first values, so we can emit!\n                      subscriber.next(valueTransform(values.slice()));\n                    }\n                  },\n                  () => {\n                    if (!--active) {\n                      // We only complete the result if we have no more active\n                      // inner observables.\n                      subscriber.complete();\n                    }\n                  }\n                )\n              );\n            },\n            subscriber\n          );\n        }\n      },\n      subscriber\n    );\n  };\n}\n\n/**\n * A small utility to handle the couple of locations where we want to schedule if a scheduler was provided,\n * but we don't if there was no scheduler.\n */\nfunction maybeSchedule(scheduler: SchedulerLike | undefined, execute: () => void, subscription: Subscription) {\n  if (scheduler) {\n    executeSchedule(subscription, scheduler, execute);\n  } else {\n    execute();\n  }\n}\n", "import { Observable } from '../Observable';\nimport { innerFrom } from '../observable/innerFrom';\nimport { Subscriber } from '../Subscriber';\nimport { ObservableInput, SchedulerLike } from '../types';\nimport { executeSchedule } from '../util/executeSchedule';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * A process embodying the general \"merge\" strategy. This is used in\n * `mergeMap` and `mergeScan` because the logic is otherwise nearly identical.\n * @param source The original source observable\n * @param subscriber The consumer subscriber\n * @param project The projection function to get our inner sources\n * @param concurrent The number of concurrent inner subscriptions\n * @param onBeforeNext Additional logic to apply before nexting to our consumer\n * @param expand If `true` this will perform an \"expand\" strategy, which differs only\n * in that it recurses, and the inner subscription must be schedule-able.\n * @param innerSubScheduler A scheduler to use to schedule inner subscriptions,\n * this is to support the expand strategy, mostly, and should be deprecated\n */\nexport function mergeInternals<T, R>(\n  source: Observable<T>,\n  subscriber: Subscriber<R>,\n  project: (value: T, index: number) => ObservableInput<R>,\n  concurrent: number,\n  onBeforeNext?: (innerValue: R) => void,\n  expand?: boolean,\n  innerSubScheduler?: SchedulerLike,\n  additionalFinalizer?: () => void\n) {\n  // Buffered values, in the event of going over our concurrency limit\n  const buffer: T[] = [];\n  // The number of active inner subscriptions.\n  let active = 0;\n  // An index to pass to our accumulator function\n  let index = 0;\n  // Whether or not the outer source has completed.\n  let isComplete = false;\n\n  /**\n   * Checks to see if we can complete our result or not.\n   */\n  const checkComplete = () => {\n    // If the outer has completed, and nothing is left in the buffer,\n    // and we don't have any active inner subscriptions, then we can\n    // Emit the state and complete.\n    if (isComplete && !buffer.length && !active) {\n      subscriber.complete();\n    }\n  };\n\n  // If we're under our concurrency limit, just start the inner subscription, otherwise buffer and wait.\n  const outerNext = (value: T) => (active < concurrent ? doInnerSub(value) : buffer.push(value));\n\n  const doInnerSub = (value: T) => {\n    // If we're expanding, we need to emit the outer values and the inner values\n    // as the inners will \"become outers\" in a way as they are recursively fed\n    // back to the projection mechanism.\n    expand && subscriber.next(value as any);\n\n    // Increment the number of active subscriptions so we can track it\n    // against our concurrency limit later.\n    active++;\n\n    // A flag used to show that the inner observable completed.\n    // This is checked during finalization to see if we should\n    // move to the next item in the buffer, if there is on.\n    let innerComplete = false;\n\n    // Start our inner subscription.\n    innerFrom(project(value, index++)).subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (innerValue) => {\n          // `mergeScan` has additional handling here. For example\n          // taking the inner value and updating state.\n          onBeforeNext?.(innerValue);\n\n          if (expand) {\n            // If we're expanding, then just recurse back to our outer\n            // handler. It will emit the value first thing.\n            outerNext(innerValue as any);\n          } else {\n            // Otherwise, emit the inner value.\n            subscriber.next(innerValue);\n          }\n        },\n        () => {\n          // Flag that we have completed, so we know to check the buffer\n          // during finalization.\n          innerComplete = true;\n        },\n        // Errors are passed to the destination.\n        undefined,\n        () => {\n          // During finalization, if the inner completed (it wasn't errored or\n          // cancelled), then we want to try the next item in the buffer if\n          // there is one.\n          if (innerComplete) {\n            // We have to wrap this in a try/catch because it happens during\n            // finalization, possibly asynchronously, and we want to pass\n            // any errors that happen (like in a projection function) to\n            // the outer Subscriber.\n            try {\n              // INNER SOURCE COMPLETE\n              // Decrement the active count to ensure that the next time\n              // we try to call `doInnerSub`, the number is accurate.\n              active--;\n              // If we have more values in the buffer, try to process those\n              // Note that this call will increment `active` ahead of the\n              // next conditional, if there were any more inner subscriptions\n              // to start.\n              while (buffer.length && active < concurrent) {\n                const bufferedValue = buffer.shift()!;\n                // Particularly for `expand`, we need to check to see if a scheduler was provided\n                // for when we want to start our inner subscription. Otherwise, we just start\n                // are next inner subscription.\n                if (innerSubScheduler) {\n                  executeSchedule(subscriber, innerSubScheduler, () => doInnerSub(bufferedValue));\n                } else {\n                  doInnerSub(bufferedValue);\n                }\n              }\n              // Check to see if we can complete, and complete if so.\n              checkComplete();\n            } catch (err) {\n              subscriber.error(err);\n            }\n          }\n        }\n      )\n    );\n  };\n\n  // Subscribe to our source observable.\n  source.subscribe(\n    createOperatorSubscriber(subscriber, outerNext, () => {\n      // Outer completed, make a note of it, and check to see if we can complete everything.\n      isComplete = true;\n      checkComplete();\n    })\n  );\n\n  // Additional finalization (for when the destination is torn down).\n  // Other finalization is added implicitly via subscription above.\n  return () => {\n    additionalFinalizer?.();\n  };\n}\n", "import { ObservableInput, OperatorFunction, ObservedValueOf } from '../types';\nimport { map } from './map';\nimport { innerFrom } from '../observable/innerFrom';\nimport { operate } from '../util/lift';\nimport { mergeInternals } from './mergeInternals';\nimport { isFunction } from '../util/isFunction';\n\n/* tslint:disable:max-line-length */\nexport function mergeMap<T, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O,\n  concurrent?: number\n): OperatorFunction<T, ObservedValueOf<O>>;\n/** @deprecated The `resultSelector` parameter will be removed in v8. Use an inner `map` instead. Details: https://rxjs.dev/deprecations/resultSelector */\nexport function mergeMap<T, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O,\n  resultSelector: undefined,\n  concurrent?: number\n): OperatorFunction<T, ObservedValueOf<O>>;\n/** @deprecated The `resultSelector` parameter will be removed in v8. Use an inner `map` instead. Details: https://rxjs.dev/deprecations/resultSelector */\nexport function mergeMap<T, R, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O,\n  resultSelector: (outerValue: T, innerValue: ObservedValueOf<O>, outerIndex: number, innerIndex: number) => R,\n  concurrent?: number\n): OperatorFunction<T, R>;\n/* tslint:enable:max-line-length */\n\n/**\n * Projects each source value to an Observable which is merged in the output\n * Observable.\n *\n * <span class=\"informal\">Maps each value to an Observable, then flattens all of\n * these inner Observables using {@link mergeAll}.</span>\n *\n * ![](mergeMap.png)\n *\n * Returns an Observable that emits items based on applying a function that you\n * supply to each item emitted by the source Observable, where that function\n * returns an Observable, and then merging those resulting Observables and\n * emitting the results of this merger.\n *\n * ## Example\n *\n * Map and flatten each letter to an Observable ticking every 1 second\n *\n * ```ts\n * import { of, mergeMap, interval, map } from 'rxjs';\n *\n * const letters = of('a', 'b', 'c');\n * const result = letters.pipe(\n *   mergeMap(x => interval(1000).pipe(map(i => x + i)))\n * );\n *\n * result.subscribe(x => console.log(x));\n *\n * // Results in the following:\n * // a0\n * // b0\n * // c0\n * // a1\n * // b1\n * // c1\n * // continues to list a, b, c every second with respective ascending integers\n * ```\n *\n * @see {@link concatMap}\n * @see {@link exhaustMap}\n * @see {@link merge}\n * @see {@link mergeAll}\n * @see {@link mergeMapTo}\n * @see {@link mergeScan}\n * @see {@link switchMap}\n *\n * @param {function(value: T, ?index: number): ObservableInput} project A function\n * that, when applied to an item emitted by the source Observable, returns an\n * Observable.\n * @param {number} [concurrent=Infinity] Maximum number of input\n * Observables being subscribed to concurrently.\n * @return A function that returns an Observable that emits the result of\n * applying the projection function (and the optional deprecated\n * `resultSelector`) to each item emitted by the source Observable and merging\n * the results of the Observables obtained from this transformation.\n */\nexport function mergeMap<T, R, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O,\n  resultSelector?: ((outerValue: T, innerValue: ObservedValueOf<O>, outerIndex: number, innerIndex: number) => R) | number,\n  concurrent: number = Infinity\n): OperatorFunction<T, ObservedValueOf<O> | R> {\n  if (isFunction(resultSelector)) {\n    // DEPRECATED PATH\n    return mergeMap((a, i) => map((b: any, ii: number) => resultSelector(a, b, i, ii))(innerFrom(project(a, i))), concurrent);\n  } else if (typeof resultSelector === 'number') {\n    concurrent = resultSelector;\n  }\n\n  return operate((source, subscriber) => mergeInternals(source, subscriber, project, concurrent));\n}\n", "import { mergeMap } from './mergeMap';\nimport { identity } from '../util/identity';\nimport { OperatorFunction, ObservableInput, ObservedValueOf } from '../types';\n\n/**\n * Converts a higher-order Observable into a first-order Observable which\n * concurrently delivers all values that are emitted on the inner Observables.\n *\n * <span class=\"informal\">Flattens an Observable-of-Observables.</span>\n *\n * ![](mergeAll.png)\n *\n * `mergeAll` subscribes to an Observable that emits Observables, also known as\n * a higher-order Observable. Each time it observes one of these emitted inner\n * Observables, it subscribes to that and delivers all the values from the\n * inner Observable on the output Observable. The output Observable only\n * completes once all inner Observables have completed. Any error delivered by\n * a inner Observable will be immediately emitted on the output Observable.\n *\n * ## Examples\n *\n * Spawn a new interval Observable for each click event, and blend their outputs as one Observable\n *\n * ```ts\n * import { fromEvent, map, interval, mergeAll } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const higherOrder = clicks.pipe(map(() => interval(1000)));\n * const firstOrder = higherOrder.pipe(mergeAll());\n *\n * firstOrder.subscribe(x => console.log(x));\n * ```\n *\n * Count from 0 to 9 every second for each click, but only allow 2 concurrent timers\n *\n * ```ts\n * import { fromEvent, map, interval, take, mergeAll } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const higherOrder = clicks.pipe(\n *   map(() => interval(1000).pipe(take(10)))\n * );\n * const firstOrder = higherOrder.pipe(mergeAll(2));\n *\n * firstOrder.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link combineLatestAll}\n * @see {@link concatAll}\n * @see {@link exhaustAll}\n * @see {@link merge}\n * @see {@link mergeMap}\n * @see {@link mergeMapTo}\n * @see {@link mergeScan}\n * @see {@link switchAll}\n * @see {@link switchMap}\n * @see {@link zipAll}\n *\n * @param {number} [concurrent=Infinity] Maximum number of inner\n * Observables being subscribed to concurrently.\n * @return A function that returns an Observable that emits values coming from\n * all the inner Observables emitted by the source Observable.\n */\nexport function mergeAll<O extends ObservableInput<any>>(concurrent: number = Infinity): OperatorFunction<O, ObservedValueOf<O>> {\n  return mergeMap(identity, concurrent);\n}\n", "import { mergeAll } from './mergeAll';\nimport { OperatorFunction, ObservableInput, ObservedValueOf } from '../types';\n\n/**\n * Converts a higher-order Observable into a first-order Observable by\n * concatenating the inner Observables in order.\n *\n * <span class=\"informal\">Flattens an Observable-of-Observables by putting one\n * inner Observable after the other.</span>\n *\n * ![](concatAll.svg)\n *\n * Joins every Observable emitted by the source (a higher-order Observable), in\n * a serial fashion. It subscribes to each inner Observable only after the\n * previous inner Observable has completed, and merges all of their values into\n * the returned observable.\n *\n * __Warning:__ If the source Observable emits Observables quickly and\n * endlessly, and the inner Observables it emits generally complete slower than\n * the source emits, you can run into memory issues as the incoming Observables\n * collect in an unbounded buffer.\n *\n * Note: `concatAll` is equivalent to `mergeAll` with concurrency parameter set\n * to `1`.\n *\n * ## Example\n *\n * For each click event, tick every second from 0 to 3, with no concurrency\n *\n * ```ts\n * import { fromEvent, map, interval, take, concatAll } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const higherOrder = clicks.pipe(\n *   map(() => interval(1000).pipe(take(4)))\n * );\n * const firstOrder = higherOrder.pipe(concatAll());\n * firstOrder.subscribe(x => console.log(x));\n *\n * // Results in the following:\n * // (results are not concurrent)\n * // For every click on the \"document\" it will emit values 0 to 3 spaced\n * // on a 1000ms interval\n * // one click = 1000ms-> 0 -1000ms-> 1 -1000ms-> 2 -1000ms-> 3\n * ```\n *\n * @see {@link combineLatestAll}\n * @see {@link concat}\n * @see {@link concatMap}\n * @see {@link concatMapTo}\n * @see {@link exhaustAll}\n * @see {@link mergeAll}\n * @see {@link switchAll}\n * @see {@link switchMap}\n * @see {@link zipAll}\n *\n * @return A function that returns an Observable emitting values from all the\n * inner Observables concatenated.\n */\nexport function concatAll<O extends ObservableInput<any>>(): OperatorFunction<O, ObservedValueOf<O>> {\n  return mergeAll(1);\n}\n", "import { Observable } from '../Observable';\nimport { ObservableInputTuple, SchedulerLike } from '../types';\nimport { concatAll } from '../operators/concatAll';\nimport { popScheduler } from '../util/args';\nimport { from } from './from';\n\nexport function concat<T extends readonly unknown[]>(...inputs: [...ObservableInputTuple<T>]): Observable<T[number]>;\nexport function concat<T extends readonly unknown[]>(\n  ...inputsAndScheduler: [...ObservableInputTuple<T>, SchedulerLike]\n): Observable<T[number]>;\n\n/**\n * Creates an output Observable which sequentially emits all values from the first given\n * Observable and then moves on to the next.\n *\n * <span class=\"informal\">Concatenates multiple Observables together by\n * sequentially emitting their values, one Observable after the other.</span>\n *\n * ![](concat.png)\n *\n * `concat` joins multiple Observables together, by subscribing to them one at a time and\n * merging their results into the output Observable. You can pass either an array of\n * Observables, or put them directly as arguments. Passing an empty array will result\n * in Observable that completes immediately.\n *\n * `concat` will subscribe to first input Observable and emit all its values, without\n * changing or affecting them in any way. When that Observable completes, it will\n * subscribe to then next Observable passed and, again, emit its values. This will be\n * repeated, until the operator runs out of Observables. When last input Observable completes,\n * `concat` will complete as well. At any given moment only one Observable passed to operator\n * emits values. If you would like to emit values from passed Observables concurrently, check out\n * {@link merge} instead, especially with optional `concurrent` parameter. As a matter of fact,\n * `concat` is an equivalent of `merge` operator with `concurrent` parameter set to `1`.\n *\n * Note that if some input Observable never completes, `concat` will also never complete\n * and Observables following the one that did not complete will never be subscribed. On the other\n * hand, if some Observable simply completes immediately after it is subscribed, it will be\n * invisible for `concat`, which will just move on to the next Observable.\n *\n * If any Observable in chain errors, instead of passing control to the next Observable,\n * `concat` will error immediately as well. Observables that would be subscribed after\n * the one that emitted error, never will.\n *\n * If you pass to `concat` the same Observable many times, its stream of values\n * will be \"replayed\" on every subscription, which means you can repeat given Observable\n * as many times as you like. If passing the same Observable to `concat` 1000 times becomes tedious,\n * you can always use {@link repeat}.\n *\n * ## Examples\n *\n * Concatenate a timer counting from 0 to 3 with a synchronous sequence from 1 to 10\n *\n * ```ts\n * import { interval, take, range, concat } from 'rxjs';\n *\n * const timer = interval(1000).pipe(take(4));\n * const sequence = range(1, 10);\n * const result = concat(timer, sequence);\n * result.subscribe(x => console.log(x));\n *\n * // results in:\n * // 0 -1000ms-> 1 -1000ms-> 2 -1000ms-> 3 -immediate-> 1 ... 10\n * ```\n *\n * Concatenate 3 Observables\n *\n * ```ts\n * import { interval, take, concat } from 'rxjs';\n *\n * const timer1 = interval(1000).pipe(take(10));\n * const timer2 = interval(2000).pipe(take(6));\n * const timer3 = interval(500).pipe(take(10));\n *\n * const result = concat(timer1, timer2, timer3);\n * result.subscribe(x => console.log(x));\n *\n * // results in the following:\n * // (Prints to console sequentially)\n * // -1000ms-> 0 -1000ms-> 1 -1000ms-> ... 9\n * // -2000ms-> 0 -2000ms-> 1 -2000ms-> ... 5\n * // -500ms-> 0 -500ms-> 1 -500ms-> ... 9\n * ```\n *\n * Concatenate the same Observable to repeat it\n *\n * ```ts\n * import { interval, take, concat } from 'rxjs';\n *\n * const timer = interval(1000).pipe(take(2));\n *\n * concat(timer, timer) // concatenating the same Observable!\n *   .subscribe({\n *     next: value => console.log(value),\n *     complete: () => console.log('...and it is done!')\n *   });\n *\n * // Logs:\n * // 0 after 1s\n * // 1 after 2s\n * // 0 after 3s\n * // 1 after 4s\n * // '...and it is done!' also after 4s\n * ```\n *\n * @see {@link concatAll}\n * @see {@link concatMap}\n * @see {@link concatMapTo}\n * @see {@link startWith}\n * @see {@link endWith}\n *\n * @param args Input Observables to concatenate.\n */\nexport function concat(...args: any[]): Observable<unknown> {\n  return concatAll()(from(args, popScheduler(args)));\n}\n", "import { Observable } from '../Observable';\nimport { ObservedValueOf, ObservableInput } from '../types';\nimport { innerFrom } from './innerFrom';\n\n/**\n * Creates an Observable that, on subscribe, calls an Observable factory to\n * make an Observable for each new Observer.\n *\n * <span class=\"informal\">Creates the Observable lazily, that is, only when it\n * is subscribed.\n * </span>\n *\n * ![](defer.png)\n *\n * `defer` allows you to create an Observable only when the Observer\n * subscribes. It waits until an Observer subscribes to it, calls the given\n * factory function to get an Observable -- where a factory function typically\n * generates a new Observable -- and subscribes the Observer to this Observable.\n * In case the factory function returns a falsy value, then EMPTY is used as\n * Observable instead. Last but not least, an exception during the factory\n * function call is transferred to the Observer by calling `error`.\n *\n * ## Example\n *\n * Subscribe to either an Observable of clicks or an Observable of interval, at random\n *\n * ```ts\n * import { defer, fromEvent, interval } from 'rxjs';\n *\n * const clicksOrInterval = defer(() => {\n *   return Math.random() > 0.5\n *     ? fromEvent(document, 'click')\n *     : interval(1000);\n * });\n * clicksOrInterval.subscribe(x => console.log(x));\n *\n * // Results in the following behavior:\n * // If the result of Math.random() is greater than 0.5 it will listen\n * // for clicks anywhere on the \"document\"; when document is clicked it\n * // will log a MouseEvent object to the console. If the result is less\n * // than 0.5 it will emit ascending numbers, one every second(1000ms).\n * ```\n *\n * @see {@link Observable}\n *\n * @param {function(): ObservableInput} observableFactory The Observable\n * factory function to invoke for each Observer that subscribes to the output\n * Observable. May also return a Promise, which will be converted on the fly\n * to an Observable.\n * @return {Observable} An Observable whose Observers' subscriptions trigger\n * an invocation of the given Observable factory function.\n */\nexport function defer<R extends ObservableInput<any>>(observableFactory: () => R): Observable<ObservedValueOf<R>> {\n  return new Observable<ObservedValueOf<R>>((subscriber) => {\n    innerFrom(observableFactory()).subscribe(subscriber);\n  });\n}\n", "import { innerFrom } from '../observable/innerFrom';\nimport { Observable } from '../Observable';\nimport { mergeMap } from '../operators/mergeMap';\nimport { isArrayLike } from '../util/isArrayLike';\nimport { isFunction } from '../util/isFunction';\nimport { mapOneOrManyArgs } from '../util/mapOneOrManyArgs';\n\n// These constants are used to create handler registry functions using array mapping below.\nconst nodeEventEmitterMethods = ['addListener', 'removeListener'] as const;\nconst eventTargetMethods = ['addEventListener', 'removeEventListener'] as const;\nconst jqueryMethods = ['on', 'off'] as const;\n\nexport interface NodeStyleEventEmitter {\n  addListener(eventName: string | symbol, handler: NodeEventHandler): this;\n  removeListener(eventName: string | symbol, handler: NodeEventHandler): this;\n}\n\nexport type NodeEventHandler = (...args: any[]) => void;\n\n// For APIs that implement `addListener` and `removeListener` methods that may\n// not use the same arguments or return EventEmitter values\n// such as React Native\nexport interface NodeCompatibleEventEmitter {\n  addListener(eventName: string, handler: NodeEventHandler): void | {};\n  removeListener(eventName: string, handler: NodeEventHandler): void | {};\n}\n\n// Use handler types like those in @types/jquery. See:\n// https://github.com/DefinitelyTyped/DefinitelyTyped/blob/847731ba1d7fa6db6b911c0e43aa0afe596e7723/types/jquery/misc.d.ts#L6395\nexport interface JQueryStyleEventEmitter<TContext, T> {\n  on(eventName: string, handler: (this: TContext, t: T, ...args: any[]) => any): void;\n  off(eventName: string, handler: (this: TContext, t: T, ...args: any[]) => any): void;\n}\n\nexport interface EventListenerObject<E> {\n  handleEvent(evt: E): void;\n}\n\nexport interface HasEventTargetAddRemove<E> {\n  addEventListener(\n    type: string,\n    listener: ((evt: E) => void) | EventListenerObject<E> | null,\n    options?: boolean | AddEventListenerOptions\n  ): void;\n  removeEventListener(\n    type: string,\n    listener: ((evt: E) => void) | EventListenerObject<E> | null,\n    options?: EventListenerOptions | boolean\n  ): void;\n}\n\nexport interface EventListenerOptions {\n  capture?: boolean;\n  passive?: boolean;\n  once?: boolean;\n}\n\nexport interface AddEventListenerOptions extends EventListenerOptions {\n  once?: boolean;\n  passive?: boolean;\n}\n\nexport function fromEvent<T>(target: HasEventTargetAddRemove<T> | ArrayLike<HasEventTargetAddRemove<T>>, eventName: string): Observable<T>;\nexport function fromEvent<T, R>(\n  target: HasEventTargetAddRemove<T> | ArrayLike<HasEventTargetAddRemove<T>>,\n  eventName: string,\n  resultSelector: (event: T) => R\n): Observable<R>;\nexport function fromEvent<T>(\n  target: HasEventTargetAddRemove<T> | ArrayLike<HasEventTargetAddRemove<T>>,\n  eventName: string,\n  options: EventListenerOptions\n): Observable<T>;\nexport function fromEvent<T, R>(\n  target: HasEventTargetAddRemove<T> | ArrayLike<HasEventTargetAddRemove<T>>,\n  eventName: string,\n  options: EventListenerOptions,\n  resultSelector: (event: T) => R\n): Observable<R>;\n\nexport function fromEvent(target: NodeStyleEventEmitter | ArrayLike<NodeStyleEventEmitter>, eventName: string): Observable<unknown>;\n/** @deprecated Do not specify explicit type parameters. Signatures with type parameters that cannot be inferred will be removed in v8. */\nexport function fromEvent<T>(target: NodeStyleEventEmitter | ArrayLike<NodeStyleEventEmitter>, eventName: string): Observable<T>;\nexport function fromEvent<R>(\n  target: NodeStyleEventEmitter | ArrayLike<NodeStyleEventEmitter>,\n  eventName: string,\n  resultSelector: (...args: any[]) => R\n): Observable<R>;\n\nexport function fromEvent(\n  target: NodeCompatibleEventEmitter | ArrayLike<NodeCompatibleEventEmitter>,\n  eventName: string\n): Observable<unknown>;\n/** @deprecated Do not specify explicit type parameters. Signatures with type parameters that cannot be inferred will be removed in v8. */\nexport function fromEvent<T>(target: NodeCompatibleEventEmitter | ArrayLike<NodeCompatibleEventEmitter>, eventName: string): Observable<T>;\nexport function fromEvent<R>(\n  target: NodeCompatibleEventEmitter | ArrayLike<NodeCompatibleEventEmitter>,\n  eventName: string,\n  resultSelector: (...args: any[]) => R\n): Observable<R>;\n\nexport function fromEvent<T>(\n  target: JQueryStyleEventEmitter<any, T> | ArrayLike<JQueryStyleEventEmitter<any, T>>,\n  eventName: string\n): Observable<T>;\nexport function fromEvent<T, R>(\n  target: JQueryStyleEventEmitter<any, T> | ArrayLike<JQueryStyleEventEmitter<any, T>>,\n  eventName: string,\n  resultSelector: (value: T, ...args: any[]) => R\n): Observable<R>;\n\n/**\n * Creates an Observable that emits events of a specific type coming from the\n * given event target.\n *\n * <span class=\"informal\">Creates an Observable from DOM events, or Node.js\n * EventEmitter events or others.</span>\n *\n * ![](fromEvent.png)\n *\n * `fromEvent` accepts as a first argument event target, which is an object with methods\n * for registering event handler functions. As a second argument it takes string that indicates\n * type of event we want to listen for. `fromEvent` supports selected types of event targets,\n * which are described in detail below. If your event target does not match any of the ones listed,\n * you should use {@link fromEventPattern}, which can be used on arbitrary APIs.\n * When it comes to APIs supported by `fromEvent`, their methods for adding and removing event\n * handler functions have different names, but they all accept a string describing event type\n * and function itself, which will be called whenever said event happens.\n *\n * Every time resulting Observable is subscribed, event handler function will be registered\n * to event target on given event type. When that event fires, value\n * passed as a first argument to registered function will be emitted by output Observable.\n * When Observable is unsubscribed, function will be unregistered from event target.\n *\n * Note that if event target calls registered function with more than one argument, second\n * and following arguments will not appear in resulting stream. In order to get access to them,\n * you can pass to `fromEvent` optional project function, which will be called with all arguments\n * passed to event handler. Output Observable will then emit value returned by project function,\n * instead of the usual value.\n *\n * Remember that event targets listed below are checked via duck typing. It means that\n * no matter what kind of object you have and no matter what environment you work in,\n * you can safely use `fromEvent` on that object if it exposes described methods (provided\n * of course they behave as was described above). So for example if Node.js library exposes\n * event target which has the same method names as DOM EventTarget, `fromEvent` is still\n * a good choice.\n *\n * If the API you use is more callback then event handler oriented (subscribed\n * callback function fires only once and thus there is no need to manually\n * unregister it), you should use {@link bindCallback} or {@link bindNodeCallback}\n * instead.\n *\n * `fromEvent` supports following types of event targets:\n *\n * **DOM EventTarget**\n *\n * This is an object with `addEventListener` and `removeEventListener` methods.\n *\n * In the browser, `addEventListener` accepts - apart from event type string and event\n * handler function arguments - optional third parameter, which is either an object or boolean,\n * both used for additional configuration how and when passed function will be called. When\n * `fromEvent` is used with event target of that type, you can provide this values\n * as third parameter as well.\n *\n * **Node.js EventEmitter**\n *\n * An object with `addListener` and `removeListener` methods.\n *\n * **JQuery-style event target**\n *\n * An object with `on` and `off` methods\n *\n * **DOM NodeList**\n *\n * List of DOM Nodes, returned for example by `document.querySelectorAll` or `Node.childNodes`.\n *\n * Although this collection is not event target in itself, `fromEvent` will iterate over all Nodes\n * it contains and install event handler function in every of them. When returned Observable\n * is unsubscribed, function will be removed from all Nodes.\n *\n * **DOM HtmlCollection**\n *\n * Just as in case of NodeList it is a collection of DOM nodes. Here as well event handler function is\n * installed and removed in each of elements.\n *\n *\n * ## Examples\n *\n * Emit clicks happening on the DOM document\n *\n * ```ts\n * import { fromEvent } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * clicks.subscribe(x => console.log(x));\n *\n * // Results in:\n * // MouseEvent object logged to console every time a click\n * // occurs on the document.\n * ```\n *\n * Use `addEventListener` with capture option\n *\n * ```ts\n * import { fromEvent } from 'rxjs';\n *\n * const div = document.createElement('div');\n * div.style.cssText = 'width: 200px; height: 200px; background: #09c;';\n * document.body.appendChild(div);\n *\n * // note optional configuration parameter which will be passed to addEventListener\n * const clicksInDocument = fromEvent(document, 'click', { capture: true });\n * const clicksInDiv = fromEvent(div, 'click');\n *\n * clicksInDocument.subscribe(() => console.log('document'));\n * clicksInDiv.subscribe(() => console.log('div'));\n *\n * // By default events bubble UP in DOM tree, so normally\n * // when we would click on div in document\n * // \"div\" would be logged first and then \"document\".\n * // Since we specified optional `capture` option, document\n * // will catch event when it goes DOWN DOM tree, so console\n * // will log \"document\" and then \"div\".\n * ```\n *\n * @see {@link bindCallback}\n * @see {@link bindNodeCallback}\n * @see {@link fromEventPattern}\n *\n * @param {FromEventTarget<T>} target The DOM EventTarget, Node.js\n * EventEmitter, JQuery-like event target, NodeList or HTMLCollection to attach the event handler to.\n * @param {string} eventName The event name of interest, being emitted by the\n * `target`.\n * @param {EventListenerOptions} [options] Options to pass through to addEventListener\n * @return {Observable<T>}\n */\nexport function fromEvent<T>(\n  target: any,\n  eventName: string,\n  options?: EventListenerOptions | ((...args: any[]) => T),\n  resultSelector?: (...args: any[]) => T\n): Observable<T> {\n  if (isFunction(options)) {\n    resultSelector = options;\n    options = undefined;\n  }\n  if (resultSelector) {\n    return fromEvent<T>(target, eventName, options as EventListenerOptions).pipe(mapOneOrManyArgs(resultSelector));\n  }\n\n  // Figure out our add and remove methods. In order to do this,\n  // we are going to analyze the target in a preferred order, if\n  // the target matches a given signature, we take the two \"add\" and \"remove\"\n  // method names and apply them to a map to create opposite versions of the\n  // same function. This is because they all operate in duplicate pairs,\n  // `addListener(name, handler)`, `removeListener(name, handler)`, for example.\n  // The call only differs by method name, as to whether or not you're adding or removing.\n  const [add, remove] =\n    // If it is an EventTarget, we need to use a slightly different method than the other two patterns.\n    isEventTarget(target)\n      ? eventTargetMethods.map((methodName) => (handler: any) => target[methodName](eventName, handler, options as EventListenerOptions))\n      : // In all other cases, the call pattern is identical with the exception of the method names.\n      isNodeStyleEventEmitter(target)\n      ? nodeEventEmitterMethods.map(toCommonHandlerRegistry(target, eventName))\n      : isJQueryStyleEventEmitter(target)\n      ? jqueryMethods.map(toCommonHandlerRegistry(target, eventName))\n      : [];\n\n  // If add is falsy, it's because we didn't match a pattern above.\n  // Check to see if it is an ArrayLike, because if it is, we want to\n  // try to apply fromEvent to all of it's items. We do this check last,\n  // because there are may be some types that are both ArrayLike *and* implement\n  // event registry points, and we'd rather delegate to that when possible.\n  if (!add) {\n    if (isArrayLike(target)) {\n      return mergeMap((subTarget: any) => fromEvent(subTarget, eventName, options as EventListenerOptions))(\n        innerFrom(target)\n      ) as Observable<T>;\n    }\n  }\n\n  // If add is falsy and we made it here, it's because we didn't\n  // match any valid target objects above.\n  if (!add) {\n    throw new TypeError('Invalid event target');\n  }\n\n  return new Observable<T>((subscriber) => {\n    // The handler we are going to register. Forwards the event object, by itself, or\n    // an array of arguments to the event handler, if there is more than one argument,\n    // to the consumer.\n    const handler = (...args: any[]) => subscriber.next(1 < args.length ? args : args[0]);\n    // Do the work of adding the handler to the target.\n    add(handler);\n    // When we finalize, we want to remove the handler and free up memory.\n    return () => remove!(handler);\n  });\n}\n\n/**\n * Used to create `add` and `remove` functions to register and unregister event handlers\n * from a target in the most common handler pattern, where there are only two arguments.\n * (e.g.  `on(name, fn)`, `off(name, fn)`, `addListener(name, fn)`, or `removeListener(name, fn)`)\n * @param target The target we're calling methods on\n * @param eventName The event name for the event we're creating register or unregister functions for\n */\nfunction toCommonHandlerRegistry(target: any, eventName: string) {\n  return (methodName: string) => (handler: any) => target[methodName](eventName, handler);\n}\n\n/**\n * Checks to see if the target implements the required node-style EventEmitter methods\n * for adding and removing event handlers.\n * @param target the object to check\n */\nfunction isNodeStyleEventEmitter(target: any): target is NodeStyleEventEmitter {\n  return isFunction(target.addListener) && isFunction(target.removeListener);\n}\n\n/**\n * Checks to see if the target implements the required jQuery-style EventEmitter methods\n * for adding and removing event handlers.\n * @param target the object to check\n */\nfunction isJQueryStyleEventEmitter(target: any): target is JQueryStyleEventEmitter<any, any> {\n  return isFunction(target.on) && isFunction(target.off);\n}\n\n/**\n * Checks to see if the target implements the required EventTarget methods\n * for adding and removing event handlers.\n * @param target the object to check\n */\nfunction isEventTarget(target: any): target is HasEventTargetAddRemove<any> {\n  return isFunction(target.addEventListener) && isFunction(target.removeEventListener);\n}\n", "import { Observable } from '../Observable';\nimport { isFunction } from '../util/isFunction';\nimport { NodeEventHandler } from './fromEvent';\nimport { mapOneOrManyArgs } from '../util/mapOneOrManyArgs';\n\n/* tslint:disable:max-line-length */\nexport function fromEventPattern<T>(\n  addHandler: (handler: NodeEventHandler) => any,\n  removeHandler?: (handler: NodeEventHandler, signal?: any) => void\n): Observable<T>;\nexport function fromEventPattern<T>(\n  addHandler: (handler: NodeEventHandler) => any,\n  removeHandler?: (handler: NodeEventHandler, signal?: any) => void,\n  resultSelector?: (...args: any[]) => T\n): Observable<T>;\n/* tslint:enable:max-line-length */\n\n/**\n * Creates an Observable from an arbitrary API for registering event handlers.\n *\n * <span class=\"informal\">When that method for adding event handler was something {@link fromEvent}\n * was not prepared for.</span>\n *\n * ![](fromEventPattern.png)\n *\n * `fromEventPattern` allows you to convert into an Observable any API that supports registering handler functions\n * for events. It is similar to {@link fromEvent}, but far\n * more flexible. In fact, all use cases of {@link fromEvent} could be easily handled by\n * `fromEventPattern` (although in slightly more verbose way).\n *\n * This operator accepts as a first argument an `addHandler` function, which will be injected with\n * handler parameter. That handler is actually an event handler function that you now can pass\n * to API expecting it. `addHandler` will be called whenever Observable\n * returned by the operator is subscribed, so registering handler in API will not\n * necessarily happen when `fromEventPattern` is called.\n *\n * After registration, every time an event that we listen to happens,\n * Observable returned by `fromEventPattern` will emit value that event handler\n * function was called with. Note that if event handler was called with more\n * than one argument, second and following arguments will not appear in the Observable.\n *\n * If API you are using allows to unregister event handlers as well, you can pass to `fromEventPattern`\n * another function - `removeHandler` - as a second parameter. It will be injected\n * with the same handler function as before, which now you can use to unregister\n * it from the API. `removeHandler` will be called when consumer of resulting Observable\n * unsubscribes from it.\n *\n * In some APIs unregistering is actually handled differently. Method registering an event handler\n * returns some kind of token, which is later used to identify which function should\n * be unregistered or it itself has method that unregisters event handler.\n * If that is the case with your API, make sure token returned\n * by registering method is returned by `addHandler`. Then it will be passed\n * as a second argument to `removeHandler`, where you will be able to use it.\n *\n * If you need access to all event handler parameters (not only the first one),\n * or you need to transform them in any way, you can call `fromEventPattern` with optional\n * third parameter - project function which will accept all arguments passed to\n * event handler when it is called. Whatever is returned from project function will appear on\n * resulting stream instead of usual event handlers first argument. This means\n * that default project can be thought of as function that takes its first parameter\n * and ignores the rest.\n *\n * ## Examples\n *\n * Emits clicks happening on the DOM document\n *\n * ```ts\n * import { fromEventPattern } from 'rxjs';\n *\n * function addClickHandler(handler) {\n *   document.addEventListener('click', handler);\n * }\n *\n * function removeClickHandler(handler) {\n *   document.removeEventListener('click', handler);\n * }\n *\n * const clicks = fromEventPattern(\n *   addClickHandler,\n *   removeClickHandler\n * );\n * clicks.subscribe(x => console.log(x));\n *\n * // Whenever you click anywhere in the browser, DOM MouseEvent\n * // object will be logged.\n * ```\n *\n * Use with API that returns cancellation token\n *\n * ```ts\n * import { fromEventPattern } from 'rxjs';\n *\n * const token = someAPI.registerEventHandler(function() {});\n * someAPI.unregisterEventHandler(token); // this APIs cancellation method accepts\n *                                        // not handler itself, but special token.\n *\n * const someAPIObservable = fromEventPattern(\n *   function(handler) { return someAPI.registerEventHandler(handler); }, // Note that we return the token here...\n *   function(handler, token) { someAPI.unregisterEventHandler(token); }  // ...to then use it here.\n * );\n * ```\n *\n * Use with project function\n *\n * ```ts\n * import { fromEventPattern } from 'rxjs';\n *\n * someAPI.registerEventHandler((eventType, eventMessage) => {\n *   console.log(eventType, eventMessage); // Logs 'EVENT_TYPE' 'EVENT_MESSAGE' to console.\n * });\n *\n * const someAPIObservable = fromEventPattern(\n *   handler => someAPI.registerEventHandler(handler),\n *   handler => someAPI.unregisterEventHandler(handler)\n *   (eventType, eventMessage) => eventType + ' --- ' + eventMessage // without that function only 'EVENT_TYPE'\n * );                                                                // would be emitted by the Observable\n *\n * someAPIObservable.subscribe(value => console.log(value));\n *\n * // Logs:\n * // 'EVENT_TYPE --- EVENT_MESSAGE'\n * ```\n *\n * @see {@link fromEvent}\n * @see {@link bindCallback}\n * @see {@link bindNodeCallback}\n *\n * @param {function(handler: Function): any} addHandler A function that takes\n * a `handler` function as argument and attaches it somehow to the actual\n * source of events.\n * @param {function(handler: Function, token?: any): void} [removeHandler] A function that\n * takes a `handler` function as an argument and removes it from the event source. If `addHandler`\n * returns some kind of token, `removeHandler` function will have it as a second parameter.\n * @param {function(...args: any): T} [project] A function to\n * transform results. It takes the arguments from the event handler and\n * should return a single value.\n * @return {Observable<T>} Observable which, when an event happens, emits first parameter\n * passed to registered event handler. Alternatively it emits whatever project function returns\n * at that moment.\n */\nexport function fromEventPattern<T>(\n  addHandler: (handler: NodeEventHandler) => any,\n  removeHandler?: (handler: NodeEventHandler, signal?: any) => void,\n  resultSelector?: (...args: any[]) => T\n): Observable<T | T[]> {\n  if (resultSelector) {\n    return fromEventPattern<T>(addHandler, removeHandler).pipe(mapOneOrManyArgs(resultSelector));\n  }\n\n  return new Observable<T | T[]>((subscriber) => {\n    const handler = (...e: T[]) => subscriber.next(e.length === 1 ? e[0] : e);\n    const retValue = addHandler(handler);\n    return isFunction(removeHandler) ? () => removeHandler(handler, retValue) : undefined;\n  });\n}\n", "import { Observable } from '../Observable';\nimport { SchedulerLike } from '../types';\nimport { async as asyncScheduler } from '../scheduler/async';\nimport { isScheduler } from '../util/isScheduler';\nimport { isValidDate } from '../util/isDate';\n\n/**\n * Creates an observable that will wait for a specified time period, or exact date, before\n * emitting the number 0.\n *\n * <span class=\"informal\">Used to emit a notification after a delay.</span>\n *\n * This observable is useful for creating delays in code, or racing against other values\n * for ad-hoc timeouts.\n *\n * The `delay` is specified by default in milliseconds, however providing a custom scheduler could\n * create a different behavior.\n *\n * ## Examples\n *\n * Wait 3 seconds and start another observable\n *\n * You might want to use `timer` to delay subscription to an\n * observable by a set amount of time. Here we use a timer with\n * {@link concatMapTo} or {@link concatMap} in order to wait\n * a few seconds and start a subscription to a source.\n *\n * ```ts\n * import { of, timer, concatMap } from 'rxjs';\n *\n * // This could be any observable\n * const source = of(1, 2, 3);\n *\n * timer(3000)\n *   .pipe(concatMap(() => source))\n *   .subscribe(console.log);\n * ```\n *\n * Take all values until the start of the next minute\n *\n * Using a `Date` as the trigger for the first emission, you can\n * do things like wait until midnight to fire an event, or in this case,\n * wait until a new minute starts (chosen so the example wouldn't take\n * too long to run) in order to stop watching a stream. Leveraging\n * {@link takeUntil}.\n *\n * ```ts\n * import { interval, takeUntil, timer } from 'rxjs';\n *\n * // Build a Date object that marks the\n * // next minute.\n * const currentDate = new Date();\n * const startOfNextMinute = new Date(\n *   currentDate.getFullYear(),\n *   currentDate.getMonth(),\n *   currentDate.getDate(),\n *   currentDate.getHours(),\n *   currentDate.getMinutes() + 1\n * );\n *\n * // This could be any observable stream\n * const source = interval(1000);\n *\n * const result = source.pipe(\n *   takeUntil(timer(startOfNextMinute))\n * );\n *\n * result.subscribe(console.log);\n * ```\n *\n * ### Known Limitations\n *\n * - The {@link asyncScheduler} uses `setTimeout` which has limitations for how far in the future it can be scheduled.\n *\n * - If a `scheduler` is provided that returns a timestamp other than an epoch from `now()`, and\n * a `Date` object is passed to the `dueTime` argument, the calculation for when the first emission\n * should occur will be incorrect. In this case, it would be best to do your own calculations\n * ahead of time, and pass a `number` in as the `dueTime`.\n *\n * @param due If a `number`, the amount of time in milliseconds to wait before emitting.\n * If a `Date`, the exact time at which to emit.\n * @param scheduler The scheduler to use to schedule the delay. Defaults to {@link asyncScheduler}.\n */\nexport function timer(due: number | Date, scheduler?: SchedulerLike): Observable<0>;\n\n/**\n * Creates an observable that starts an interval after a specified delay, emitting incrementing numbers -- starting at `0` --\n * on each interval after words.\n *\n * The `delay` and `intervalDuration` are specified by default in milliseconds, however providing a custom scheduler could\n * create a different behavior.\n *\n * ## Example\n *\n * ### Start an interval that starts right away\n *\n * Since {@link interval} waits for the passed delay before starting,\n * sometimes that's not ideal. You may want to start an interval immediately.\n * `timer` works well for this. Here we have both side-by-side so you can\n * see them in comparison.\n *\n * Note that this observable will never complete.\n *\n * ```ts\n * import { timer, interval } from 'rxjs';\n *\n * timer(0, 1000).subscribe(n => console.log('timer', n));\n * interval(1000).subscribe(n => console.log('interval', n));\n * ```\n *\n * ### Known Limitations\n *\n * - The {@link asyncScheduler} uses `setTimeout` which has limitations for how far in the future it can be scheduled.\n *\n * - If a `scheduler` is provided that returns a timestamp other than an epoch from `now()`, and\n * a `Date` object is passed to the `dueTime` argument, the calculation for when the first emission\n * should occur will be incorrect. In this case, it would be best to do your own calculations\n * ahead of time, and pass a `number` in as the `startDue`.\n * @param startDue If a `number`, is the time to wait before starting the interval.\n * If a `Date`, is the exact time at which to start the interval.\n * @param intervalDuration The delay between each value emitted in the interval. Passing a\n * negative number here will result in immediate completion after the first value is emitted, as though\n * no `intervalDuration` was passed at all.\n * @param scheduler The scheduler to use to schedule the delay. Defaults to {@link asyncScheduler}.\n */\nexport function timer(startDue: number | Date, intervalDuration: number, scheduler?: SchedulerLike): Observable<number>;\n\n/**\n * @deprecated The signature allowing `undefined` to be passed for `intervalDuration` will be removed in v8. Use the `timer(dueTime, scheduler?)` signature instead.\n */\nexport function timer(dueTime: number | Date, unused: undefined, scheduler?: SchedulerLike): Observable<0>;\n\nexport function timer(\n  dueTime: number | Date = 0,\n  intervalOrScheduler?: number | SchedulerLike,\n  scheduler: SchedulerLike = asyncScheduler\n): Observable<number> {\n  // Since negative intervalDuration is treated as though no\n  // interval was specified at all, we start with a negative number.\n  let intervalDuration = -1;\n\n  if (intervalOrScheduler != null) {\n    // If we have a second argument, and it's a scheduler,\n    // override the scheduler we had defaulted. Otherwise,\n    // it must be an interval.\n    if (isScheduler(intervalOrScheduler)) {\n      scheduler = intervalOrScheduler;\n    } else {\n      // Note that this *could* be negative, in which case\n      // it's like not passing an intervalDuration at all.\n      intervalDuration = intervalOrScheduler;\n    }\n  }\n\n  return new Observable((subscriber) => {\n    // If a valid date is passed, calculate how long to wait before\n    // executing the first value... otherwise, if it's a number just schedule\n    // that many milliseconds (or scheduler-specified unit size) in the future.\n    let due = isValidDate(dueTime) ? +dueTime - scheduler!.now() : dueTime;\n\n    if (due < 0) {\n      // Ensure we don't schedule in the future.\n      due = 0;\n    }\n\n    // The incrementing value we emit.\n    let n = 0;\n\n    // Start the timer.\n    return scheduler.schedule(function () {\n      if (!subscriber.closed) {\n        // Emit the next value and increment.\n        subscriber.next(n++);\n\n        if (0 <= intervalDuration) {\n          // If we have a interval after the initial timer,\n          // reschedule with the period.\n          this.schedule(undefined, intervalDuration);\n        } else {\n          // We didn't have an interval. So just complete.\n          subscriber.complete();\n        }\n      }\n    }, due);\n  });\n}\n", "import { Observable } from '../Observable';\nimport { ObservableInput, ObservableInputTuple, SchedulerLike } from '../types';\nimport { mergeAll } from '../operators/mergeAll';\nimport { innerFrom } from './innerFrom';\nimport { EMPTY } from './empty';\nimport { popNumber, popScheduler } from '../util/args';\nimport { from } from './from';\n\nexport function merge<A extends readonly unknown[]>(...sources: [...ObservableInputTuple<A>]): Observable<A[number]>;\nexport function merge<A extends readonly unknown[]>(...sourcesAndConcurrency: [...ObservableInputTuple<A>, number?]): Observable<A[number]>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `mergeAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function merge<A extends readonly unknown[]>(\n  ...sourcesAndScheduler: [...ObservableInputTuple<A>, SchedulerLike?]\n): Observable<A[number]>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `mergeAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function merge<A extends readonly unknown[]>(\n  ...sourcesAndConcurrencyAndScheduler: [...ObservableInputTuple<A>, number?, SchedulerLike?]\n): Observable<A[number]>;\n\n/**\n * Creates an output Observable which concurrently emits all values from every\n * given input Observable.\n *\n * <span class=\"informal\">Flattens multiple Observables together by blending\n * their values into one Observable.</span>\n *\n * ![](merge.png)\n *\n * `merge` subscribes to each given input Observable (as arguments), and simply\n * forwards (without doing any transformation) all the values from all the input\n * Observables to the output Observable. The output Observable only completes\n * once all input Observables have completed. Any error delivered by an input\n * Observable will be immediately emitted on the output Observable.\n *\n * ## Examples\n *\n * Merge together two Observables: 1s interval and clicks\n *\n * ```ts\n * import { merge, fromEvent, interval } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const timer = interval(1000);\n * const clicksOrTimer = merge(clicks, timer);\n * clicksOrTimer.subscribe(x => console.log(x));\n *\n * // Results in the following:\n * // timer will emit ascending values, one every second(1000ms) to console\n * // clicks logs MouseEvents to console every time the \"document\" is clicked\n * // Since the two streams are merged you see these happening\n * // as they occur.\n * ```\n *\n * Merge together 3 Observables, but run only 2 concurrently\n *\n * ```ts\n * import { interval, take, merge } from 'rxjs';\n *\n * const timer1 = interval(1000).pipe(take(10));\n * const timer2 = interval(2000).pipe(take(6));\n * const timer3 = interval(500).pipe(take(10));\n *\n * const concurrent = 2; // the argument\n * const merged = merge(timer1, timer2, timer3, concurrent);\n * merged.subscribe(x => console.log(x));\n *\n * // Results in the following:\n * // - First timer1 and timer2 will run concurrently\n * // - timer1 will emit a value every 1000ms for 10 iterations\n * // - timer2 will emit a value every 2000ms for 6 iterations\n * // - after timer1 hits its max iteration, timer2 will\n * //   continue, and timer3 will start to run concurrently with timer2\n * // - when timer2 hits its max iteration it terminates, and\n * //   timer3 will continue to emit a value every 500ms until it is complete\n * ```\n *\n * @see {@link mergeAll}\n * @see {@link mergeMap}\n * @see {@link mergeMapTo}\n * @see {@link mergeScan}\n *\n * @param {...ObservableInput} observables Input Observables to merge together.\n * @param {number} [concurrent=Infinity] Maximum number of input\n * Observables being subscribed to concurrently.\n * @param {SchedulerLike} [scheduler=null] The {@link SchedulerLike} to use for managing\n * concurrency of input Observables.\n * @return {Observable} an Observable that emits items that are the result of\n * every input Observable.\n */\nexport function merge(...args: (ObservableInput<unknown> | number | SchedulerLike)[]): Observable<unknown> {\n  const scheduler = popScheduler(args);\n  const concurrent = popNumber(args, Infinity);\n  const sources = args as ObservableInput<unknown>[];\n  return !sources.length\n    ? // No source provided\n      EMPTY\n    : sources.length === 1\n    ? // One source? Just return it.\n      innerFrom(sources[0])\n    : // Merge all sources\n      mergeAll(concurrent)(from(sources, scheduler));\n}\n", "import { Observable } from '../Observable';\nimport { noop } from '../util/noop';\n\n/**\n * An Observable that emits no items to the Observer and never completes.\n *\n * ![](never.png)\n *\n * A simple Observable that emits neither values nor errors nor the completion\n * notification. It can be used for testing purposes or for composing with other\n * Observables. Please note that by never emitting a complete notification, this\n * Observable keeps the subscription from being disposed automatically.\n * Subscriptions need to be manually disposed.\n *\n * ##  Example\n *\n * Emit the number 7, then never emit anything else (not even complete)\n *\n * ```ts\n * import { NEVER, startWith } from 'rxjs';\n *\n * const info = () => console.log('Will not be called');\n *\n * const result = NEVER.pipe(startWith(7));\n * result.subscribe({\n *   next: x => console.log(x),\n *   error: info,\n *   complete: info\n * });\n * ```\n *\n * @see {@link Observable}\n * @see {@link EMPTY}\n * @see {@link of}\n * @see {@link throwError}\n */\nexport const NEVER = new Observable<never>(noop);\n\n/**\n * @deprecated Replaced with the {@link NEVER} constant. Will be removed in v8.\n */\nexport function never() {\n  return NEVER;\n}\n", "const { isArray } = Array;\n\n/**\n * Used in operators and functions that accept either a list of arguments, or an array of arguments\n * as a single argument.\n */\nexport function argsOrArgArray<T>(args: (T | T[])[]): T[] {\n  return args.length === 1 && isArray(args[0]) ? args[0] : (args as T[]);\n}\n", "import { OperatorFunction, MonoTypeOperatorFunction, TruthyTypesOf } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/** @deprecated Use a closure instead of a `thisArg`. Signatures accepting a `thisArg` will be removed in v8. */\nexport function filter<T, S extends T, A>(predicate: (this: A, value: T, index: number) => value is S, thisArg: A): OperatorFunction<T, S>;\nexport function filter<T, S extends T>(predicate: (value: T, index: number) => value is S): OperatorFunction<T, S>;\nexport function filter<T>(predicate: BooleanConstructor): OperatorFunction<T, TruthyTypesOf<T>>;\n/** @deprecated Use a closure instead of a `thisArg`. Signatures accepting a `thisArg` will be removed in v8. */\nexport function filter<T, A>(predicate: (this: A, value: T, index: number) => boolean, thisArg: A): MonoTypeOperatorFunction<T>;\nexport function filter<T>(predicate: (value: T, index: number) => boolean): MonoTypeOperatorFunction<T>;\n\n/**\n * Filter items emitted by the source Observable by only emitting those that\n * satisfy a specified predicate.\n *\n * <span class=\"informal\">Like\n * [Array.prototype.filter()](https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/Array/filter),\n * it only emits a value from the source if it passes a criterion function.</span>\n *\n * ![](filter.png)\n *\n * Similar to the well-known `Array.prototype.filter` method, this operator\n * takes values from the source Observable, passes them through a `predicate`\n * function and only emits those values that yielded `true`.\n *\n * ## Example\n *\n * Emit only click events whose target was a DIV element\n *\n * ```ts\n * import { fromEvent, filter } from 'rxjs';\n *\n * const div = document.createElement('div');\n * div.style.cssText = 'width: 200px; height: 200px; background: #09c;';\n * document.body.appendChild(div);\n *\n * const clicks = fromEvent(document, 'click');\n * const clicksOnDivs = clicks.pipe(filter(ev => (<HTMLElement>ev.target).tagName === 'DIV'));\n * clicksOnDivs.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link distinct}\n * @see {@link distinctUntilChanged}\n * @see {@link distinctUntilKeyChanged}\n * @see {@link ignoreElements}\n * @see {@link partition}\n * @see {@link skip}\n *\n * @param predicate A function that\n * evaluates each value emitted by the source Observable. If it returns `true`,\n * the value is emitted, if `false` the value is not passed to the output\n * Observable. The `index` parameter is the number `i` for the i-th source\n * emission that has happened since the subscription, starting from the number\n * `0`.\n * @param thisArg An optional argument to determine the value of `this`\n * in the `predicate` function.\n * @return A function that returns an Observable that emits items from the\n * source Observable that satisfy the specified `predicate`.\n */\nexport function filter<T>(predicate: (value: T, index: number) => boolean, thisArg?: any): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    // An index passed to our predicate function on each call.\n    let index = 0;\n\n    // Subscribe to the source, all errors and completions are\n    // forwarded to the consumer.\n    source.subscribe(\n      // Call the predicate with the appropriate `this` context,\n      // if the predicate returns `true`, then send the value\n      // to the consumer.\n      createOperatorSubscriber(subscriber, (value) => predicate.call(thisArg, value, index++) && subscriber.next(value))\n    );\n  });\n}\n", "import { Observable } from '../Observable';\nimport { ObservableInputTuple } from '../types';\nimport { innerFrom } from './innerFrom';\nimport { argsOrArgArray } from '../util/argsOrArgArray';\nimport { EMPTY } from './empty';\nimport { createOperatorSubscriber } from '../operators/OperatorSubscriber';\nimport { popResultSelector } from '../util/args';\n\nexport function zip<A extends readonly unknown[]>(sources: [...ObservableInputTuple<A>]): Observable<A>;\nexport function zip<A extends readonly unknown[], R>(\n  sources: [...ObservableInputTuple<A>],\n  resultSelector: (...values: A) => R\n): Observable<R>;\nexport function zip<A extends readonly unknown[]>(...sources: [...ObservableInputTuple<A>]): Observable<A>;\nexport function zip<A extends readonly unknown[], R>(\n  ...sourcesAndResultSelector: [...ObservableInputTuple<A>, (...values: A) => R]\n): Observable<R>;\n\n/**\n * Combines multiple Observables to create an Observable whose values are calculated from the values, in order, of each\n * of its input Observables.\n *\n * If the last parameter is a function, this function is used to compute the created value from the input values.\n * Otherwise, an array of the input values is returned.\n *\n * ## Example\n *\n * Combine age and name from different sources\n *\n * ```ts\n * import { of, zip, map } from 'rxjs';\n *\n * const age$ = of(27, 25, 29);\n * const name$ = of('Foo', 'Bar', 'Beer');\n * const isDev$ = of(true, true, false);\n *\n * zip(age$, name$, isDev$).pipe(\n *   map(([age, name, isDev]) => ({ age, name, isDev }))\n * )\n * .subscribe(x => console.log(x));\n *\n * // Outputs\n * // { age: 27, name: 'Foo', isDev: true }\n * // { age: 25, name: 'Bar', isDev: true }\n * // { age: 29, name: 'Beer', isDev: false }\n * ```\n *\n * @param sources\n * @return {Observable<R>}\n */\nexport function zip(...args: unknown[]): Observable<unknown> {\n  const resultSelector = popResultSelector(args);\n\n  const sources = argsOrArgArray(args) as Observable<unknown>[];\n\n  return sources.length\n    ? new Observable<unknown[]>((subscriber) => {\n        // A collection of buffers of values from each source.\n        // Keyed by the same index with which the sources were passed in.\n        let buffers: unknown[][] = sources.map(() => []);\n\n        // An array of flags of whether or not the sources have completed.\n        // This is used to check to see if we should complete the result.\n        // Keyed by the same index with which the sources were passed in.\n        let completed = sources.map(() => false);\n\n        // When everything is done, release the arrays above.\n        subscriber.add(() => {\n          buffers = completed = null!;\n        });\n\n        // Loop over our sources and subscribe to each one. The index `i` is\n        // especially important here, because we use it in closures below to\n        // access the related buffers and completion properties\n        for (let sourceIndex = 0; !subscriber.closed && sourceIndex < sources.length; sourceIndex++) {\n          innerFrom(sources[sourceIndex]).subscribe(\n            createOperatorSubscriber(\n              subscriber,\n              (value) => {\n                buffers[sourceIndex].push(value);\n                // if every buffer has at least one value in it, then we\n                // can shift out the oldest value from each buffer and emit\n                // them as an array.\n                if (buffers.every((buffer) => buffer.length)) {\n                  const result: any = buffers.map((buffer) => buffer.shift()!);\n                  // Emit the array. If theres' a result selector, use that.\n                  subscriber.next(resultSelector ? resultSelector(...result) : result);\n                  // If any one of the sources is both complete and has an empty buffer\n                  // then we complete the result. This is because we cannot possibly have\n                  // any more values to zip together.\n                  if (buffers.some((buffer, i) => !buffer.length && completed[i])) {\n                    subscriber.complete();\n                  }\n                }\n              },\n              () => {\n                // This source completed. Mark it as complete so we can check it later\n                // if we have to.\n                completed[sourceIndex] = true;\n                // But, if this complete source has nothing in its buffer, then we\n                // can complete the result, because we can't possibly have any more\n                // values from this to zip together with the other values.\n                !buffers[sourceIndex].length && subscriber.complete();\n              }\n            )\n          );\n        }\n\n        // When everything is done, release the arrays above.\n        return () => {\n          buffers = completed = null!;\n        };\n      })\n    : EMPTY;\n}\n", "import { Subscriber } from '../Subscriber';\nimport { MonoTypeOperatorFunction, ObservableInput } from '../types';\n\nimport { operate } from '../util/lift';\nimport { innerFrom } from '../observable/innerFrom';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * Ignores source values for a duration determined by another Observable, then\n * emits the most recent value from the source Observable, then repeats this\n * process.\n *\n * <span class=\"informal\">It's like {@link auditTime}, but the silencing\n * duration is determined by a second Observable.</span>\n *\n * ![](audit.svg)\n *\n * `audit` is similar to `throttle`, but emits the last value from the silenced\n * time window, instead of the first value. `audit` emits the most recent value\n * from the source Observable on the output Observable as soon as its internal\n * timer becomes disabled, and ignores source values while the timer is enabled.\n * Initially, the timer is disabled. As soon as the first source value arrives,\n * the timer is enabled by calling the `durationSelector` function with the\n * source value, which returns the \"duration\" Observable. When the duration\n * Observable emits a value, the timer is disabled, then the most\n * recent source value is emitted on the output Observable, and this process\n * repeats for the next source value.\n *\n * ## Example\n *\n * Emit clicks at a rate of at most one click per second\n *\n * ```ts\n * import { fromEvent, audit, interval } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(audit(ev => interval(1000)));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link auditTime}\n * @see {@link debounce}\n * @see {@link delayWhen}\n * @see {@link sample}\n * @see {@link throttle}\n *\n * @param durationSelector A function\n * that receives a value from the source Observable, for computing the silencing\n * duration, returned as an Observable or a Promise.\n * @return A function that returns an Observable that performs rate-limiting of\n * emissions from the source Observable.\n */\nexport function audit<T>(durationSelector: (value: T) => ObservableInput<any>): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    let hasValue = false;\n    let lastValue: T | null = null;\n    let durationSubscriber: Subscriber<any> | null = null;\n    let isComplete = false;\n\n    const endDuration = () => {\n      durationSubscriber?.unsubscribe();\n      durationSubscriber = null;\n      if (hasValue) {\n        hasValue = false;\n        const value = lastValue!;\n        lastValue = null;\n        subscriber.next(value);\n      }\n      isComplete && subscriber.complete();\n    };\n\n    const cleanupDuration = () => {\n      durationSubscriber = null;\n      isComplete && subscriber.complete();\n    };\n\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value) => {\n          hasValue = true;\n          lastValue = value;\n          if (!durationSubscriber) {\n            innerFrom(durationSelector(value)).subscribe(\n              (durationSubscriber = createOperatorSubscriber(subscriber, endDuration, cleanupDuration))\n            );\n          }\n        },\n        () => {\n          isComplete = true;\n          (!hasValue || !durationSubscriber || durationSubscriber.closed) && subscriber.complete();\n        }\n      )\n    );\n  });\n}\n", "import { asyncScheduler } from '../scheduler/async';\nimport { audit } from './audit';\nimport { timer } from '../observable/timer';\nimport { MonoTypeOperatorFunction, SchedulerLike } from '../types';\n\n/**\n * Ignores source values for `duration` milliseconds, then emits the most recent\n * value from the source Observable, then repeats this process.\n *\n * <span class=\"informal\">When it sees a source value, it ignores that plus\n * the next ones for `duration` milliseconds, and then it emits the most recent\n * value from the source.</span>\n *\n * ![](auditTime.png)\n *\n * `auditTime` is similar to `throttleTime`, but emits the last value from the\n * silenced time window, instead of the first value. `auditTime` emits the most\n * recent value from the source Observable on the output Observable as soon as\n * its internal timer becomes disabled, and ignores source values while the\n * timer is enabled. Initially, the timer is disabled. As soon as the first\n * source value arrives, the timer is enabled. After `duration` milliseconds (or\n * the time unit determined internally by the optional `scheduler`) has passed,\n * the timer is disabled, then the most recent source value is emitted on the\n * output Observable, and this process repeats for the next source value.\n * Optionally takes a {@link SchedulerLike} for managing timers.\n *\n * ## Example\n *\n * Emit clicks at a rate of at most one click per second\n *\n * ```ts\n * import { fromEvent, auditTime } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(auditTime(1000));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link audit}\n * @see {@link debounceTime}\n * @see {@link delay}\n * @see {@link sampleTime}\n * @see {@link throttleTime}\n *\n * @param {number} duration Time to wait before emitting the most recent source\n * value, measured in milliseconds or the time unit determined internally\n * by the optional `scheduler`.\n * @param {SchedulerLike} [scheduler=async] The {@link SchedulerLike} to use for\n * managing the timers that handle the rate-limiting behavior.\n * @return A function that returns an Observable that performs rate-limiting of\n * emissions from the source Observable.\n */\nexport function auditTime<T>(duration: number, scheduler: SchedulerLike = asyncScheduler): MonoTypeOperatorFunction<T> {\n  return audit(() => timer(duration, scheduler));\n}\n", "import { OperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { arrRemove } from '../util/arrRemove';\n\n/**\n * Buffers the source Observable values until the size hits the maximum\n * `bufferSize` given.\n *\n * <span class=\"informal\">Collects values from the past as an array, and emits\n * that array only when its size reaches `bufferSize`.</span>\n *\n * ![](bufferCount.png)\n *\n * Buffers a number of values from the source Observable by `bufferSize` then\n * emits the buffer and clears it, and starts a new buffer each\n * `startBufferEvery` values. If `startBufferEvery` is not provided or is\n * `null`, then new buffers are started immediately at the start of the source\n * and when each buffer closes and is emitted.\n *\n * ## Examples\n *\n * Emit the last two click events as an array\n *\n * ```ts\n * import { fromEvent, bufferCount } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const buffered = clicks.pipe(bufferCount(2));\n * buffered.subscribe(x => console.log(x));\n * ```\n *\n * On every click, emit the last two click events as an array\n *\n * ```ts\n * import { fromEvent, bufferCount } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const buffered = clicks.pipe(bufferCount(2, 1));\n * buffered.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link buffer}\n * @see {@link bufferTime}\n * @see {@link bufferToggle}\n * @see {@link bufferWhen}\n * @see {@link pairwise}\n * @see {@link windowCount}\n *\n * @param {number} bufferSize The maximum size of the buffer emitted.\n * @param {number} [startBufferEvery] Interval at which to start a new buffer.\n * For example if `startBufferEvery` is `2`, then a new buffer will be started\n * on every other value from the source. A new buffer is started at the\n * beginning of the source by default.\n * @return A function that returns an Observable of arrays of buffered values.\n */\nexport function bufferCount<T>(bufferSize: number, startBufferEvery: number | null = null): OperatorFunction<T, T[]> {\n  // If no `startBufferEvery` value was supplied, then we're\n  // opening and closing on the bufferSize itself.\n  startBufferEvery = startBufferEvery ?? bufferSize;\n\n  return operate((source, subscriber) => {\n    let buffers: T[][] = [];\n    let count = 0;\n\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value) => {\n          let toEmit: T[][] | null = null;\n\n          // Check to see if we need to start a buffer.\n          // This will start one at the first value, and then\n          // a new one every N after that.\n          if (count++ % startBufferEvery! === 0) {\n            buffers.push([]);\n          }\n\n          // Push our value into our active buffers.\n          for (const buffer of buffers) {\n            buffer.push(value);\n            // Check to see if we're over the bufferSize\n            // if we are, record it so we can emit it later.\n            // If we emitted it now and removed it, it would\n            // mutate the `buffers` array while we're looping\n            // over it.\n            if (bufferSize <= buffer.length) {\n              toEmit = toEmit ?? [];\n              toEmit.push(buffer);\n            }\n          }\n\n          if (toEmit) {\n            // We have found some buffers that are over the\n            // `bufferSize`. Emit them, and remove them from our\n            // buffers list.\n            for (const buffer of toEmit) {\n              arrRemove(buffers, buffer);\n              subscriber.next(buffer);\n            }\n          }\n        },\n        () => {\n          // When the source completes, emit all of our\n          // active buffers.\n          for (const buffer of buffers) {\n            subscriber.next(buffer);\n          }\n          subscriber.complete();\n        },\n        // Pass all errors through to consumer.\n        undefined,\n        () => {\n          // Clean up our memory when we finalize\n          buffers = null!;\n        }\n      )\n    );\n  });\n}\n", "import { Observable } from '../Observable';\n\nimport { ObservableInput, OperatorFunction, ObservedValueOf } from '../types';\nimport { Subscription } from '../Subscription';\nimport { innerFrom } from '../observable/innerFrom';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { operate } from '../util/lift';\n\n/* tslint:disable:max-line-length */\nexport function catchError<T, O extends ObservableInput<any>>(\n  selector: (err: any, caught: Observable<T>) => O\n): OperatorFunction<T, T | ObservedValueOf<O>>;\n/* tslint:enable:max-line-length */\n\n/**\n * Catches errors on the observable to be handled by returning a new observable or throwing an error.\n *\n * <span class=\"informal\">\n * It only listens to the error channel and ignores notifications.\n * Handles errors from the source observable, and maps them to a new observable.\n * The error may also be rethrown, or a new error can be thrown to emit an error from the result.\n * </span>\n *\n * ![](catch.png)\n *\n * This operator handles errors, but forwards along all other events to the resulting observable.\n * If the source observable terminates with an error, it will map that error to a new observable,\n * subscribe to it, and forward all of its events to the resulting observable.\n *\n * ## Examples\n *\n * Continue with a different Observable when there's an error\n *\n * ```ts\n * import { of, map, catchError } from 'rxjs';\n *\n * of(1, 2, 3, 4, 5)\n *   .pipe(\n *     map(n => {\n *       if (n === 4) {\n *         throw 'four!';\n *       }\n *       return n;\n *     }),\n *     catchError(err => of('I', 'II', 'III', 'IV', 'V'))\n *   )\n *   .subscribe(x => console.log(x));\n *   // 1, 2, 3, I, II, III, IV, V\n * ```\n *\n * Retry the caught source Observable again in case of error, similar to `retry()` operator\n *\n * ```ts\n * import { of, map, catchError, take } from 'rxjs';\n *\n * of(1, 2, 3, 4, 5)\n *   .pipe(\n *     map(n => {\n *       if (n === 4) {\n *         throw 'four!';\n *       }\n *       return n;\n *     }),\n *     catchError((err, caught) => caught),\n *     take(30)\n *   )\n *   .subscribe(x => console.log(x));\n *   // 1, 2, 3, 1, 2, 3, ...\n * ```\n *\n * Throw a new error when the source Observable throws an error\n *\n * ```ts\n * import { of, map, catchError } from 'rxjs';\n *\n * of(1, 2, 3, 4, 5)\n *   .pipe(\n *     map(n => {\n *       if (n === 4) {\n *         throw 'four!';\n *       }\n *       return n;\n *     }),\n *     catchError(err => {\n *       throw 'error in source. Details: ' + err;\n *     })\n *   )\n *   .subscribe({\n *     next: x => console.log(x),\n *     error: err => console.log(err)\n *   });\n *   // 1, 2, 3, error in source. Details: four!\n * ```\n *\n * @see {@link onErrorResumeNext}\n * @see {@link repeat}\n * @see {@link repeatWhen}\n * @see {@link retry }\n * @see {@link retryWhen}\n *\n * @param {function} selector a function that takes as arguments `err`, which is the error, and `caught`, which\n * is the source observable, in case you'd like to \"retry\" that observable by returning it again. Whatever observable\n * is returned by the `selector` will be used to continue the observable chain.\n * @return A function that returns an Observable that originates from either\n * the source or the Observable returned by the `selector` function.\n */\nexport function catchError<T, O extends ObservableInput<any>>(\n  selector: (err: any, caught: Observable<T>) => O\n): OperatorFunction<T, T | ObservedValueOf<O>> {\n  return operate((source, subscriber) => {\n    let innerSub: Subscription | null = null;\n    let syncUnsub = false;\n    let handledResult: Observable<ObservedValueOf<O>>;\n\n    innerSub = source.subscribe(\n      createOperatorSubscriber(subscriber, undefined, undefined, (err) => {\n        handledResult = innerFrom(selector(err, catchError(selector)(source)));\n        if (innerSub) {\n          innerSub.unsubscribe();\n          innerSub = null;\n          handledResult.subscribe(subscriber);\n        } else {\n          // We don't have an innerSub yet, that means the error was synchronous\n          // because the subscribe call hasn't returned yet.\n          syncUnsub = true;\n        }\n      })\n    );\n\n    if (syncUnsub) {\n      // We have a synchronous error, we need to make sure to\n      // finalize right away. This ensures that callbacks in the `finalize` operator are called\n      // at the right time, and that finalization occurs at the expected\n      // time between the source error and the subscription to the\n      // next observable.\n      innerSub.unsubscribe();\n      innerSub = null;\n      handledResult!.subscribe(subscriber);\n    }\n  });\n}\n", "import { Observable } from '../Observable';\nimport { Subscriber } from '../Subscriber';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * A basic scan operation. This is used for `scan` and `reduce`.\n * @param accumulator The accumulator to use\n * @param seed The seed value for the state to accumulate\n * @param hasSeed Whether or not a seed was provided\n * @param emitOnNext Whether or not to emit the state on next\n * @param emitBeforeComplete Whether or not to emit the before completion\n */\n\nexport function scanInternals<V, A, S>(\n  accumulator: (acc: V | A | S, value: V, index: number) => A,\n  seed: S,\n  hasSeed: boolean,\n  emitOnNext: boolean,\n  emitBeforeComplete?: undefined | true\n) {\n  return (source: Observable<V>, subscriber: Subscriber<any>) => {\n    // Whether or not we have state yet. This will only be\n    // false before the first value arrives if we didn't get\n    // a seed value.\n    let hasState = hasSeed;\n    // The state that we're tracking, starting with the seed,\n    // if there is one, and then updated by the return value\n    // from the accumulator on each emission.\n    let state: any = seed;\n    // An index to pass to the accumulator function.\n    let index = 0;\n\n    // Subscribe to our source. All errors and completions are passed through.\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value) => {\n          // Always increment the index.\n          const i = index++;\n          // Set the state\n          state = hasState\n            ? // We already have state, so we can get the new state from the accumulator\n              accumulator(state, value, i)\n            : // We didn't have state yet, a seed value was not provided, so\n\n              // we set the state to the first value, and mark that we have state now\n              ((hasState = true), value);\n\n          // Maybe send it to the consumer.\n          emitOnNext && subscriber.next(state);\n        },\n        // If an onComplete was given, call it, otherwise\n        // just pass through the complete notification to the consumer.\n        emitBeforeComplete &&\n          (() => {\n            hasState && subscriber.next(state);\n            subscriber.complete();\n          })\n      )\n    );\n  };\n}\n", "import { combineLatestInit } from '../observable/combineLatest';\nimport { ObservableInput, ObservableInputTuple, OperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { argsOrArgArray } from '../util/argsOrArgArray';\nimport { mapOneOrManyArgs } from '../util/mapOneOrManyArgs';\nimport { pipe } from '../util/pipe';\nimport { popResultSelector } from '../util/args';\n\n/** @deprecated Replaced with {@link combineLatestWith}. Will be removed in v8. */\nexport function combineLatest<T, A extends readonly unknown[], R>(\n  sources: [...ObservableInputTuple<A>],\n  project: (...values: [T, ...A]) => R\n): OperatorFunction<T, R>;\n/** @deprecated Replaced with {@link combineLatestWith}. Will be removed in v8. */\nexport function combineLatest<T, A extends readonly unknown[], R>(sources: [...ObservableInputTuple<A>]): OperatorFunction<T, [T, ...A]>;\n\n/** @deprecated Replaced with {@link combineLatestWith}. Will be removed in v8. */\nexport function combineLatest<T, A extends readonly unknown[], R>(\n  ...sourcesAndProject: [...ObservableInputTuple<A>, (...values: [T, ...A]) => R]\n): OperatorFunction<T, R>;\n/** @deprecated Replaced with {@link combineLatestWith}. Will be removed in v8. */\nexport function combineLatest<T, A extends readonly unknown[], R>(...sources: [...ObservableInputTuple<A>]): OperatorFunction<T, [T, ...A]>;\n\n/**\n * @deprecated Replaced with {@link combineLatestWith}. Will be removed in v8.\n */\nexport function combineLatest<T, R>(...args: (ObservableInput<any> | ((...values: any[]) => R))[]): OperatorFunction<T, unknown> {\n  const resultSelector = popResultSelector(args);\n  return resultSelector\n    ? pipe(combineLatest(...(args as Array<ObservableInput<any>>)), mapOneOrManyArgs(resultSelector))\n    : operate((source, subscriber) => {\n        combineLatestInit([source, ...argsOrArgArray(args)])(subscriber);\n      });\n}\n", "import { ObservableInputTuple, OperatorFunction, Cons } from '../types';\nimport { combineLatest } from './combineLatest';\n\n/**\n * Create an observable that combines the latest values from all passed observables and the source\n * into arrays and emits them.\n *\n * Returns an observable, that when subscribed to, will subscribe to the source observable and all\n * sources provided as arguments. Once all sources emit at least one value, all of the latest values\n * will be emitted as an array. After that, every time any source emits a value, all of the latest values\n * will be emitted as an array.\n *\n * This is a useful operator for eagerly calculating values based off of changed inputs.\n *\n * ## Example\n *\n * Simple concatenation of values from two inputs\n *\n * ```ts\n * import { fromEvent, combineLatestWith, map } from 'rxjs';\n *\n * // Setup: Add two inputs to the page\n * const input1 = document.createElement('input');\n * document.body.appendChild(input1);\n * const input2 = document.createElement('input');\n * document.body.appendChild(input2);\n *\n * // Get streams of changes\n * const input1Changes$ = fromEvent(input1, 'change');\n * const input2Changes$ = fromEvent(input2, 'change');\n *\n * // Combine the changes by adding them together\n * input1Changes$.pipe(\n *   combineLatestWith(input2Changes$),\n *   map(([e1, e2]) => (<HTMLInputElement>e1.target).value + ' - ' + (<HTMLInputElement>e2.target).value)\n * )\n * .subscribe(x => console.log(x));\n * ```\n *\n * @param otherSources the other sources to subscribe to.\n * @return A function that returns an Observable that emits the latest\n * emissions from both source and provided Observables.\n */\nexport function combineLatestWith<T, A extends readonly unknown[]>(\n  ...otherSources: [...ObservableInputTuple<A>]\n): OperatorFunction<T, Cons<T, A>> {\n  return combineLatest(...otherSources);\n}\n", "import { Subscriber } from '../Subscriber';\nimport { MonoTypeOperatorFunction, ObservableInput } from '../types';\nimport { operate } from '../util/lift';\nimport { noop } from '../util/noop';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { innerFrom } from '../observable/innerFrom';\n\n/**\n * Emits a notification from the source Observable only after a particular time span\n * determined by another Observable has passed without another source emission.\n *\n * <span class=\"informal\">It's like {@link debounceTime}, but the time span of\n * emission silence is determined by a second Observable.</span>\n *\n * ![](debounce.svg)\n *\n * `debounce` delays notifications emitted by the source Observable, but drops previous\n * pending delayed emissions if a new notification arrives on the source Observable.\n * This operator keeps track of the most recent notification from the source\n * Observable, and spawns a duration Observable by calling the\n * `durationSelector` function. The notification is emitted only when the duration\n * Observable emits a next notification, and if no other notification was emitted on\n * the source Observable since the duration Observable was spawned. If a new\n * notification appears before the duration Observable emits, the previous notification will\n * not be emitted and a new duration is scheduled from `durationSelector` is scheduled.\n * If the completing event happens during the scheduled duration the last cached notification\n * is emitted before the completion event is forwarded to the output observable.\n * If the error event happens during the scheduled duration or after it only the error event is\n * forwarded to the output observable. The cache notification is not emitted in this case.\n *\n * Like {@link debounceTime}, this is a rate-limiting operator, and also a\n * delay-like operator since output emissions do not necessarily occur at the\n * same time as they did on the source Observable.\n *\n * ## Example\n *\n * Emit the most recent click after a burst of clicks\n *\n * ```ts\n * import { fromEvent, scan, debounce, interval } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(\n *   scan(i => ++i, 1),\n *   debounce(i => interval(200 * i))\n * );\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link audit}\n * @see {@link auditTime}\n * @see {@link debounceTime}\n * @see {@link delay}\n * @see {@link sample}\n * @see {@link sampleTime}\n * @see {@link throttle}\n * @see {@link throttleTime}\n *\n * @param durationSelector A function\n * that receives a value from the source Observable, for computing the timeout\n * duration for each source value, returned as an Observable or a Promise.\n * @return A function that returns an Observable that delays the emissions of\n * the source Observable by the specified duration Observable returned by\n * `durationSelector`, and may drop some values if they occur too frequently.\n */\nexport function debounce<T>(durationSelector: (value: T) => ObservableInput<any>): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    let hasValue = false;\n    let lastValue: T | null = null;\n    // The subscriber/subscription for the current debounce, if there is one.\n    let durationSubscriber: Subscriber<any> | null = null;\n\n    const emit = () => {\n      // Unsubscribe any current debounce subscription we have,\n      // we only cared about the first notification from it, and we\n      // want to clean that subscription up as soon as possible.\n      durationSubscriber?.unsubscribe();\n      durationSubscriber = null;\n      if (hasValue) {\n        // We have a value! Free up memory first, then emit the value.\n        hasValue = false;\n        const value = lastValue!;\n        lastValue = null;\n        subscriber.next(value);\n      }\n    };\n\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value: T) => {\n          // Cancel any pending debounce duration. We don't\n          // need to null it out here yet tho, because we're just going\n          // to create another one in a few lines.\n          durationSubscriber?.unsubscribe();\n          hasValue = true;\n          lastValue = value;\n          // Capture our duration subscriber, so we can unsubscribe it when we're notified\n          // and we're going to emit the value.\n          durationSubscriber = createOperatorSubscriber(subscriber, emit, noop);\n          // Subscribe to the duration.\n          innerFrom(durationSelector(value)).subscribe(durationSubscriber);\n        },\n        () => {\n          // Source completed.\n          // Emit any pending debounced values then complete\n          emit();\n          subscriber.complete();\n        },\n        // Pass all errors through to consumer\n        undefined,\n        () => {\n          // Finalization.\n          lastValue = durationSubscriber = null;\n        }\n      )\n    );\n  });\n}\n", "import { asyncScheduler } from '../scheduler/async';\nimport { Subscription } from '../Subscription';\nimport { MonoTypeOperatorFunction, SchedulerAction, SchedulerLike } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * Emits a notification from the source Observable only after a particular time span\n * has passed without another source emission.\n *\n * <span class=\"informal\">It's like {@link delay}, but passes only the most\n * recent notification from each burst of emissions.</span>\n *\n * ![](debounceTime.png)\n *\n * `debounceTime` delays notifications emitted by the source Observable, but drops\n * previous pending delayed emissions if a new notification arrives on the source\n * Observable. This operator keeps track of the most recent notification from the\n * source Observable, and emits that only when `dueTime` has passed\n * without any other notification appearing on the source Observable. If a new value\n * appears before `dueTime` silence occurs, the previous notification will be dropped\n * and will not be emitted and a new `dueTime` is scheduled.\n * If the completing event happens during `dueTime` the last cached notification\n * is emitted before the completion event is forwarded to the output observable.\n * If the error event happens during `dueTime` or after it only the error event is\n * forwarded to the output observable. The cache notification is not emitted in this case.\n *\n * This is a rate-limiting operator, because it is impossible for more than one\n * notification to be emitted in any time window of duration `dueTime`, but it is also\n * a delay-like operator since output emissions do not occur at the same time as\n * they did on the source Observable. Optionally takes a {@link SchedulerLike} for\n * managing timers.\n *\n * ## Example\n *\n * Emit the most recent click after a burst of clicks\n *\n * ```ts\n * import { fromEvent, debounceTime } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(debounceTime(1000));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link audit}\n * @see {@link auditTime}\n * @see {@link debounce}\n * @see {@link sample}\n * @see {@link sampleTime}\n * @see {@link throttle}\n * @see {@link throttleTime}\n *\n * @param {number} dueTime The timeout duration in milliseconds (or the time\n * unit determined internally by the optional `scheduler`) for the window of\n * time required to wait for emission silence before emitting the most recent\n * source value.\n * @param {SchedulerLike} [scheduler=async] The {@link SchedulerLike} to use for\n * managing the timers that handle the timeout for each value.\n * @return A function that returns an Observable that delays the emissions of\n * the source Observable by the specified `dueTime`, and may drop some values\n * if they occur too frequently.\n */\nexport function debounceTime<T>(dueTime: number, scheduler: SchedulerLike = asyncScheduler): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    let activeTask: Subscription | null = null;\n    let lastValue: T | null = null;\n    let lastTime: number | null = null;\n\n    const emit = () => {\n      if (activeTask) {\n        // We have a value! Free up memory first, then emit the value.\n        activeTask.unsubscribe();\n        activeTask = null;\n        const value = lastValue!;\n        lastValue = null;\n        subscriber.next(value);\n      }\n    };\n    function emitWhenIdle(this: SchedulerAction<unknown>) {\n      // This is called `dueTime` after the first value\n      // but we might have received new values during this window!\n\n      const targetTime = lastTime! + dueTime;\n      const now = scheduler.now();\n      if (now < targetTime) {\n        // On that case, re-schedule to the new target\n        activeTask = this.schedule(undefined, targetTime - now);\n        subscriber.add(activeTask);\n        return;\n      }\n\n      emit();\n    }\n\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value: T) => {\n          lastValue = value;\n          lastTime = scheduler.now();\n\n          // Only set up a task if it's not already up\n          if (!activeTask) {\n            activeTask = scheduler.schedule(emitWhenIdle, dueTime);\n            subscriber.add(activeTask);\n          }\n        },\n        () => {\n          // Source completed.\n          // Emit any pending debounced values then complete\n          emit();\n          subscriber.complete();\n        },\n        // Pass all errors through to consumer.\n        undefined,\n        () => {\n          // Finalization.\n          lastValue = activeTask = null;\n        }\n      )\n    );\n  });\n}\n", "import { OperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * Emits a given value if the source Observable completes without emitting any\n * `next` value, otherwise mirrors the source Observable.\n *\n * <span class=\"informal\">If the source Observable turns out to be empty, then\n * this operator will emit a default value.</span>\n *\n * ![](defaultIfEmpty.png)\n *\n * `defaultIfEmpty` emits the values emitted by the source Observable or a\n * specified default value if the source Observable is empty (completes without\n * having emitted any `next` value).\n *\n * ## Example\n *\n * If no clicks happen in 5 seconds, then emit 'no clicks'\n *\n * ```ts\n * import { fromEvent, takeUntil, interval, defaultIfEmpty } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const clicksBeforeFive = clicks.pipe(takeUntil(interval(5000)));\n * const result = clicksBeforeFive.pipe(defaultIfEmpty('no clicks'));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link empty}\n * @see {@link last}\n *\n * @param defaultValue The default value used if the source\n * Observable is empty.\n * @return A function that returns an Observable that emits either the\n * specified `defaultValue` if the source Observable emits no items, or the\n * values emitted by the source Observable.\n */\nexport function defaultIfEmpty<T, R>(defaultValue: R): OperatorFunction<T, T | R> {\n  return operate((source, subscriber) => {\n    let hasValue = false;\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value) => {\n          hasValue = true;\n          subscriber.next(value);\n        },\n        () => {\n          if (!hasValue) {\n            subscriber.next(defaultValue!);\n          }\n          subscriber.complete();\n        }\n      )\n    );\n  });\n}\n", "import { MonoTypeOperatorFunction } from '../types';\nimport { EMPTY } from '../observable/empty';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * Emits only the first `count` values emitted by the source Observable.\n *\n * <span class=\"informal\">Takes the first `count` values from the source, then\n * completes.</span>\n *\n * ![](take.png)\n *\n * `take` returns an Observable that emits only the first `count` values emitted\n * by the source Observable. If the source emits fewer than `count` values then\n * all of its values are emitted. After that, it completes, regardless if the\n * source completes.\n *\n * ## Example\n *\n * Take the first 5 seconds of an infinite 1-second interval Observable\n *\n * ```ts\n * import { interval, take } from 'rxjs';\n *\n * const intervalCount = interval(1000);\n * const takeFive = intervalCount.pipe(take(5));\n * takeFive.subscribe(x => console.log(x));\n *\n * // Logs:\n * // 0\n * // 1\n * // 2\n * // 3\n * // 4\n * ```\n *\n * @see {@link takeLast}\n * @see {@link takeUntil}\n * @see {@link takeWhile}\n * @see {@link skip}\n *\n * @param count The maximum number of `next` values to emit.\n * @return A function that returns an Observable that emits only the first\n * `count` values emitted by the source Observable, or all of the values from\n * the source if the source emits fewer than `count` values.\n */\nexport function take<T>(count: number): MonoTypeOperatorFunction<T> {\n  return count <= 0\n    ? // If we are taking no values, that's empty.\n      () => EMPTY\n    : operate((source, subscriber) => {\n        let seen = 0;\n        source.subscribe(\n          createOperatorSubscriber(subscriber, (value) => {\n            // Increment the number of values we have seen,\n            // then check it against the allowed count to see\n            // if we are still letting values through.\n            if (++seen <= count) {\n              subscriber.next(value);\n              // If we have met or passed our allowed count,\n              // we need to complete. We have to do <= here,\n              // because re-entrant code will increment `seen` twice.\n              if (count <= seen) {\n                subscriber.complete();\n              }\n            }\n          })\n        );\n      });\n}\n", "import { OperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { noop } from '../util/noop';\n\n/**\n * Ignores all items emitted by the source Observable and only passes calls of `complete` or `error`.\n *\n * ![](ignoreElements.png)\n *\n * The `ignoreElements` operator suppresses all items emitted by the source Observable,\n * but allows its termination notification (either `error` or `complete`) to pass through unchanged.\n *\n * If you do not care about the items being emitted by an Observable, but you do want to be notified\n * when it completes or when it terminates with an error, you can apply the `ignoreElements` operator\n * to the Observable, which will ensure that it will never call its observers\u2019 `next` handlers.\n *\n * ## Example\n *\n * Ignore all `next` emissions from the source\n *\n * ```ts\n * import { of, ignoreElements } from 'rxjs';\n *\n * of('you', 'talking', 'to', 'me')\n *   .pipe(ignoreElements())\n *   .subscribe({\n *     next: word => console.log(word),\n *     error: err => console.log('error:', err),\n *     complete: () => console.log('the end'),\n *   });\n *\n * // result:\n * // 'the end'\n * ```\n *\n * @return A function that returns an empty Observable that only calls\n * `complete` or `error`, based on which one is called by the source\n * Observable.\n */\nexport function ignoreElements(): OperatorFunction<unknown, never> {\n  return operate((source, subscriber) => {\n    source.subscribe(createOperatorSubscriber(subscriber, noop));\n  });\n}\n", "import { OperatorFunction } from '../types';\nimport { map } from './map';\n\n/** @deprecated To be removed in v9. Use {@link map} instead: `map(() => value)`. */\nexport function mapTo<R>(value: R): OperatorFunction<unknown, R>;\n/**\n * @deprecated Do not specify explicit type parameters. Signatures with type parameters\n * that cannot be inferred will be removed in v8. `mapTo` itself will be removed in v9,\n * use {@link map} instead: `map(() => value)`.\n * */\nexport function mapTo<T, R>(value: R): OperatorFunction<T, R>;\n\n/**\n * Emits the given constant value on the output Observable every time the source\n * Observable emits a value.\n *\n * <span class=\"informal\">Like {@link map}, but it maps every source value to\n * the same output value every time.</span>\n *\n * ![](mapTo.png)\n *\n * Takes a constant `value` as argument, and emits that whenever the source\n * Observable emits a value. In other words, ignores the actual source value,\n * and simply uses the emission moment to know when to emit the given `value`.\n *\n * ## Example\n *\n * Map every click to the string `'Hi'`\n *\n * ```ts\n * import { fromEvent, mapTo } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const greetings = clicks.pipe(mapTo('Hi'));\n *\n * greetings.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link map}\n *\n * @param value The value to map each source value to.\n * @return A function that returns an Observable that emits the given `value`\n * every time the source Observable emits.\n * @deprecated To be removed in v9. Use {@link map} instead: `map(() => value)`.\n */\nexport function mapTo<R>(value: R): OperatorFunction<unknown, R> {\n  return map(() => value);\n}\n", "import { Observable } from '../Observable';\nimport { MonoTypeOperatorFunction, ObservableInput } from '../types';\nimport { concat } from '../observable/concat';\nimport { take } from './take';\nimport { ignoreElements } from './ignoreElements';\nimport { mapTo } from './mapTo';\nimport { mergeMap } from './mergeMap';\nimport { innerFrom } from '../observable/innerFrom';\n\n/** @deprecated The `subscriptionDelay` parameter will be removed in v8. */\nexport function delayWhen<T>(\n  delayDurationSelector: (value: T, index: number) => ObservableInput<any>,\n  subscriptionDelay: Observable<any>\n): MonoTypeOperatorFunction<T>;\nexport function delayWhen<T>(delayDurationSelector: (value: T, index: number) => ObservableInput<any>): MonoTypeOperatorFunction<T>;\n\n/**\n * Delays the emission of items from the source Observable by a given time span\n * determined by the emissions of another Observable.\n *\n * <span class=\"informal\">It's like {@link delay}, but the time span of the\n * delay duration is determined by a second Observable.</span>\n *\n * ![](delayWhen.png)\n *\n * `delayWhen` operator shifts each emitted value from the source Observable by\n * a time span determined by another Observable. When the source emits a value,\n * the `delayDurationSelector` function is called with the value emitted from\n * the source Observable as the first argument to the `delayDurationSelector`.\n * The `delayDurationSelector` function should return an {@link ObservableInput},\n * that is internally converted to an Observable that is called the \"duration\"\n * Observable.\n *\n * The source value is emitted on the output Observable only when the \"duration\"\n * Observable emits ({@link guide/glossary-and-semantics#next next}s) any value.\n * Upon that, the \"duration\" Observable gets unsubscribed.\n *\n * Before RxJS V7, the {@link guide/glossary-and-semantics#complete completion}\n * of the \"duration\" Observable would have been triggering the emission of the\n * source value to the output Observable, but with RxJS V7, this is not the case\n * anymore.\n *\n * Only next notifications (from the \"duration\" Observable) trigger values from\n * the source Observable to be passed to the output Observable. If the \"duration\"\n * Observable only emits the complete notification (without next), the value\n * emitted by the source Observable will never get to the output Observable - it\n * will be swallowed. If the \"duration\" Observable errors, the error will be\n * propagated to the output Observable.\n *\n * Optionally, `delayWhen` takes a second argument, `subscriptionDelay`, which\n * is an Observable. When `subscriptionDelay` emits its first value or\n * completes, the source Observable is subscribed to and starts behaving like\n * described in the previous paragraph. If `subscriptionDelay` is not provided,\n * `delayWhen` will subscribe to the source Observable as soon as the output\n * Observable is subscribed.\n *\n * ## Example\n *\n * Delay each click by a random amount of time, between 0 and 5 seconds\n *\n * ```ts\n * import { fromEvent, delayWhen, interval } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const delayedClicks = clicks.pipe(\n *   delayWhen(() => interval(Math.random() * 5000))\n * );\n * delayedClicks.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link delay}\n * @see {@link throttle}\n * @see {@link throttleTime}\n * @see {@link debounce}\n * @see {@link debounceTime}\n * @see {@link sample}\n * @see {@link sampleTime}\n * @see {@link audit}\n * @see {@link auditTime}\n *\n * @param delayDurationSelector A function that returns an `ObservableInput` for\n * each `value` emitted by the source Observable, which is then used to delay the\n * emission of that `value` on the output Observable until the `ObservableInput`\n * returned from this function emits a next value. When called, beside `value`,\n * this function receives a zero-based `index` of the emission order.\n * @param subscriptionDelay An Observable that triggers the subscription to the\n * source Observable once it emits any value.\n * @return A function that returns an Observable that delays the emissions of\n * the source Observable by an amount of time specified by the Observable\n * returned by `delayDurationSelector`.\n */\nexport function delayWhen<T>(\n  delayDurationSelector: (value: T, index: number) => ObservableInput<any>,\n  subscriptionDelay?: Observable<any>\n): MonoTypeOperatorFunction<T> {\n  if (subscriptionDelay) {\n    // DEPRECATED PATH\n    return (source: Observable<T>) =>\n      concat(subscriptionDelay.pipe(take(1), ignoreElements()), source.pipe(delayWhen(delayDurationSelector)));\n  }\n\n  return mergeMap((value, index) => innerFrom(delayDurationSelector(value, index)).pipe(take(1), mapTo(value)));\n}\n", "import { asyncScheduler } from '../scheduler/async';\nimport { MonoTypeOperatorFunction, SchedulerLike } from '../types';\nimport { delayWhen } from './delayWhen';\nimport { timer } from '../observable/timer';\n\n/**\n * Delays the emission of items from the source Observable by a given timeout or\n * until a given Date.\n *\n * <span class=\"informal\">Time shifts each item by some specified amount of\n * milliseconds.</span>\n *\n * ![](delay.svg)\n *\n * If the delay argument is a Number, this operator time shifts the source\n * Observable by that amount of time expressed in milliseconds. The relative\n * time intervals between the values are preserved.\n *\n * If the delay argument is a Date, this operator time shifts the start of the\n * Observable execution until the given date occurs.\n *\n * ## Examples\n *\n * Delay each click by one second\n *\n * ```ts\n * import { fromEvent, delay } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const delayedClicks = clicks.pipe(delay(1000)); // each click emitted after 1 second\n * delayedClicks.subscribe(x => console.log(x));\n * ```\n *\n * Delay all clicks until a future date happens\n *\n * ```ts\n * import { fromEvent, delay } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const date = new Date('March 15, 2050 12:00:00'); // in the future\n * const delayedClicks = clicks.pipe(delay(date)); // click emitted only after that date\n * delayedClicks.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link delayWhen}\n * @see {@link throttle}\n * @see {@link throttleTime}\n * @see {@link debounce}\n * @see {@link debounceTime}\n * @see {@link sample}\n * @see {@link sampleTime}\n * @see {@link audit}\n * @see {@link auditTime}\n *\n * @param {number|Date} due The delay duration in milliseconds (a `number`) or\n * a `Date` until which the emission of the source items is delayed.\n * @param {SchedulerLike} [scheduler=async] The {@link SchedulerLike} to use for\n * managing the timers that handle the time-shift for each item.\n * @return A function that returns an Observable that delays the emissions of\n * the source Observable by the specified timeout or Date.\n */\nexport function delay<T>(due: number | Date, scheduler: SchedulerLike = asyncScheduler): MonoTypeOperatorFunction<T> {\n  const duration = timer(due, scheduler);\n  return delayWhen(() => duration);\n}\n", "import { MonoTypeOperatorFunction } from '../types';\nimport { identity } from '../util/identity';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\nexport function distinctUntilChanged<T>(comparator?: (previous: T, current: T) => boolean): MonoTypeOperatorFunction<T>;\nexport function distinctUntilChanged<T, K>(\n  comparator: (previous: K, current: K) => boolean,\n  keySelector: (value: T) => K\n): MonoTypeOperatorFunction<T>;\n\n/**\n * Returns a result {@link Observable} that emits all values pushed by the source observable if they\n * are distinct in comparison to the last value the result observable emitted.\n *\n * When provided without parameters or with the first parameter (`{@link distinctUntilChanged#comparator comparator}`),\n * it behaves like this:\n *\n * 1. It will always emit the first value from the source.\n * 2. For all subsequent values pushed by the source, they will be compared to the previously emitted values\n *    using the provided `comparator` or an `===` equality check.\n * 3. If the value pushed by the source is determined to be unequal by this check, that value is emitted and\n *    becomes the new \"previously emitted value\" internally.\n *\n * When the second parameter (`{@link distinctUntilChanged#keySelector keySelector}`) is provided, the behavior\n * changes:\n *\n * 1. It will always emit the first value from the source.\n * 2. The `keySelector` will be run against all values, including the first value.\n * 3. For all values after the first, the selected key will be compared against the key selected from\n *    the previously emitted value using the `comparator`.\n * 4. If the keys are determined to be unequal by this check, the value (not the key), is emitted\n *    and the selected key from that value is saved for future comparisons against other keys.\n *\n * ## Examples\n *\n * A very basic example with no `{@link distinctUntilChanged#comparator comparator}`. Note that `1` is emitted more than once,\n * because it's distinct in comparison to the _previously emitted_ value,\n * not in comparison to _all other emitted values_.\n *\n * ```ts\n * import { of, distinctUntilChanged } from 'rxjs';\n *\n * of(1, 1, 1, 2, 2, 2, 1, 1, 3, 3)\n *   .pipe(distinctUntilChanged())\n *   .subscribe(console.log);\n * // Logs: 1, 2, 1, 3\n * ```\n *\n * With a `{@link distinctUntilChanged#comparator comparator}`, you can do custom comparisons. Let's say\n * you only want to emit a value when all of its components have\n * changed:\n *\n * ```ts\n * import { of, distinctUntilChanged } from 'rxjs';\n *\n * const totallyDifferentBuilds$ = of(\n *   { engineVersion: '1.1.0', transmissionVersion: '1.2.0' },\n *   { engineVersion: '1.1.0', transmissionVersion: '1.4.0' },\n *   { engineVersion: '1.3.0', transmissionVersion: '1.4.0' },\n *   { engineVersion: '1.3.0', transmissionVersion: '1.5.0' },\n *   { engineVersion: '2.0.0', transmissionVersion: '1.5.0' }\n * ).pipe(\n *   distinctUntilChanged((prev, curr) => {\n *     return (\n *       prev.engineVersion === curr.engineVersion ||\n *       prev.transmissionVersion === curr.transmissionVersion\n *     );\n *   })\n * );\n *\n * totallyDifferentBuilds$.subscribe(console.log);\n *\n * // Logs:\n * // { engineVersion: '1.1.0', transmissionVersion: '1.2.0' }\n * // { engineVersion: '1.3.0', transmissionVersion: '1.4.0' }\n * // { engineVersion: '2.0.0', transmissionVersion: '1.5.0' }\n * ```\n *\n * You can also provide a custom `{@link distinctUntilChanged#comparator comparator}` to check that emitted\n * changes are only in one direction. Let's say you only want to get\n * the next record temperature:\n *\n * ```ts\n * import { of, distinctUntilChanged } from 'rxjs';\n *\n * const temps$ = of(30, 31, 20, 34, 33, 29, 35, 20);\n *\n * const recordHighs$ = temps$.pipe(\n *   distinctUntilChanged((prevHigh, temp) => {\n *     // If the current temp is less than\n *     // or the same as the previous record,\n *     // the record hasn't changed.\n *     return temp <= prevHigh;\n *   })\n * );\n *\n * recordHighs$.subscribe(console.log);\n * // Logs: 30, 31, 34, 35\n * ```\n *\n * Selecting update events only when the `updatedBy` field shows\n * the account changed hands.\n *\n * ```ts\n * import { of, distinctUntilChanged } from 'rxjs';\n *\n * // A stream of updates to a given account\n * const accountUpdates$ = of(\n *   { updatedBy: 'blesh', data: [] },\n *   { updatedBy: 'blesh', data: [] },\n *   { updatedBy: 'ncjamieson', data: [] },\n *   { updatedBy: 'ncjamieson', data: [] },\n *   { updatedBy: 'blesh', data: [] }\n * );\n *\n * // We only want the events where it changed hands\n * const changedHands$ = accountUpdates$.pipe(\n *   distinctUntilChanged(undefined, update => update.updatedBy)\n * );\n *\n * changedHands$.subscribe(console.log);\n * // Logs:\n * // { updatedBy: 'blesh', data: Array[0] }\n * // { updatedBy: 'ncjamieson', data: Array[0] }\n * // { updatedBy: 'blesh', data: Array[0] }\n * ```\n *\n * @see {@link distinct}\n * @see {@link distinctUntilKeyChanged}\n *\n * @param comparator A function used to compare the previous and current keys for\n * equality. Defaults to a `===` check.\n * @param keySelector Used to select a key value to be passed to the `comparator`.\n *\n * @return A function that returns an Observable that emits items from the\n * source Observable with distinct values.\n */\nexport function distinctUntilChanged<T, K>(\n  comparator?: (previous: K, current: K) => boolean,\n  keySelector: (value: T) => K = identity as (value: T) => K\n): MonoTypeOperatorFunction<T> {\n  // We've been allowing `null` do be passed as the `compare`, so we can't do\n  // a default value for the parameter, because that will only work\n  // for `undefined`.\n  comparator = comparator ?? defaultCompare;\n\n  return operate((source, subscriber) => {\n    // The previous key, used to compare against keys selected\n    // from new arrivals to determine \"distinctiveness\".\n    let previousKey: K;\n    // Whether or not this is the first value we've gotten.\n    let first = true;\n\n    source.subscribe(\n      createOperatorSubscriber(subscriber, (value) => {\n        // We always call the key selector.\n        const currentKey = keySelector(value);\n\n        // If it's the first value, we always emit it.\n        // Otherwise, we compare this key to the previous key, and\n        // if the comparer returns false, we emit.\n        if (first || !comparator!(previousKey, currentKey)) {\n          // Update our state *before* we emit the value\n          // as emission can be the source of re-entrant code\n          // in functional libraries like this. We only really\n          // need to do this if it's the first value, or if the\n          // key we're tracking in previous needs to change.\n          first = false;\n          previousKey = currentKey;\n\n          // Emit the value!\n          subscriber.next(value);\n        }\n      })\n    );\n  });\n}\n\nfunction defaultCompare(a: any, b: any) {\n  return a === b;\n}\n", "import { distinctUntilChanged } from './distinctUntilChanged';\nimport { MonoTypeOperatorFunction } from '../types';\n\n/* tslint:disable:max-line-length */\nexport function distinctUntilKeyChanged<T>(key: keyof T): MonoTypeOperatorFunction<T>;\nexport function distinctUntilKeyChanged<T, K extends keyof T>(key: K, compare: (x: T[K], y: T[K]) => boolean): MonoTypeOperatorFunction<T>;\n/* tslint:enable:max-line-length */\n\n/**\n * Returns an Observable that emits all items emitted by the source Observable that are distinct by comparison from the previous item,\n * using a property accessed by using the key provided to check if the two items are distinct.\n *\n * If a comparator function is provided, then it will be called for each item to test for whether or not that value should be emitted.\n *\n * If a comparator function is not provided, an equality check is used by default.\n *\n * ## Examples\n *\n * An example comparing the name of persons\n *\n * ```ts\n * import { of, distinctUntilKeyChanged } from 'rxjs';\n *\n * of(\n *   { age: 4, name: 'Foo' },\n *   { age: 7, name: 'Bar' },\n *   { age: 5, name: 'Foo' },\n *   { age: 6, name: 'Foo' }\n * ).pipe(\n *   distinctUntilKeyChanged('name')\n * )\n * .subscribe(x => console.log(x));\n *\n * // displays:\n * // { age: 4, name: 'Foo' }\n * // { age: 7, name: 'Bar' }\n * // { age: 5, name: 'Foo' }\n * ```\n *\n * An example comparing the first letters of the name\n *\n * ```ts\n * import { of, distinctUntilKeyChanged } from 'rxjs';\n *\n * of(\n *   { age: 4, name: 'Foo1' },\n *   { age: 7, name: 'Bar' },\n *   { age: 5, name: 'Foo2' },\n *   { age: 6, name: 'Foo3' }\n * ).pipe(\n *   distinctUntilKeyChanged('name', (x, y) => x.substring(0, 3) === y.substring(0, 3))\n * )\n * .subscribe(x => console.log(x));\n *\n * // displays:\n * // { age: 4, name: 'Foo1' }\n * // { age: 7, name: 'Bar' }\n * // { age: 5, name: 'Foo2' }\n * ```\n *\n * @see {@link distinct}\n * @see {@link distinctUntilChanged}\n *\n * @param {string} key String key for object property lookup on each item.\n * @param {function} [compare] Optional comparison function called to test if an item is distinct from the previous item in the source.\n * @return A function that returns an Observable that emits items from the\n * source Observable with distinct values based on the key specified.\n */\nexport function distinctUntilKeyChanged<T, K extends keyof T>(key: K, compare?: (x: T[K], y: T[K]) => boolean): MonoTypeOperatorFunction<T> {\n  return distinctUntilChanged((x: T, y: T) => compare ? compare(x[key], y[key]) : x[key] === y[key]);\n}\n", "import { EmptyError } from '../util/EmptyError';\nimport { MonoTypeOperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * If the source observable completes without emitting a value, it will emit\n * an error. The error will be created at that time by the optional\n * `errorFactory` argument, otherwise, the error will be {@link EmptyError}.\n *\n * ![](throwIfEmpty.png)\n *\n * ## Example\n *\n * Throw an error if the document wasn't clicked within 1 second\n *\n * ```ts\n * import { fromEvent, takeUntil, timer, throwIfEmpty } from 'rxjs';\n *\n * const click$ = fromEvent(document, 'click');\n *\n * click$.pipe(\n *   takeUntil(timer(1000)),\n *   throwIfEmpty(() => new Error('The document was not clicked within 1 second'))\n * )\n * .subscribe({\n *   next() {\n *    console.log('The document was clicked');\n *   },\n *   error(err) {\n *     console.error(err.message);\n *   }\n * });\n * ```\n *\n * @param errorFactory A factory function called to produce the\n * error to be thrown when the source observable completes without emitting a\n * value.\n * @return A function that returns an Observable that throws an error if the\n * source Observable completed without emitting.\n */\nexport function throwIfEmpty<T>(errorFactory: () => any = defaultErrorFactory): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    let hasValue = false;\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value) => {\n          hasValue = true;\n          subscriber.next(value);\n        },\n        () => (hasValue ? subscriber.complete() : subscriber.error(errorFactory()))\n      )\n    );\n  });\n}\n\nfunction defaultErrorFactory() {\n  return new EmptyError();\n}\n", "/** prettier */\nimport { Observable } from '../Observable';\nimport { concat } from '../observable/concat';\nimport { of } from '../observable/of';\nimport { MonoTypeOperatorFunction, SchedulerLike, OperatorFunction, ValueFromArray } from '../types';\n\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `concatAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function endWith<T>(scheduler: SchedulerLike): MonoTypeOperatorFunction<T>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `concatAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function endWith<T, A extends unknown[] = T[]>(\n  ...valuesAndScheduler: [...A, SchedulerLike]\n): OperatorFunction<T, T | ValueFromArray<A>>;\n\nexport function endWith<T, A extends unknown[] = T[]>(...values: A): OperatorFunction<T, T | ValueFromArray<A>>;\n\n/**\n * Returns an observable that will emit all values from the source, then synchronously emit\n * the provided value(s) immediately after the source completes.\n *\n * NOTE: Passing a last argument of a Scheduler is _deprecated_, and may result in incorrect\n * types in TypeScript.\n *\n * This is useful for knowing when an observable ends. Particularly when paired with an\n * operator like {@link takeUntil}\n *\n * ![](endWith.png)\n *\n * ## Example\n *\n * Emit values to know when an interval starts and stops. The interval will\n * stop when a user clicks anywhere on the document.\n *\n * ```ts\n * import { interval, map, fromEvent, startWith, takeUntil, endWith } from 'rxjs';\n *\n * const ticker$ = interval(5000).pipe(\n *   map(() => 'tick')\n * );\n *\n * const documentClicks$ = fromEvent(document, 'click');\n *\n * ticker$.pipe(\n *   startWith('interval started'),\n *   takeUntil(documentClicks$),\n *   endWith('interval ended by click')\n * )\n * .subscribe(x => console.log(x));\n *\n * // Result (assuming a user clicks after 15 seconds)\n * // 'interval started'\n * // 'tick'\n * // 'tick'\n * // 'tick'\n * // 'interval ended by click'\n * ```\n *\n * @see {@link startWith}\n * @see {@link concat}\n * @see {@link takeUntil}\n *\n * @param values Items you want the modified Observable to emit last.\n * @return A function that returns an Observable that emits all values from the\n * source, then synchronously emits the provided value(s) immediately after the\n * source completes.\n */\nexport function endWith<T>(...values: Array<T | SchedulerLike>): MonoTypeOperatorFunction<T> {\n  return (source: Observable<T>) => concat(source, of(...values)) as Observable<T>;\n}\n", "import { MonoTypeOperatorFunction } from '../types';\nimport { operate } from '../util/lift';\n\n/**\n * Returns an Observable that mirrors the source Observable, but will call a specified function when\n * the source terminates on complete or error.\n * The specified function will also be called when the subscriber explicitly unsubscribes.\n *\n * ## Examples\n *\n * Execute callback function when the observable completes\n *\n * ```ts\n * import { interval, take, finalize } from 'rxjs';\n *\n * // emit value in sequence every 1 second\n * const source = interval(1000);\n * const example = source.pipe(\n *   take(5), //take only the first 5 values\n *   finalize(() => console.log('Sequence complete')) // Execute when the observable completes\n * );\n * const subscribe = example.subscribe(val => console.log(val));\n *\n * // results:\n * // 0\n * // 1\n * // 2\n * // 3\n * // 4\n * // 'Sequence complete'\n * ```\n *\n * Execute callback function when the subscriber explicitly unsubscribes\n *\n * ```ts\n * import { interval, finalize, tap, noop, timer } from 'rxjs';\n *\n * const source = interval(100).pipe(\n *   finalize(() => console.log('[finalize] Called')),\n *   tap({\n *     next: () => console.log('[next] Called'),\n *     error: () => console.log('[error] Not called'),\n *     complete: () => console.log('[tap complete] Not called')\n *   })\n * );\n *\n * const sub = source.subscribe({\n *   next: x => console.log(x),\n *   error: noop,\n *   complete: () => console.log('[complete] Not called')\n * });\n *\n * timer(150).subscribe(() => sub.unsubscribe());\n *\n * // results:\n * // '[next] Called'\n * // 0\n * // '[finalize] Called'\n * ```\n *\n * @param {function} callback Function to be called when source terminates.\n * @return A function that returns an Observable that mirrors the source, but\n * will call the specified function on termination.\n */\nexport function finalize<T>(callback: () => void): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    // TODO: This try/finally was only added for `useDeprecatedSynchronousErrorHandling`.\n    // REMOVE THIS WHEN THAT HOT GARBAGE IS REMOVED IN V8.\n    try {\n      source.subscribe(subscriber);\n    } finally {\n      subscriber.add(callback);\n    }\n  });\n}\n", "import { Observable } from '../Observable';\nimport { EmptyError } from '../util/EmptyError';\nimport { OperatorFunction, TruthyTypesOf } from '../types';\nimport { filter } from './filter';\nimport { take } from './take';\nimport { defaultIfEmpty } from './defaultIfEmpty';\nimport { throwIfEmpty } from './throwIfEmpty';\nimport { identity } from '../util/identity';\n\nexport function first<T, D = T>(predicate?: null, defaultValue?: D): OperatorFunction<T, T | D>;\nexport function first<T>(predicate: BooleanConstructor): OperatorFunction<T, TruthyTypesOf<T>>;\nexport function first<T, D>(predicate: BooleanConstructor, defaultValue: D): OperatorFunction<T, TruthyTypesOf<T> | D>;\nexport function first<T, S extends T>(\n  predicate: (value: T, index: number, source: Observable<T>) => value is S,\n  defaultValue?: S\n): OperatorFunction<T, S>;\nexport function first<T, S extends T, D>(\n  predicate: (value: T, index: number, source: Observable<T>) => value is S,\n  defaultValue: D\n): OperatorFunction<T, S | D>;\nexport function first<T, D = T>(\n  predicate: (value: T, index: number, source: Observable<T>) => boolean,\n  defaultValue?: D\n): OperatorFunction<T, T | D>;\n\n/**\n * Emits only the first value (or the first value that meets some condition)\n * emitted by the source Observable.\n *\n * <span class=\"informal\">Emits only the first value. Or emits only the first\n * value that passes some test.</span>\n *\n * ![](first.png)\n *\n * If called with no arguments, `first` emits the first value of the source\n * Observable, then completes. If called with a `predicate` function, `first`\n * emits the first value of the source that matches the specified condition. Throws an error if\n * `defaultValue` was not provided and a matching element is not found.\n *\n * ## Examples\n *\n * Emit only the first click that happens on the DOM\n *\n * ```ts\n * import { fromEvent, first } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(first());\n * result.subscribe(x => console.log(x));\n * ```\n *\n * Emits the first click that happens on a DIV\n *\n * ```ts\n * import { fromEvent, first } from 'rxjs';\n *\n * const div = document.createElement('div');\n * div.style.cssText = 'width: 200px; height: 200px; background: #09c;';\n * document.body.appendChild(div);\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(first(ev => (<HTMLElement>ev.target).tagName === 'DIV'));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link filter}\n * @see {@link find}\n * @see {@link take}\n *\n * @throws {EmptyError} Delivers an EmptyError to the Observer's `error`\n * callback if the Observable completes before any `next` notification was sent.\n * This is how `first()` is different from {@link take}(1) which completes instead.\n *\n * @param {function(value: T, index: number, source: Observable<T>): boolean} [predicate]\n * An optional function called with each item to test for condition matching.\n * @param {D} [defaultValue] The default value emitted in case no valid value\n * was found on the source.\n * @return A function that returns an Observable that emits the first item that\n * matches the condition.\n */\nexport function first<T, D>(\n  predicate?: ((value: T, index: number, source: Observable<T>) => boolean) | null,\n  defaultValue?: D\n): OperatorFunction<T, T | D> {\n  const hasDefaultValue = arguments.length >= 2;\n  return (source: Observable<T>) =>\n    source.pipe(\n      predicate ? filter((v, i) => predicate(v, i, source)) : identity,\n      take(1),\n      hasDefaultValue ? defaultIfEmpty(defaultValue!) : throwIfEmpty(() => new EmptyError())\n    );\n}\n", "import { EMPTY } from '../observable/empty';\nimport { MonoTypeOperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * Waits for the source to complete, then emits the last N values from the source,\n * as specified by the `count` argument.\n *\n * ![](takeLast.png)\n *\n * `takeLast` results in an observable that will hold values up to `count` values in memory,\n * until the source completes. It then pushes all values in memory to the consumer, in the\n * order they were received from the source, then notifies the consumer that it is\n * complete.\n *\n * If for some reason the source completes before the `count` supplied to `takeLast` is reached,\n * all values received until that point are emitted, and then completion is notified.\n *\n * **Warning**: Using `takeLast` with an observable that never completes will result\n * in an observable that never emits a value.\n *\n * ## Example\n *\n * Take the last 3 values of an Observable with many values\n *\n * ```ts\n * import { range, takeLast } from 'rxjs';\n *\n * const many = range(1, 100);\n * const lastThree = many.pipe(takeLast(3));\n * lastThree.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link take}\n * @see {@link takeUntil}\n * @see {@link takeWhile}\n * @see {@link skip}\n *\n * @param count The maximum number of values to emit from the end of\n * the sequence of values emitted by the source Observable.\n * @return A function that returns an Observable that emits at most the last\n * `count` values emitted by the source Observable.\n */\nexport function takeLast<T>(count: number): MonoTypeOperatorFunction<T> {\n  return count <= 0\n    ? () => EMPTY\n    : operate((source, subscriber) => {\n        // This buffer will hold the values we are going to emit\n        // when the source completes. Since we only want to take the\n        // last N values, we can't emit until we're sure we're not getting\n        // any more values.\n        let buffer: T[] = [];\n        source.subscribe(\n          createOperatorSubscriber(\n            subscriber,\n            (value) => {\n              // Add the most recent value onto the end of our buffer.\n              buffer.push(value);\n              // If our buffer is now larger than the number of values we\n              // want to take, we remove the oldest value from the buffer.\n              count < buffer.length && buffer.shift();\n            },\n            () => {\n              // The source completed, we now know what are last values\n              // are, emit them in the order they were received.\n              for (const value of buffer) {\n                subscriber.next(value);\n              }\n              subscriber.complete();\n            },\n            // Errors are passed through to the consumer\n            undefined,\n            () => {\n              // During finalization release the values in our buffer.\n              buffer = null!;\n            }\n          )\n        );\n      });\n}\n", "import { ObservableInput, ObservableInputTuple, OperatorFunction, SchedulerLike } from '../types';\nimport { operate } from '../util/lift';\nimport { argsOrArgArray } from '../util/argsOrArgArray';\nimport { mergeAll } from './mergeAll';\nimport { popNumber, popScheduler } from '../util/args';\nimport { from } from '../observable/from';\n\n/** @deprecated Replaced with {@link mergeWith}. Will be removed in v8. */\nexport function merge<T, A extends readonly unknown[]>(...sources: [...ObservableInputTuple<A>]): OperatorFunction<T, T | A[number]>;\n/** @deprecated Replaced with {@link mergeWith}. Will be removed in v8. */\nexport function merge<T, A extends readonly unknown[]>(\n  ...sourcesAndConcurrency: [...ObservableInputTuple<A>, number]\n): OperatorFunction<T, T | A[number]>;\n/** @deprecated Replaced with {@link mergeWith}. Will be removed in v8. */\nexport function merge<T, A extends readonly unknown[]>(\n  ...sourcesAndScheduler: [...ObservableInputTuple<A>, SchedulerLike]\n): OperatorFunction<T, T | A[number]>;\n/** @deprecated Replaced with {@link mergeWith}. Will be removed in v8. */\nexport function merge<T, A extends readonly unknown[]>(\n  ...sourcesAndConcurrencyAndScheduler: [...ObservableInputTuple<A>, number, SchedulerLike]\n): OperatorFunction<T, T | A[number]>;\n\nexport function merge<T>(...args: unknown[]): OperatorFunction<T, unknown> {\n  const scheduler = popScheduler(args);\n  const concurrent = popNumber(args, Infinity);\n  args = argsOrArgArray(args);\n\n  return operate((source, subscriber) => {\n    mergeAll(concurrent)(from([source, ...(args as ObservableInput<T>[])], scheduler)).subscribe(subscriber);\n  });\n}\n", "import { ObservableInputTuple, OperatorFunction } from '../types';\nimport { merge } from './merge';\n\n/**\n * Merge the values from all observables to a single observable result.\n *\n * Creates an observable, that when subscribed to, subscribes to the source\n * observable, and all other sources provided as arguments. All values from\n * every source are emitted from the resulting subscription.\n *\n * When all sources complete, the resulting observable will complete.\n *\n * When any source errors, the resulting observable will error.\n *\n * ## Example\n *\n * Joining all outputs from multiple user input event streams\n *\n * ```ts\n * import { fromEvent, map, mergeWith } from 'rxjs';\n *\n * const clicks$ = fromEvent(document, 'click').pipe(map(() => 'click'));\n * const mousemoves$ = fromEvent(document, 'mousemove').pipe(map(() => 'mousemove'));\n * const dblclicks$ = fromEvent(document, 'dblclick').pipe(map(() => 'dblclick'));\n *\n * mousemoves$\n *   .pipe(mergeWith(clicks$, dblclicks$))\n *   .subscribe(x => console.log(x));\n *\n * // result (assuming user interactions)\n * // 'mousemove'\n * // 'mousemove'\n * // 'mousemove'\n * // 'click'\n * // 'click'\n * // 'dblclick'\n * ```\n *\n * @see {@link merge}\n *\n * @param otherSources the sources to combine the current source with.\n * @return A function that returns an Observable that merges the values from\n * all given Observables.\n */\nexport function mergeWith<T, A extends readonly unknown[]>(\n  ...otherSources: [...ObservableInputTuple<A>]\n): OperatorFunction<T, T | A[number]> {\n  return merge(...otherSources);\n}\n", "import { Subscription } from '../Subscription';\nimport { EMPTY } from '../observable/empty';\nimport { operate } from '../util/lift';\nimport { MonoTypeOperatorFunction, ObservableInput } from '../types';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { innerFrom } from '../observable/innerFrom';\nimport { timer } from '../observable/timer';\n\nexport interface RepeatConfig {\n  /**\n   * The number of times to repeat the source. Defaults to `Infinity`.\n   */\n  count?: number;\n\n  /**\n   * If a `number`, will delay the repeat of the source by that number of milliseconds.\n   * If a function, it will provide the number of times the source has been subscribed to,\n   * and the return value should be a valid observable input that will notify when the source\n   * should be repeated. If the notifier observable is empty, the result will complete.\n   */\n  delay?: number | ((count: number) => ObservableInput<any>);\n}\n\n/**\n * Returns an Observable that will resubscribe to the source stream when the source stream completes.\n *\n * <span class=\"informal\">Repeats all values emitted on the source. It's like {@link retry}, but for non error cases.</span>\n *\n * ![](repeat.png)\n *\n * Repeat will output values from a source until the source completes, then it will resubscribe to the\n * source a specified number of times, with a specified delay. Repeat can be particularly useful in\n * combination with closing operators like {@link take}, {@link takeUntil}, {@link first}, or {@link takeWhile},\n * as it can be used to restart a source again from scratch.\n *\n * Repeat is very similar to {@link retry}, where {@link retry} will resubscribe to the source in the error case, but\n * `repeat` will resubscribe if the source completes.\n *\n * Note that `repeat` will _not_ catch errors. Use {@link retry} for that.\n *\n * - `repeat(0)` returns an empty observable\n * - `repeat()` will repeat forever\n * - `repeat({ delay: 200 })` will repeat forever, with a delay of 200ms between repetitions.\n * - `repeat({ count: 2, delay: 400 })` will repeat twice, with a delay of 400ms between repetitions.\n * - `repeat({ delay: (count) => timer(count * 1000) })` will repeat forever, but will have a delay that grows by one second for each repetition.\n *\n * ## Example\n *\n * Repeat a message stream\n *\n * ```ts\n * import { of, repeat } from 'rxjs';\n *\n * const source = of('Repeat message');\n * const result = source.pipe(repeat(3));\n *\n * result.subscribe(x => console.log(x));\n *\n * // Results\n * // 'Repeat message'\n * // 'Repeat message'\n * // 'Repeat message'\n * ```\n *\n * Repeat 3 values, 2 times\n *\n * ```ts\n * import { interval, take, repeat } from 'rxjs';\n *\n * const source = interval(1000);\n * const result = source.pipe(take(3), repeat(2));\n *\n * result.subscribe(x => console.log(x));\n *\n * // Results every second\n * // 0\n * // 1\n * // 2\n * // 0\n * // 1\n * // 2\n * ```\n *\n * Defining two complex repeats with delays on the same source.\n * Note that the second repeat cannot be called until the first\n * repeat as exhausted it's count.\n *\n * ```ts\n * import { defer, of, repeat } from 'rxjs';\n *\n * const source = defer(() => {\n *    return of(`Hello, it is ${new Date()}`)\n * });\n *\n * source.pipe(\n *    // Repeat 3 times with a delay of 1 second between repetitions\n *    repeat({\n *      count: 3,\n *      delay: 1000,\n *    }),\n *\n *    // *Then* repeat forever, but with an exponential step-back\n *    // maxing out at 1 minute.\n *    repeat({\n *      delay: (count) => timer(Math.min(60000, 2 ^ count * 1000))\n *    })\n * )\n * ```\n *\n * @see {@link repeatWhen}\n * @see {@link retry}\n *\n * @param count The number of times the source Observable items are repeated, a count of 0 will yield\n * an empty Observable.\n */\nexport function repeat<T>(countOrConfig?: number | RepeatConfig): MonoTypeOperatorFunction<T> {\n  let count = Infinity;\n  let delay: RepeatConfig['delay'];\n\n  if (countOrConfig != null) {\n    if (typeof countOrConfig === 'object') {\n      ({ count = Infinity, delay } = countOrConfig);\n    } else {\n      count = countOrConfig;\n    }\n  }\n\n  return count <= 0\n    ? () => EMPTY\n    : operate((source, subscriber) => {\n        let soFar = 0;\n        let sourceSub: Subscription | null;\n\n        const resubscribe = () => {\n          sourceSub?.unsubscribe();\n          sourceSub = null;\n          if (delay != null) {\n            const notifier = typeof delay === 'number' ? timer(delay) : innerFrom(delay(soFar));\n            const notifierSubscriber = createOperatorSubscriber(subscriber, () => {\n              notifierSubscriber.unsubscribe();\n              subscribeToSource();\n            });\n            notifier.subscribe(notifierSubscriber);\n          } else {\n            subscribeToSource();\n          }\n        };\n\n        const subscribeToSource = () => {\n          let syncUnsub = false;\n          sourceSub = source.subscribe(\n            createOperatorSubscriber(subscriber, undefined, () => {\n              if (++soFar < count) {\n                if (sourceSub) {\n                  resubscribe();\n                } else {\n                  syncUnsub = true;\n                }\n              } else {\n                subscriber.complete();\n              }\n            })\n          );\n\n          if (syncUnsub) {\n            resubscribe();\n          }\n        };\n\n        subscribeToSource();\n      });\n}\n", "import { OperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { scanInternals } from './scanInternals';\n\nexport function scan<V, A = V>(accumulator: (acc: A | V, value: V, index: number) => A): OperatorFunction<V, V | A>;\nexport function scan<V, A>(accumulator: (acc: A, value: V, index: number) => A, seed: A): OperatorFunction<V, A>;\nexport function scan<V, A, S>(accumulator: (acc: A | S, value: V, index: number) => A, seed: S): OperatorFunction<V, A>;\n\n// TODO: link to a \"redux pattern\" section in the guide (location TBD)\n\n/**\n * Useful for encapsulating and managing state. Applies an accumulator (or \"reducer function\")\n * to each value from the source after an initial state is established -- either via\n * a `seed` value (second argument), or from the first value from the source.\n *\n * <span class=\"informal\">It's like {@link reduce}, but emits the current\n * accumulation state after each update</span>\n *\n * ![](scan.png)\n *\n * This operator maintains an internal state and emits it after processing each value as follows:\n *\n * 1. First value arrives\n *   - If a `seed` value was supplied (as the second argument to `scan`), let `state = seed` and `value = firstValue`.\n *   - If NO `seed` value was supplied (no second argument), let `state = firstValue` and go to 3.\n * 2. Let `state = accumulator(state, value)`.\n *   - If an error is thrown by `accumulator`, notify the consumer of an error. The process ends.\n * 3. Emit `state`.\n * 4. Next value arrives, let `value = nextValue`, go to 2.\n *\n * ## Examples\n *\n * An average of previous numbers. This example shows how\n * not providing a `seed` can prime the stream with the\n * first value from the source.\n *\n * ```ts\n * import { of, scan, map } from 'rxjs';\n *\n * const numbers$ = of(1, 2, 3);\n *\n * numbers$\n *   .pipe(\n *     // Get the sum of the numbers coming in.\n *     scan((total, n) => total + n),\n *     // Get the average by dividing the sum by the total number\n *     // received so far (which is 1 more than the zero-based index).\n *     map((sum, index) => sum / (index + 1))\n *   )\n *   .subscribe(console.log);\n * ```\n *\n * The Fibonacci sequence. This example shows how you can use\n * a seed to prime accumulation process. Also... you know... Fibonacci.\n * So important to like, computers and stuff that its whiteboarded\n * in job interviews. Now you can show them the Rx version! (Please don't, haha)\n *\n * ```ts\n * import { interval, scan, map, startWith } from 'rxjs';\n *\n * const firstTwoFibs = [0, 1];\n * // An endless stream of Fibonacci numbers.\n * const fibonacci$ = interval(1000).pipe(\n *   // Scan to get the fibonacci numbers (after 0, 1)\n *   scan(([a, b]) => [b, a + b], firstTwoFibs),\n *   // Get the second number in the tuple, it's the one you calculated\n *   map(([, n]) => n),\n *   // Start with our first two digits :)\n *   startWith(...firstTwoFibs)\n * );\n *\n * fibonacci$.subscribe(console.log);\n * ```\n *\n * @see {@link expand}\n * @see {@link mergeScan}\n * @see {@link reduce}\n * @see {@link switchScan}\n *\n * @param accumulator A \"reducer function\". This will be called for each value after an initial state is\n * acquired.\n * @param seed The initial state. If this is not provided, the first value from the source will\n * be used as the initial state, and emitted without going through the accumulator. All subsequent values\n * will be processed by the accumulator function. If this is provided, all values will go through\n * the accumulator function.\n * @return A function that returns an Observable of the accumulated values.\n */\nexport function scan<V, A, S>(accumulator: (acc: V | A | S, value: V, index: number) => A, seed?: S): OperatorFunction<V, V | A> {\n  // providing a seed of `undefined` *should* be valid and trigger\n  // hasSeed! so don't use `seed !== undefined` checks!\n  // For this reason, we have to check it here at the original call site\n  // otherwise inside Operator/Subscriber we won't know if `undefined`\n  // means they didn't provide anything or if they literally provided `undefined`\n  return operate(scanInternals(accumulator, seed as S, arguments.length >= 2, true));\n}\n", "import { innerFrom } from '../observable/innerFrom';\nimport { Subject } from '../Subject';\nimport { SafeSubscriber } from '../Subscriber';\nimport { Subscription } from '../Subscription';\nimport { MonoTypeOperatorFunction, SubjectLike, ObservableInput } from '../types';\nimport { operate } from '../util/lift';\n\nexport interface ShareConfig<T> {\n  /**\n   * The factory used to create the subject that will connect the source observable to\n   * multicast consumers.\n   */\n  connector?: () => SubjectLike<T>;\n  /**\n   * If `true`, the resulting observable will reset internal state on error from source and return to a \"cold\" state. This\n   * allows the resulting observable to be \"retried\" in the event of an error.\n   * If `false`, when an error comes from the source it will push the error into the connecting subject, and the subject\n   * will remain the connecting subject, meaning the resulting observable will not go \"cold\" again, and subsequent retries\n   * or resubscriptions will resubscribe to that same subject. In all cases, RxJS subjects will emit the same error again, however\n   * {@link ReplaySubject} will also push its buffered values before pushing the error.\n   * It is also possible to pass a notifier factory returning an `ObservableInput` instead which grants more fine-grained\n   * control over how and when the reset should happen. This allows behaviors like conditional or delayed resets.\n   */\n  resetOnError?: boolean | ((error: any) => ObservableInput<any>);\n  /**\n   * If `true`, the resulting observable will reset internal state on completion from source and return to a \"cold\" state. This\n   * allows the resulting observable to be \"repeated\" after it is done.\n   * If `false`, when the source completes, it will push the completion through the connecting subject, and the subject\n   * will remain the connecting subject, meaning the resulting observable will not go \"cold\" again, and subsequent repeats\n   * or resubscriptions will resubscribe to that same subject.\n   * It is also possible to pass a notifier factory returning an `ObservableInput` instead which grants more fine-grained\n   * control over how and when the reset should happen. This allows behaviors like conditional or delayed resets.\n   */\n  resetOnComplete?: boolean | (() => ObservableInput<any>);\n  /**\n   * If `true`, when the number of subscribers to the resulting observable reaches zero due to those subscribers unsubscribing, the\n   * internal state will be reset and the resulting observable will return to a \"cold\" state. This means that the next\n   * time the resulting observable is subscribed to, a new subject will be created and the source will be subscribed to\n   * again.\n   * If `false`, when the number of subscribers to the resulting observable reaches zero due to unsubscription, the subject\n   * will remain connected to the source, and new subscriptions to the result will be connected through that same subject.\n   * It is also possible to pass a notifier factory returning an `ObservableInput` instead which grants more fine-grained\n   * control over how and when the reset should happen. This allows behaviors like conditional or delayed resets.\n   */\n  resetOnRefCountZero?: boolean | (() => ObservableInput<any>);\n}\n\nexport function share<T>(): MonoTypeOperatorFunction<T>;\n\nexport function share<T>(options: ShareConfig<T>): MonoTypeOperatorFunction<T>;\n\n/**\n * Returns a new Observable that multicasts (shares) the original Observable. As long as there is at least one\n * Subscriber this Observable will be subscribed and emitting data. When all subscribers have unsubscribed it will\n * unsubscribe from the source Observable. Because the Observable is multicasting it makes the stream `hot`.\n * This is an alias for `multicast(() => new Subject()), refCount()`.\n *\n * The subscription to the underlying source Observable can be reset (unsubscribe and resubscribe for new subscribers),\n * if the subscriber count to the shared observable drops to 0, or if the source Observable errors or completes. It is\n * possible to use notifier factories for the resets to allow for behaviors like conditional or delayed resets. Please\n * note that resetting on error or complete of the source Observable does not behave like a transparent retry or restart\n * of the source because the error or complete will be forwarded to all subscribers and their subscription will be\n * closed. Only new subscribers after a reset on error or complete happened will cause a fresh subscription to the\n * source. To achieve transparent retries or restarts pipe the source through appropriate operators before sharing.\n *\n * ![](share.png)\n *\n * ## Example\n *\n * Generate new multicast Observable from the `source` Observable value\n *\n * ```ts\n * import { interval, tap, map, take, share } from 'rxjs';\n *\n * const source = interval(1000).pipe(\n *   tap(x => console.log('Processing: ', x)),\n *   map(x => x * x),\n *   take(6),\n *   share()\n * );\n *\n * source.subscribe(x => console.log('subscription 1: ', x));\n * source.subscribe(x => console.log('subscription 2: ', x));\n *\n * // Logs:\n * // Processing: 0\n * // subscription 1: 0\n * // subscription 2: 0\n * // Processing: 1\n * // subscription 1: 1\n * // subscription 2: 1\n * // Processing: 2\n * // subscription 1: 4\n * // subscription 2: 4\n * // Processing: 3\n * // subscription 1: 9\n * // subscription 2: 9\n * // Processing: 4\n * // subscription 1: 16\n * // subscription 2: 16\n * // Processing: 5\n * // subscription 1: 25\n * // subscription 2: 25\n * ```\n *\n * ## Example with notifier factory: Delayed reset\n *\n * ```ts\n * import { interval, take, share, timer } from 'rxjs';\n *\n * const source = interval(1000).pipe(\n *   take(3),\n *   share({\n *     resetOnRefCountZero: () => timer(1000)\n *   })\n * );\n *\n * const subscriptionOne = source.subscribe(x => console.log('subscription 1: ', x));\n * setTimeout(() => subscriptionOne.unsubscribe(), 1300);\n *\n * setTimeout(() => source.subscribe(x => console.log('subscription 2: ', x)), 1700);\n *\n * setTimeout(() => source.subscribe(x => console.log('subscription 3: ', x)), 5000);\n *\n * // Logs:\n * // subscription 1:  0\n * // (subscription 1 unsubscribes here)\n * // (subscription 2 subscribes here ~400ms later, source was not reset)\n * // subscription 2:  1\n * // subscription 2:  2\n * // (subscription 2 unsubscribes here)\n * // (subscription 3 subscribes here ~2000ms later, source did reset before)\n * // subscription 3:  0\n * // subscription 3:  1\n * // subscription 3:  2\n * ```\n *\n * @see {@link shareReplay}\n *\n * @return A function that returns an Observable that mirrors the source.\n */\nexport function share<T>(options: ShareConfig<T> = {}): MonoTypeOperatorFunction<T> {\n  const { connector = () => new Subject<T>(), resetOnError = true, resetOnComplete = true, resetOnRefCountZero = true } = options;\n  // It's necessary to use a wrapper here, as the _operator_ must be\n  // referentially transparent. Otherwise, it cannot be used in calls to the\n  // static `pipe` function - to create a partial pipeline.\n  //\n  // The _operator function_ - the function returned by the _operator_ - will\n  // not be referentially transparent - as it shares its source - but the\n  // _operator function_ is called when the complete pipeline is composed via a\n  // call to a source observable's `pipe` method - not when the static `pipe`\n  // function is called.\n  return (wrapperSource) => {\n    let connection: SafeSubscriber<T> | undefined;\n    let resetConnection: Subscription | undefined;\n    let subject: SubjectLike<T> | undefined;\n    let refCount = 0;\n    let hasCompleted = false;\n    let hasErrored = false;\n\n    const cancelReset = () => {\n      resetConnection?.unsubscribe();\n      resetConnection = undefined;\n    };\n    // Used to reset the internal state to a \"cold\"\n    // state, as though it had never been subscribed to.\n    const reset = () => {\n      cancelReset();\n      connection = subject = undefined;\n      hasCompleted = hasErrored = false;\n    };\n    const resetAndUnsubscribe = () => {\n      // We need to capture the connection before\n      // we reset (if we need to reset).\n      const conn = connection;\n      reset();\n      conn?.unsubscribe();\n    };\n\n    return operate<T, T>((source, subscriber) => {\n      refCount++;\n      if (!hasErrored && !hasCompleted) {\n        cancelReset();\n      }\n\n      // Create the subject if we don't have one yet. Grab a local reference to\n      // it as well, which avoids non-null assertions when using it and, if we\n      // connect to it now, then error/complete need a reference after it was\n      // reset.\n      const dest = (subject = subject ?? connector());\n\n      // Add the finalization directly to the subscriber - instead of returning it -\n      // so that the handling of the subscriber's unsubscription will be wired\n      // up _before_ the subscription to the source occurs. This is done so that\n      // the assignment to the source connection's `closed` property will be seen\n      // by synchronous firehose sources.\n      subscriber.add(() => {\n        refCount--;\n\n        // If we're resetting on refCount === 0, and it's 0, we only want to do\n        // that on \"unsubscribe\", really. Resetting on error or completion is a different\n        // configuration.\n        if (refCount === 0 && !hasErrored && !hasCompleted) {\n          resetConnection = handleReset(resetAndUnsubscribe, resetOnRefCountZero);\n        }\n      });\n\n      // The following line adds the subscription to the subscriber passed.\n      // Basically, `subscriber === dest.subscribe(subscriber)` is `true`.\n      dest.subscribe(subscriber);\n\n      if (\n        !connection &&\n        // Check this shareReplay is still activate - it can be reset to 0\n        // and be \"unsubscribed\" _before_ it actually subscribes.\n        // If we were to subscribe then, it'd leak and get stuck.\n        refCount > 0\n      ) {\n        // We need to create a subscriber here - rather than pass an observer and\n        // assign the returned subscription to connection - because it's possible\n        // for reentrant subscriptions to the shared observable to occur and in\n        // those situations we want connection to be already-assigned so that we\n        // don't create another connection to the source.\n        connection = new SafeSubscriber({\n          next: (value) => dest.next(value),\n          error: (err) => {\n            hasErrored = true;\n            cancelReset();\n            resetConnection = handleReset(reset, resetOnError, err);\n            dest.error(err);\n          },\n          complete: () => {\n            hasCompleted = true;\n            cancelReset();\n            resetConnection = handleReset(reset, resetOnComplete);\n            dest.complete();\n          },\n        });\n        innerFrom(source).subscribe(connection);\n      }\n    })(wrapperSource);\n  };\n}\n\nfunction handleReset<T extends unknown[] = never[]>(\n  reset: () => void,\n  on: boolean | ((...args: T) => ObservableInput<any>),\n  ...args: T\n): Subscription | undefined {\n  if (on === true) {\n    reset();\n    return;\n  }\n\n  if (on === false) {\n    return;\n  }\n\n  const onSubscriber = new SafeSubscriber({\n    next: () => {\n      onSubscriber.unsubscribe();\n      reset();\n    },\n  });\n\n  return innerFrom(on(...args)).subscribe(onSubscriber);\n}\n", "import { ReplaySubject } from '../ReplaySubject';\nimport { MonoTypeOperatorFunction, SchedulerLike } from '../types';\nimport { share } from './share';\n\nexport interface ShareReplayConfig {\n  bufferSize?: number;\n  windowTime?: number;\n  refCount: boolean;\n  scheduler?: SchedulerLike;\n}\n\nexport function shareReplay<T>(config: ShareReplayConfig): MonoTypeOperatorFunction<T>;\nexport function shareReplay<T>(bufferSize?: number, windowTime?: number, scheduler?: SchedulerLike): MonoTypeOperatorFunction<T>;\n\n/**\n * Share source and replay specified number of emissions on subscription.\n *\n * This operator is a specialization of `replay` that connects to a source observable\n * and multicasts through a `ReplaySubject` constructed with the specified arguments.\n * A successfully completed source will stay cached in the `shareReplay`ed observable forever,\n * but an errored source can be retried.\n *\n * ## Why use `shareReplay`?\n *\n * You generally want to use `shareReplay` when you have side-effects or taxing computations\n * that you do not wish to be executed amongst multiple subscribers.\n * It may also be valuable in situations where you know you will have late subscribers to\n * a stream that need access to previously emitted values.\n * This ability to replay values on subscription is what differentiates {@link share} and `shareReplay`.\n *\n * ## Reference counting\n *\n * By default `shareReplay` will use `refCount` of false, meaning that it will _not_ unsubscribe the\n * source when the reference counter drops to zero, i.e. the inner `ReplaySubject` will _not_ be unsubscribed\n * (and potentially run for ever).\n * This is the default as it is expected that `shareReplay` is often used to keep around expensive to setup\n * observables which we want to keep running instead of having to do the expensive setup again.\n *\n * As of RXJS version 6.4.0 a new overload signature was added to allow for manual control over what\n * happens when the operators internal reference counter drops to zero.\n * If `refCount` is true, the source will be unsubscribed from once the reference count drops to zero, i.e.\n * the inner `ReplaySubject` will be unsubscribed. All new subscribers will receive value emissions from a\n * new `ReplaySubject` which in turn will cause a new subscription to the source observable.\n *\n * ## Examples\n *\n * Example with a third subscriber coming late to the party\n *\n * ```ts\n * import { interval, take, shareReplay } from 'rxjs';\n *\n * const shared$ = interval(2000).pipe(\n *   take(6),\n *   shareReplay(3)\n * );\n *\n * shared$.subscribe(x => console.log('sub A: ', x));\n * shared$.subscribe(y => console.log('sub B: ', y));\n *\n * setTimeout(() => {\n *   shared$.subscribe(y => console.log('sub C: ', y));\n * }, 11000);\n *\n * // Logs:\n * // (after ~2000 ms)\n * // sub A: 0\n * // sub B: 0\n * // (after ~4000 ms)\n * // sub A: 1\n * // sub B: 1\n * // (after ~6000 ms)\n * // sub A: 2\n * // sub B: 2\n * // (after ~8000 ms)\n * // sub A: 3\n * // sub B: 3\n * // (after ~10000 ms)\n * // sub A: 4\n * // sub B: 4\n * // (after ~11000 ms, sub C gets the last 3 values)\n * // sub C: 2\n * // sub C: 3\n * // sub C: 4\n * // (after ~12000 ms)\n * // sub A: 5\n * // sub B: 5\n * // sub C: 5\n * ```\n *\n * Example for `refCount` usage\n *\n * ```ts\n * import { Observable, tap, interval, shareReplay, take } from 'rxjs';\n *\n * const log = <T>(name: string, source: Observable<T>) => source.pipe(\n *   tap({\n *     subscribe: () => console.log(`${ name }: subscribed`),\n *     next: value => console.log(`${ name }: ${ value }`),\n *     complete: () => console.log(`${ name }: completed`),\n *     finalize: () => console.log(`${ name }: unsubscribed`)\n *   })\n * );\n *\n * const obs$ = log('source', interval(1000));\n *\n * const shared$ = log('shared', obs$.pipe(\n *   shareReplay({ bufferSize: 1, refCount: true }),\n *   take(2)\n * ));\n *\n * shared$.subscribe(x => console.log('sub A: ', x));\n * shared$.subscribe(y => console.log('sub B: ', y));\n *\n * // PRINTS:\n * // shared: subscribed <-- reference count = 1\n * // source: subscribed\n * // shared: subscribed <-- reference count = 2\n * // source: 0\n * // shared: 0\n * // sub A: 0\n * // shared: 0\n * // sub B: 0\n * // source: 1\n * // shared: 1\n * // sub A: 1\n * // shared: completed <-- take(2) completes the subscription for sub A\n * // shared: unsubscribed <-- reference count = 1\n * // shared: 1\n * // sub B: 1\n * // shared: completed <-- take(2) completes the subscription for sub B\n * // shared: unsubscribed <-- reference count = 0\n * // source: unsubscribed <-- replaySubject unsubscribes from source observable because the reference count dropped to 0 and refCount is true\n *\n * // In case of refCount being false, the unsubscribe is never called on the source and the source would keep on emitting, even if no subscribers\n * // are listening.\n * // source: 2\n * // source: 3\n * // source: 4\n * // ...\n * ```\n *\n * @see {@link publish}\n * @see {@link share}\n * @see {@link publishReplay}\n *\n * @param configOrBufferSize Maximum element count of the replay buffer or {@link ShareReplayConfig configuration}\n * object.\n * @param windowTime Maximum time length of the replay buffer in milliseconds.\n * @param scheduler Scheduler where connected observers within the selector function\n * will be invoked on.\n * @return A function that returns an Observable sequence that contains the\n * elements of a sequence produced by multicasting the source sequence within a\n * selector function.\n */\nexport function shareReplay<T>(\n  configOrBufferSize?: ShareReplayConfig | number,\n  windowTime?: number,\n  scheduler?: SchedulerLike\n): MonoTypeOperatorFunction<T> {\n  let bufferSize: number;\n  let refCount = false;\n  if (configOrBufferSize && typeof configOrBufferSize === 'object') {\n    ({ bufferSize = Infinity, windowTime = Infinity, refCount = false, scheduler } = configOrBufferSize);\n  } else {\n    bufferSize = (configOrBufferSize ?? Infinity) as number;\n  }\n  return share<T>({\n    connector: () => new ReplaySubject(bufferSize, windowTime, scheduler),\n    resetOnError: true,\n    resetOnComplete: false,\n    resetOnRefCountZero: refCount,\n  });\n}\n", "import { MonoTypeOperatorFunction } from '../types';\nimport { filter } from './filter';\n\n/**\n * Returns an Observable that skips the first `count` items emitted by the source Observable.\n *\n * ![](skip.png)\n *\n * Skips the values until the sent notifications are equal or less than provided skip count. It raises\n * an error if skip count is equal or more than the actual number of emits and source raises an error.\n *\n * ## Example\n *\n * Skip the values before the emission\n *\n * ```ts\n * import { interval, skip } from 'rxjs';\n *\n * // emit every half second\n * const source = interval(500);\n * // skip the first 10 emitted values\n * const result = source.pipe(skip(10));\n *\n * result.subscribe(value => console.log(value));\n * // output: 10...11...12...13...\n * ```\n *\n * @see {@link last}\n * @see {@link skipWhile}\n * @see {@link skipUntil}\n * @see {@link skipLast}\n *\n * @param {Number} count - The number of times, items emitted by source Observable should be skipped.\n * @return A function that returns an Observable that skips the first `count`\n * values emitted by the source Observable.\n */\nexport function skip<T>(count: number): MonoTypeOperatorFunction<T> {\n  return filter((_, index) => count <= index);\n}\n", "import { MonoTypeOperatorFunction, ObservableInput } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { innerFrom } from '../observable/innerFrom';\nimport { noop } from '../util/noop';\n\n/**\n * Returns an Observable that skips items emitted by the source Observable until a second Observable emits an item.\n *\n * The `skipUntil` operator causes the observable stream to skip the emission of values until the passed in observable\n * emits the first value. This can be particularly useful in combination with user interactions, responses of HTTP\n * requests or waiting for specific times to pass by.\n *\n * ![](skipUntil.png)\n *\n * Internally, the `skipUntil` operator subscribes to the passed in `notifier` `ObservableInput` (which gets converted\n * to an Observable) in order to recognize the emission of its first value. When `notifier` emits next, the operator\n * unsubscribes from it and starts emitting the values of the *source* observable until it completes or errors. It\n * will never let the *source* observable emit any values if the `notifier` completes or throws an error without\n * emitting a value before.\n *\n * ## Example\n *\n * In the following example, all emitted values of the interval observable are skipped until the user clicks anywhere\n * within the page\n *\n * ```ts\n * import { interval, fromEvent, skipUntil } from 'rxjs';\n *\n * const intervalObservable = interval(1000);\n * const click = fromEvent(document, 'click');\n *\n * const emitAfterClick = intervalObservable.pipe(\n *   skipUntil(click)\n * );\n * // clicked at 4.6s. output: 5...6...7...8........ or\n * // clicked at 7.3s. output: 8...9...10..11.......\n * emitAfterClick.subscribe(value => console.log(value));\n * ```\n *\n * @see {@link last}\n * @see {@link skip}\n * @see {@link skipWhile}\n * @see {@link skipLast}\n *\n * @param notifier An `ObservableInput` that has to emit an item before the source Observable elements begin to\n * be mirrored by the resulting Observable.\n * @return A function that returns an Observable that skips items from the\n * source Observable until the `notifier` Observable emits an item, then emits the\n * remaining items.\n */\nexport function skipUntil<T>(notifier: ObservableInput<any>): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    let taking = false;\n\n    const skipSubscriber = createOperatorSubscriber(\n      subscriber,\n      () => {\n        skipSubscriber?.unsubscribe();\n        taking = true;\n      },\n      noop\n    );\n\n    innerFrom(notifier).subscribe(skipSubscriber);\n\n    source.subscribe(createOperatorSubscriber(subscriber, (value) => taking && subscriber.next(value)));\n  });\n}\n", "import { concat } from '../observable/concat';\nimport { OperatorFunction, SchedulerLike, ValueFromArray } from '../types';\nimport { popScheduler } from '../util/args';\nimport { operate } from '../util/lift';\n\n// Devs are more likely to pass null or undefined than they are a scheduler\n// without accompanying values. To make things easier for (naughty) devs who\n// use the `strictNullChecks: false` TypeScript compiler option, these\n// overloads with explicit null and undefined values are included.\n\nexport function startWith<T>(value: null): OperatorFunction<T, T | null>;\nexport function startWith<T>(value: undefined): OperatorFunction<T, T | undefined>;\n\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `concatAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function startWith<T, A extends readonly unknown[] = T[]>(\n  ...valuesAndScheduler: [...A, SchedulerLike]\n): OperatorFunction<T, T | ValueFromArray<A>>;\nexport function startWith<T, A extends readonly unknown[] = T[]>(...values: A): OperatorFunction<T, T | ValueFromArray<A>>;\n\n/**\n * Returns an observable that, at the moment of subscription, will synchronously emit all\n * values provided to this operator, then subscribe to the source and mirror all of its emissions\n * to subscribers.\n *\n * This is a useful way to know when subscription has occurred on an existing observable.\n *\n * <span class=\"informal\">First emits its arguments in order, and then any\n * emissions from the source.</span>\n *\n * ![](startWith.png)\n *\n * ## Examples\n *\n * Emit a value when a timer starts.\n *\n * ```ts\n * import { timer, map, startWith } from 'rxjs';\n *\n * timer(1000)\n *   .pipe(\n *     map(() => 'timer emit'),\n *     startWith('timer start')\n *   )\n *   .subscribe(x => console.log(x));\n *\n * // results:\n * // 'timer start'\n * // 'timer emit'\n * ```\n *\n * @param values Items you want the modified Observable to emit first.\n * @return A function that returns an Observable that synchronously emits\n * provided values before subscribing to the source Observable.\n *\n * @see {@link endWith}\n * @see {@link finalize}\n * @see {@link concat}\n */\nexport function startWith<T, D>(...values: D[]): OperatorFunction<T, T | D> {\n  const scheduler = popScheduler(values);\n  return operate((source, subscriber) => {\n    // Here we can't pass `undefined` as a scheduler, because if we did, the\n    // code inside of `concat` would be confused by the `undefined`, and treat it\n    // like an invalid observable. So we have to split it two different ways.\n    (scheduler ? concat(values, source, scheduler) : concat(values, source)).subscribe(subscriber);\n  });\n}\n", "import { Subscriber } from '../Subscriber';\nimport { ObservableInput, OperatorFunction, ObservedValueOf } from '../types';\nimport { innerFrom } from '../observable/innerFrom';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/* tslint:disable:max-line-length */\nexport function switchMap<T, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O\n): OperatorFunction<T, ObservedValueOf<O>>;\n/** @deprecated The `resultSelector` parameter will be removed in v8. Use an inner `map` instead. Details: https://rxjs.dev/deprecations/resultSelector */\nexport function switchMap<T, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O,\n  resultSelector: undefined\n): OperatorFunction<T, ObservedValueOf<O>>;\n/** @deprecated The `resultSelector` parameter will be removed in v8. Use an inner `map` instead. Details: https://rxjs.dev/deprecations/resultSelector */\nexport function switchMap<T, R, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O,\n  resultSelector: (outerValue: T, innerValue: ObservedValueOf<O>, outerIndex: number, innerIndex: number) => R\n): OperatorFunction<T, R>;\n/* tslint:enable:max-line-length */\n\n/**\n * Projects each source value to an Observable which is merged in the output\n * Observable, emitting values only from the most recently projected Observable.\n *\n * <span class=\"informal\">Maps each value to an Observable, then flattens all of\n * these inner Observables using {@link switchAll}.</span>\n *\n * ![](switchMap.png)\n *\n * Returns an Observable that emits items based on applying a function that you\n * supply to each item emitted by the source Observable, where that function\n * returns an (so-called \"inner\") Observable. Each time it observes one of these\n * inner Observables, the output Observable begins emitting the items emitted by\n * that inner Observable. When a new inner Observable is emitted, `switchMap`\n * stops emitting items from the earlier-emitted inner Observable and begins\n * emitting items from the new one. It continues to behave like this for\n * subsequent inner Observables.\n *\n * ## Example\n *\n * Generate new Observable according to source Observable values\n *\n * ```ts\n * import { of, switchMap } from 'rxjs';\n *\n * const switched = of(1, 2, 3).pipe(switchMap(x => of(x, x ** 2, x ** 3)));\n * switched.subscribe(x => console.log(x));\n * // outputs\n * // 1\n * // 1\n * // 1\n * // 2\n * // 4\n * // 8\n * // 3\n * // 9\n * // 27\n * ```\n *\n * Restart an interval Observable on every click event\n *\n * ```ts\n * import { fromEvent, switchMap, interval } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(switchMap(() => interval(1000)));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link concatMap}\n * @see {@link exhaustMap}\n * @see {@link mergeMap}\n * @see {@link switchAll}\n * @see {@link switchMapTo}\n *\n * @param {function(value: T, index: number): ObservableInput} project A function\n * that, when applied to an item emitted by the source Observable, returns an\n * Observable.\n * @return A function that returns an Observable that emits the result of\n * applying the projection function (and the optional deprecated\n * `resultSelector`) to each item emitted by the source Observable and taking\n * only the values from the most recently projected inner Observable.\n */\nexport function switchMap<T, R, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O,\n  resultSelector?: (outerValue: T, innerValue: ObservedValueOf<O>, outerIndex: number, innerIndex: number) => R\n): OperatorFunction<T, ObservedValueOf<O> | R> {\n  return operate((source, subscriber) => {\n    let innerSubscriber: Subscriber<ObservedValueOf<O>> | null = null;\n    let index = 0;\n    // Whether or not the source subscription has completed\n    let isComplete = false;\n\n    // We only complete the result if the source is complete AND we don't have an active inner subscription.\n    // This is called both when the source completes and when the inners complete.\n    const checkComplete = () => isComplete && !innerSubscriber && subscriber.complete();\n\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value) => {\n          // Cancel the previous inner subscription if there was one\n          innerSubscriber?.unsubscribe();\n          let innerIndex = 0;\n          const outerIndex = index++;\n          // Start the next inner subscription\n          innerFrom(project(value, outerIndex)).subscribe(\n            (innerSubscriber = createOperatorSubscriber(\n              subscriber,\n              // When we get a new inner value, next it through. Note that this is\n              // handling the deprecate result selector here. This is because with this architecture\n              // it ends up being smaller than using the map operator.\n              (innerValue) => subscriber.next(resultSelector ? resultSelector(value, innerValue, outerIndex, innerIndex++) : innerValue),\n              () => {\n                // The inner has completed. Null out the inner subscriber to\n                // free up memory and to signal that we have no inner subscription\n                // currently.\n                innerSubscriber = null!;\n                checkComplete();\n              }\n            ))\n          );\n        },\n        () => {\n          isComplete = true;\n          checkComplete();\n        }\n      )\n    );\n  });\n}\n", "import { MonoTypeOperatorFunction, ObservableInput } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { innerFrom } from '../observable/innerFrom';\nimport { noop } from '../util/noop';\n\n/**\n * Emits the values emitted by the source Observable until a `notifier`\n * Observable emits a value.\n *\n * <span class=\"informal\">Lets values pass until a second Observable,\n * `notifier`, emits a value. Then, it completes.</span>\n *\n * ![](takeUntil.png)\n *\n * `takeUntil` subscribes and begins mirroring the source Observable. It also\n * monitors a second Observable, `notifier` that you provide. If the `notifier`\n * emits a value, the output Observable stops mirroring the source Observable\n * and completes. If the `notifier` doesn't emit any value and completes\n * then `takeUntil` will pass all values.\n *\n * ## Example\n *\n * Tick every second until the first click happens\n *\n * ```ts\n * import { interval, fromEvent, takeUntil } from 'rxjs';\n *\n * const source = interval(1000);\n * const clicks = fromEvent(document, 'click');\n * const result = source.pipe(takeUntil(clicks));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link take}\n * @see {@link takeLast}\n * @see {@link takeWhile}\n * @see {@link skip}\n *\n * @param {Observable} notifier The Observable whose first emitted value will\n * cause the output Observable of `takeUntil` to stop emitting values from the\n * source Observable.\n * @return A function that returns an Observable that emits the values from the\n * source Observable until `notifier` emits its first value.\n */\nexport function takeUntil<T>(notifier: ObservableInput<any>): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    innerFrom(notifier).subscribe(createOperatorSubscriber(subscriber, () => subscriber.complete(), noop));\n    !subscriber.closed && source.subscribe(subscriber);\n  });\n}\n", "import { OperatorFunction, MonoTypeOperatorFunction, TruthyTypesOf } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\nexport function takeWhile<T>(predicate: BooleanConstructor, inclusive: true): MonoTypeOperatorFunction<T>;\nexport function takeWhile<T>(predicate: BooleanConstructor, inclusive: false): OperatorFunction<T, TruthyTypesOf<T>>;\nexport function takeWhile<T>(predicate: BooleanConstructor): OperatorFunction<T, TruthyTypesOf<T>>;\nexport function takeWhile<T, S extends T>(predicate: (value: T, index: number) => value is S): OperatorFunction<T, S>;\nexport function takeWhile<T, S extends T>(predicate: (value: T, index: number) => value is S, inclusive: false): OperatorFunction<T, S>;\nexport function takeWhile<T>(predicate: (value: T, index: number) => boolean, inclusive?: boolean): MonoTypeOperatorFunction<T>;\n\n/**\n * Emits values emitted by the source Observable so long as each value satisfies\n * the given `predicate`, and then completes as soon as this `predicate` is not\n * satisfied.\n *\n * <span class=\"informal\">Takes values from the source only while they pass the\n * condition given. When the first value does not satisfy, it completes.</span>\n *\n * ![](takeWhile.png)\n *\n * `takeWhile` subscribes and begins mirroring the source Observable. Each value\n * emitted on the source is given to the `predicate` function which returns a\n * boolean, representing a condition to be satisfied by the source values. The\n * output Observable emits the source values until such time as the `predicate`\n * returns false, at which point `takeWhile` stops mirroring the source\n * Observable and completes the output Observable.\n *\n * ## Example\n *\n * Emit click events only while the clientX property is greater than 200\n *\n * ```ts\n * import { fromEvent, takeWhile } from 'rxjs';\n *\n * const clicks = fromEvent<PointerEvent>(document, 'click');\n * const result = clicks.pipe(takeWhile(ev => ev.clientX > 200));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link take}\n * @see {@link takeLast}\n * @see {@link takeUntil}\n * @see {@link skip}\n *\n * @param {function(value: T, index: number): boolean} predicate A function that\n * evaluates a value emitted by the source Observable and returns a boolean.\n * Also takes the (zero-based) index as the second argument.\n * @param {boolean} inclusive When set to `true` the value that caused\n * `predicate` to return `false` will also be emitted.\n * @return A function that returns an Observable that emits values from the\n * source Observable so long as each value satisfies the condition defined by\n * the `predicate`, then completes.\n */\nexport function takeWhile<T>(predicate: (value: T, index: number) => boolean, inclusive = false): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    let index = 0;\n    source.subscribe(\n      createOperatorSubscriber(subscriber, (value) => {\n        const result = predicate(value, index++);\n        (result || inclusive) && subscriber.next(value);\n        !result && subscriber.complete();\n      })\n    );\n  });\n}\n", "import { MonoTypeOperatorFunction, Observer } from '../types';\nimport { isFunction } from '../util/isFunction';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { identity } from '../util/identity';\n\n/**\n * An extension to the {@link Observer} interface used only by the {@link tap} operator.\n *\n * It provides a useful set of callbacks a user can register to do side-effects in\n * cases other than what the usual {@link Observer} callbacks are\n * ({@link guide/glossary-and-semantics#next next},\n * {@link guide/glossary-and-semantics#error error} and/or\n * {@link guide/glossary-and-semantics#complete complete}).\n *\n * ## Example\n *\n * ```ts\n * import { fromEvent, switchMap, tap, interval, take } from 'rxjs';\n *\n * const source$ = fromEvent(document, 'click');\n * const result$ = source$.pipe(\n *   switchMap((_, i) => i % 2 === 0\n *     ? fromEvent(document, 'mousemove').pipe(\n *         tap({\n *           subscribe: () => console.log('Subscribed to the mouse move events after click #' + i),\n *           unsubscribe: () => console.log('Mouse move events #' + i + ' unsubscribed'),\n *           finalize: () => console.log('Mouse move events #' + i + ' finalized')\n *         })\n *       )\n *     : interval(1_000).pipe(\n *         take(5),\n *         tap({\n *           subscribe: () => console.log('Subscribed to the 1-second interval events after click #' + i),\n *           unsubscribe: () => console.log('1-second interval events #' + i + ' unsubscribed'),\n *           finalize: () => console.log('1-second interval events #' + i + ' finalized')\n *         })\n *       )\n *   )\n * );\n *\n * const subscription = result$.subscribe({\n *   next: console.log\n * });\n *\n * setTimeout(() => {\n *   console.log('Unsubscribe after 60 seconds');\n *   subscription.unsubscribe();\n * }, 60_000);\n * ```\n */\nexport interface TapObserver<T> extends Observer<T> {\n  /**\n   * The callback that `tap` operator invokes at the moment when the source Observable\n   * gets subscribed to.\n   */\n  subscribe: () => void;\n  /**\n   * The callback that `tap` operator invokes when an explicit\n   * {@link guide/glossary-and-semantics#unsubscription unsubscribe} happens. It won't get invoked on\n   * `error` or `complete` events.\n   */\n  unsubscribe: () => void;\n  /**\n   * The callback that `tap` operator invokes when any kind of\n   * {@link guide/glossary-and-semantics#finalization finalization} happens - either when\n   * the source Observable `error`s or `complete`s or when it gets explicitly unsubscribed\n   * by the user. There is no difference in using this callback or the {@link finalize}\n   * operator, but if you're already using `tap` operator, you can use this callback\n   * instead. You'd get the same result in either case.\n   */\n  finalize: () => void;\n}\nexport function tap<T>(observerOrNext?: Partial<TapObserver<T>> | ((value: T) => void)): MonoTypeOperatorFunction<T>;\n/** @deprecated Instead of passing separate callback arguments, use an observer argument. Signatures taking separate callback arguments will be removed in v8. Details: https://rxjs.dev/deprecations/subscribe-arguments */\nexport function tap<T>(\n  next?: ((value: T) => void) | null,\n  error?: ((error: any) => void) | null,\n  complete?: (() => void) | null\n): MonoTypeOperatorFunction<T>;\n\n/**\n * Used to perform side-effects for notifications from the source observable\n *\n * <span class=\"informal\">Used when you want to affect outside state with a notification without altering the notification</span>\n *\n * ![](tap.png)\n *\n * Tap is designed to allow the developer a designated place to perform side effects. While you _could_ perform side-effects\n * inside of a `map` or a `mergeMap`, that would make their mapping functions impure, which isn't always a big deal, but will\n * make it so you can't do things like memoize those functions. The `tap` operator is designed solely for such side-effects to\n * help you remove side-effects from other operations.\n *\n * For any notification, next, error, or complete, `tap` will call the appropriate callback you have provided to it, via a function\n * reference, or a partial observer, then pass that notification down the stream.\n *\n * The observable returned by `tap` is an exact mirror of the source, with one exception: Any error that occurs -- synchronously -- in a handler\n * provided to `tap` will be emitted as an error from the returned observable.\n *\n * > Be careful! You can mutate objects as they pass through the `tap` operator's handlers.\n *\n * The most common use of `tap` is actually for debugging. You can place a `tap(console.log)` anywhere\n * in your observable `pipe`, log out the notifications as they are emitted by the source returned by the previous\n * operation.\n *\n * ## Examples\n *\n * Check a random number before it is handled. Below is an observable that will use a random number between 0 and 1,\n * and emit `'big'` or `'small'` depending on the size of that number. But we wanted to log what the original number\n * was, so we have added a `tap(console.log)`.\n *\n * ```ts\n * import { of, tap, map } from 'rxjs';\n *\n * of(Math.random()).pipe(\n *   tap(console.log),\n *   map(n => n > 0.5 ? 'big' : 'small')\n * ).subscribe(console.log);\n * ```\n *\n * Using `tap` to analyze a value and force an error. Below is an observable where in our system we only\n * want to emit numbers 3 or less we get from another source. We can force our observable to error\n * using `tap`.\n *\n * ```ts\n * import { of, tap } from 'rxjs';\n *\n * const source = of(1, 2, 3, 4, 5);\n *\n * source.pipe(\n *   tap(n => {\n *     if (n > 3) {\n *       throw new TypeError(`Value ${ n } is greater than 3`);\n *     }\n *   })\n * )\n * .subscribe({ next: console.log, error: err => console.log(err.message) });\n * ```\n *\n * We want to know when an observable completes before moving on to the next observable. The system\n * below will emit a random series of `'X'` characters from 3 different observables in sequence. The\n * only way we know when one observable completes and moves to the next one, in this case, is because\n * we have added a `tap` with the side effect of logging to console.\n *\n * ```ts\n * import { of, concatMap, interval, take, map, tap } from 'rxjs';\n *\n * of(1, 2, 3).pipe(\n *   concatMap(n => interval(1000).pipe(\n *     take(Math.round(Math.random() * 10)),\n *     map(() => 'X'),\n *     tap({ complete: () => console.log(`Done with ${ n }`) })\n *   ))\n * )\n * .subscribe(console.log);\n * ```\n *\n * @see {@link finalize}\n * @see {@link TapObserver}\n *\n * @param observerOrNext A next handler or partial observer\n * @param error An error handler\n * @param complete A completion handler\n * @return A function that returns an Observable identical to the source, but\n * runs the specified Observer or callback(s) for each item.\n */\nexport function tap<T>(\n  observerOrNext?: Partial<TapObserver<T>> | ((value: T) => void) | null,\n  error?: ((e: any) => void) | null,\n  complete?: (() => void) | null\n): MonoTypeOperatorFunction<T> {\n  // We have to check to see not only if next is a function,\n  // but if error or complete were passed. This is because someone\n  // could technically call tap like `tap(null, fn)` or `tap(null, null, fn)`.\n  const tapObserver =\n    isFunction(observerOrNext) || error || complete\n      ? // tslint:disable-next-line: no-object-literal-type-assertion\n        ({ next: observerOrNext as Exclude<typeof observerOrNext, Partial<TapObserver<T>>>, error, complete } as Partial<TapObserver<T>>)\n      : observerOrNext;\n\n  return tapObserver\n    ? operate((source, subscriber) => {\n        tapObserver.subscribe?.();\n        let isUnsub = true;\n        source.subscribe(\n          createOperatorSubscriber(\n            subscriber,\n            (value) => {\n              tapObserver.next?.(value);\n              subscriber.next(value);\n            },\n            () => {\n              isUnsub = false;\n              tapObserver.complete?.();\n              subscriber.complete();\n            },\n            (err) => {\n              isUnsub = false;\n              tapObserver.error?.(err);\n              subscriber.error(err);\n            },\n            () => {\n              if (isUnsub) {\n                tapObserver.unsubscribe?.();\n              }\n              tapObserver.finalize?.();\n            }\n          )\n        );\n      })\n    : // Tap was called with no valid tap observer or handler\n      // (e.g. `tap(null, null, null)` or `tap(null)` or `tap()`)\n      // so we're going to just mirror the source.\n      identity;\n}\n", "import { Subscription } from '../Subscription';\n\nimport { MonoTypeOperatorFunction, ObservableInput } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { innerFrom } from '../observable/innerFrom';\n\n/**\n * An object interface used by {@link throttle} or {@link throttleTime} that ensure\n * configuration options of these operators.\n *\n * @see {@link throttle}\n * @see {@link throttleTime}\n */\nexport interface ThrottleConfig {\n  /**\n   * If `true`, the resulting Observable will emit the first value from the source\n   * Observable at the **start** of the \"throttling\" process (when starting an\n   * internal timer that prevents other emissions from the source to pass through).\n   * If `false`, it will not emit the first value from the source Observable at the\n   * start of the \"throttling\" process.\n   *\n   * If not provided, defaults to: `true`.\n   */\n  leading?: boolean;\n  /**\n   * If `true`, the resulting Observable will emit the last value from the source\n   * Observable at the **end** of the \"throttling\" process (when ending an internal\n   * timer that prevents other emissions from the source to pass through).\n   * If `false`, it will not emit the last value from the source Observable at the\n   * end of the \"throttling\" process.\n   *\n   * If not provided, defaults to: `false`.\n   */\n  trailing?: boolean;\n}\n\n/**\n * Emits a value from the source Observable, then ignores subsequent source\n * values for a duration determined by another Observable, then repeats this\n * process.\n *\n * <span class=\"informal\">It's like {@link throttleTime}, but the silencing\n * duration is determined by a second Observable.</span>\n *\n * ![](throttle.svg)\n *\n * `throttle` emits the source Observable values on the output Observable\n * when its internal timer is disabled, and ignores source values when the timer\n * is enabled. Initially, the timer is disabled. As soon as the first source\n * value arrives, it is forwarded to the output Observable, and then the timer\n * is enabled by calling the `durationSelector` function with the source value,\n * which returns the \"duration\" Observable. When the duration Observable emits a\n * value, the timer is disabled, and this process repeats for the\n * next source value.\n *\n * ## Example\n *\n * Emit clicks at a rate of at most one click per second\n *\n * ```ts\n * import { fromEvent, throttle, interval } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(throttle(() => interval(1000)));\n *\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link audit}\n * @see {@link debounce}\n * @see {@link delayWhen}\n * @see {@link sample}\n * @see {@link throttleTime}\n *\n * @param durationSelector A function that receives a value from the source\n * Observable, for computing the silencing duration for each source value,\n * returned as an `ObservableInput`.\n * @param config A configuration object to define `leading` and `trailing`\n * behavior. Defaults to `{ leading: true, trailing: false }`.\n * @return A function that returns an Observable that performs the throttle\n * operation to limit the rate of emissions from the source.\n */\nexport function throttle<T>(durationSelector: (value: T) => ObservableInput<any>, config?: ThrottleConfig): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    const { leading = true, trailing = false } = config ?? {};\n    let hasValue = false;\n    let sendValue: T | null = null;\n    let throttled: Subscription | null = null;\n    let isComplete = false;\n\n    const endThrottling = () => {\n      throttled?.unsubscribe();\n      throttled = null;\n      if (trailing) {\n        send();\n        isComplete && subscriber.complete();\n      }\n    };\n\n    const cleanupThrottling = () => {\n      throttled = null;\n      isComplete && subscriber.complete();\n    };\n\n    const startThrottle = (value: T) =>\n      (throttled = innerFrom(durationSelector(value)).subscribe(createOperatorSubscriber(subscriber, endThrottling, cleanupThrottling)));\n\n    const send = () => {\n      if (hasValue) {\n        // Ensure we clear out our value and hasValue flag\n        // before we emit, otherwise reentrant code can cause\n        // issues here.\n        hasValue = false;\n        const value = sendValue!;\n        sendValue = null;\n        // Emit the value.\n        subscriber.next(value);\n        !isComplete && startThrottle(value);\n      }\n    };\n\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        // Regarding the presence of throttled.closed in the following\n        // conditions, if a synchronous duration selector is specified - weird,\n        // but legal - an already-closed subscription will be assigned to\n        // throttled, so the subscription's closed property needs to be checked,\n        // too.\n        (value) => {\n          hasValue = true;\n          sendValue = value;\n          !(throttled && !throttled.closed) && (leading ? send() : startThrottle(value));\n        },\n        () => {\n          isComplete = true;\n          !(trailing && hasValue && throttled && !throttled.closed) && subscriber.complete();\n        }\n      )\n    );\n  });\n}\n", "import { asyncScheduler } from '../scheduler/async';\nimport { throttle, ThrottleConfig } from './throttle';\nimport { MonoTypeOperatorFunction, SchedulerLike } from '../types';\nimport { timer } from '../observable/timer';\n\n/**\n * Emits a value from the source Observable, then ignores subsequent source\n * values for `duration` milliseconds, then repeats this process.\n *\n * <span class=\"informal\">Lets a value pass, then ignores source values for the\n * next `duration` milliseconds.</span>\n *\n * ![](throttleTime.png)\n *\n * `throttleTime` emits the source Observable values on the output Observable\n * when its internal timer is disabled, and ignores source values when the timer\n * is enabled. Initially, the timer is disabled. As soon as the first source\n * value arrives, it is forwarded to the output Observable, and then the timer\n * is enabled. After `duration` milliseconds (or the time unit determined\n * internally by the optional `scheduler`) has passed, the timer is disabled,\n * and this process repeats for the next source value. Optionally takes a\n * {@link SchedulerLike} for managing timers.\n *\n * ## Examples\n *\n * ### Limit click rate\n *\n * Emit clicks at a rate of at most one click per second\n *\n * ```ts\n * import { fromEvent, throttleTime } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(throttleTime(1000));\n *\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link auditTime}\n * @see {@link debounceTime}\n * @see {@link delay}\n * @see {@link sampleTime}\n * @see {@link throttle}\n *\n * @param duration Time to wait before emitting another value after\n * emitting the last value, measured in milliseconds or the time unit determined\n * internally by the optional `scheduler`.\n * @param scheduler The {@link SchedulerLike} to use for\n * managing the timers that handle the throttling. Defaults to {@link asyncScheduler}.\n * @param config A configuration object to define `leading` and\n * `trailing` behavior. Defaults to `{ leading: true, trailing: false }`.\n * @return A function that returns an Observable that performs the throttle\n * operation to limit the rate of emissions from the source.\n */\nexport function throttleTime<T>(\n  duration: number,\n  scheduler: SchedulerLike = asyncScheduler,\n  config?: ThrottleConfig\n): MonoTypeOperatorFunction<T> {\n  const duration$ = timer(duration, scheduler);\n  return throttle(() => duration$, config);\n}\n", "import { OperatorFunction, ObservableInputTuple } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { innerFrom } from '../observable/innerFrom';\nimport { identity } from '../util/identity';\nimport { noop } from '../util/noop';\nimport { popResultSelector } from '../util/args';\n\nexport function withLatestFrom<T, O extends unknown[]>(...inputs: [...ObservableInputTuple<O>]): OperatorFunction<T, [T, ...O]>;\n\nexport function withLatestFrom<T, O extends unknown[], R>(\n  ...inputs: [...ObservableInputTuple<O>, (...value: [T, ...O]) => R]\n): OperatorFunction<T, R>;\n\n/**\n * Combines the source Observable with other Observables to create an Observable\n * whose values are calculated from the latest values of each, only when the\n * source emits.\n *\n * <span class=\"informal\">Whenever the source Observable emits a value, it\n * computes a formula using that value plus the latest values from other input\n * Observables, then emits the output of that formula.</span>\n *\n * ![](withLatestFrom.png)\n *\n * `withLatestFrom` combines each value from the source Observable (the\n * instance) with the latest values from the other input Observables only when\n * the source emits a value, optionally using a `project` function to determine\n * the value to be emitted on the output Observable. All input Observables must\n * emit at least one value before the output Observable will emit a value.\n *\n * ## Example\n *\n * On every click event, emit an array with the latest timer event plus the click event\n *\n * ```ts\n * import { fromEvent, interval, withLatestFrom } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const timer = interval(1000);\n * const result = clicks.pipe(withLatestFrom(timer));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link combineLatest}\n *\n * @param {ObservableInput} other An input Observable to combine with the source\n * Observable. More than one input Observables may be given as argument.\n * @param {Function} [project] Projection function for combining values\n * together. Receives all values in order of the Observables passed, where the\n * first parameter is a value from the source Observable. (e.g.\n * `a.pipe(withLatestFrom(b, c), map(([a1, b1, c1]) => a1 + b1 + c1))`). If this is not\n * passed, arrays will be emitted on the output Observable.\n * @return A function that returns an Observable of projected values from the\n * most recent values from each input Observable, or an array of the most\n * recent values from each input Observable.\n */\nexport function withLatestFrom<T, R>(...inputs: any[]): OperatorFunction<T, R | any[]> {\n  const project = popResultSelector(inputs) as ((...args: any[]) => R) | undefined;\n\n  return operate((source, subscriber) => {\n    const len = inputs.length;\n    const otherValues = new Array(len);\n    // An array of whether or not the other sources have emitted. Matched with them by index.\n    // TODO: At somepoint, we should investigate the performance implications here, and look\n    // into using a `Set()` and checking the `size` to see if we're ready.\n    let hasValue = inputs.map(() => false);\n    // Flipped true when we have at least one value from all other sources and\n    // we are ready to start emitting values.\n    let ready = false;\n\n    // Other sources. Note that here we are not checking `subscriber.closed`,\n    // this causes all inputs to be subscribed to, even if nothing can be emitted\n    // from them. This is an important distinction because subscription constitutes\n    // a side-effect.\n    for (let i = 0; i < len; i++) {\n      innerFrom(inputs[i]).subscribe(\n        createOperatorSubscriber(\n          subscriber,\n          (value) => {\n            otherValues[i] = value;\n            if (!ready && !hasValue[i]) {\n              // If we're not ready yet, flag to show this observable has emitted.\n              hasValue[i] = true;\n              // Intentionally terse code.\n              // If all of our other observables have emitted, set `ready` to `true`,\n              // so we know we can start emitting values, then clean up the `hasValue` array,\n              // because we don't need it anymore.\n              (ready = hasValue.every(identity)) && (hasValue = null!);\n            }\n          },\n          // Completing one of the other sources has\n          // no bearing on the completion of our result.\n          noop\n        )\n      );\n    }\n\n    // Source subscription\n    source.subscribe(\n      createOperatorSubscriber(subscriber, (value) => {\n        if (ready) {\n          // We have at least one value from the other sources. Go ahead and emit.\n          const values = [value, ...otherValues];\n          subscriber.next(project ? project(...values) : values);\n        }\n      })\n    );\n  });\n}\n", "import { zip as zipStatic } from '../observable/zip';\nimport { ObservableInput, ObservableInputTuple, OperatorFunction, Cons } from '../types';\nimport { operate } from '../util/lift';\n\n/** @deprecated Replaced with {@link zipWith}. Will be removed in v8. */\nexport function zip<T, A extends readonly unknown[]>(otherInputs: [...ObservableInputTuple<A>]): OperatorFunction<T, Cons<T, A>>;\n/** @deprecated Replaced with {@link zipWith}. Will be removed in v8. */\nexport function zip<T, A extends readonly unknown[], R>(\n  otherInputsAndProject: [...ObservableInputTuple<A>],\n  project: (...values: Cons<T, A>) => R\n): OperatorFunction<T, R>;\n/** @deprecated Replaced with {@link zipWith}. Will be removed in v8. */\nexport function zip<T, A extends readonly unknown[]>(...otherInputs: [...ObservableInputTuple<A>]): OperatorFunction<T, Cons<T, A>>;\n/** @deprecated Replaced with {@link zipWith}. Will be removed in v8. */\nexport function zip<T, A extends readonly unknown[], R>(\n  ...otherInputsAndProject: [...ObservableInputTuple<A>, (...values: Cons<T, A>) => R]\n): OperatorFunction<T, R>;\n\n/**\n * @deprecated Replaced with {@link zipWith}. Will be removed in v8.\n */\nexport function zip<T, R>(...sources: Array<ObservableInput<any> | ((...values: Array<any>) => R)>): OperatorFunction<T, any> {\n  return operate((source, subscriber) => {\n    zipStatic(source as ObservableInput<any>, ...(sources as Array<ObservableInput<any>>)).subscribe(subscriber);\n  });\n}\n", "import { ObservableInputTuple, OperatorFunction, Cons } from '../types';\nimport { zip } from './zip';\n\n/**\n * Subscribes to the source, and the observable inputs provided as arguments, and combines their values, by index, into arrays.\n *\n * What is meant by \"combine by index\": The first value from each will be made into a single array, then emitted,\n * then the second value from each will be combined into a single array and emitted, then the third value\n * from each will be combined into a single array and emitted, and so on.\n *\n * This will continue until it is no longer able to combine values of the same index into an array.\n *\n * After the last value from any one completed source is emitted in an array, the resulting observable will complete,\n * as there is no way to continue \"zipping\" values together by index.\n *\n * Use-cases for this operator are limited. There are memory concerns if one of the streams is emitting\n * values at a much faster rate than the others. Usage should likely be limited to streams that emit\n * at a similar pace, or finite streams of known length.\n *\n * In many cases, authors want `combineLatestWith` and not `zipWith`.\n *\n * @param otherInputs other observable inputs to collate values from.\n * @return A function that returns an Observable that emits items by index\n * combined from the source Observable and provided Observables, in form of an\n * array.\n */\nexport function zipWith<T, A extends readonly unknown[]>(...otherInputs: [...ObservableInputTuple<A>]): OperatorFunction<T, Cons<T, A>> {\n  return zip(...otherInputs);\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  ReplaySubject,\n  Subject,\n  fromEvent\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch document\n *\n * Documents are implemented as subjects, so all downstream observables are\n * automatically updated when a new document is emitted.\n *\n * @returns Document subject\n */\nexport function watchDocument(): Subject<Document> {\n  const document$ = new ReplaySubject<Document>(1)\n  fromEvent(document, \"DOMContentLoaded\", { once: true })\n    .subscribe(() => document$.next(document))\n\n  /* Return document */\n  return document$\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve all elements matching the query selector\n *\n * @template T - Element type\n *\n * @param selector - Query selector\n * @param node - Node of reference\n *\n * @returns Elements\n */\nexport function getElements<T extends keyof HTMLElementTagNameMap>(\n  selector: T, node?: ParentNode\n): HTMLElementTagNameMap[T][]\n\nexport function getElements<T extends HTMLElement>(\n  selector: string, node?: ParentNode\n): T[]\n\nexport function getElements<T extends HTMLElement>(\n  selector: string, node: ParentNode = document\n): T[] {\n  return Array.from(node.querySelectorAll<T>(selector))\n}\n\n/**\n * Retrieve an element matching a query selector or throw a reference error\n *\n * Note that this function assumes that the element is present. If unsure if an\n * element is existent, use the `getOptionalElement` function instead.\n *\n * @template T - Element type\n *\n * @param selector - Query selector\n * @param node - Node of reference\n *\n * @returns Element\n */\nexport function getElement<T extends keyof HTMLElementTagNameMap>(\n  selector: T, node?: ParentNode\n): HTMLElementTagNameMap[T]\n\nexport function getElement<T extends HTMLElement>(\n  selector: string, node?: ParentNode\n): T\n\nexport function getElement<T extends HTMLElement>(\n  selector: string, node: ParentNode = document\n): T {\n  const el = getOptionalElement<T>(selector, node)\n  if (typeof el === \"undefined\")\n    throw new ReferenceError(\n      `Missing element: expected \"${selector}\" to be present`\n    )\n\n  /* Return element */\n  return el\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Retrieve an optional element matching the query selector\n *\n * @template T - Element type\n *\n * @param selector - Query selector\n * @param node - Node of reference\n *\n * @returns Element or nothing\n */\nexport function getOptionalElement<T extends keyof HTMLElementTagNameMap>(\n  selector: T, node?: ParentNode\n): HTMLElementTagNameMap[T] | undefined\n\nexport function getOptionalElement<T extends HTMLElement>(\n  selector: string, node?: ParentNode\n): T | undefined\n\nexport function getOptionalElement<T extends HTMLElement>(\n  selector: string, node: ParentNode = document\n): T | undefined {\n  return node.querySelector<T>(selector) || undefined\n}\n\n/**\n * Retrieve the currently active element\n *\n * @returns Element or nothing\n */\nexport function getActiveElement(): HTMLElement | undefined {\n  return (\n    document.activeElement?.shadowRoot?.activeElement as HTMLElement ??\n    document.activeElement as HTMLElement ??\n    undefined\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  debounceTime,\n  distinctUntilChanged,\n  fromEvent,\n  map,\n  merge,\n  shareReplay,\n  startWith\n} from \"rxjs\"\n\nimport { getActiveElement } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Focus observable\n *\n * Previously, this observer used `focus` and `blur` events to determine whether\n * an element is focused, but this doesn't work if there are focusable elements\n * within the elements itself. A better solutions are `focusin` and `focusout`\n * events, which bubble up the tree and allow for more fine-grained control.\n *\n * `debounceTime` is necessary, because when a focus change happens inside an\n * element, the observable would first emit `false` and then `true` again.\n */\nconst observer$ = merge(\n  fromEvent(document.body, \"focusin\"),\n  fromEvent(document.body, \"focusout\")\n)\n  .pipe(\n    debounceTime(1),\n    startWith(undefined),\n    map(() => getActiveElement() || document.body),\n    shareReplay(1)\n  )\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch element focus\n *\n * @param el - Element\n *\n * @returns Element focus observable\n */\nexport function watchElementFocus(\n  el: HTMLElement\n): Observable<boolean> {\n  return observer$\n    .pipe(\n      map(active => el.contains(active)),\n      distinctUntilChanged()\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  debounce,\n  defer,\n  fromEvent,\n  identity,\n  map,\n  merge,\n  startWith,\n  timer\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch element hover\n *\n * The second parameter allows to specify a timeout in milliseconds after which\n * the hover state will be reset to `false`. This is useful for tooltips which\n * should disappear after a certain amount of time, in order to allow the user\n * to move the cursor from the host to the tooltip.\n *\n * @param el - Element\n * @param timeout - Timeout\n *\n * @returns Element hover observable\n */\nexport function watchElementHover(\n  el: HTMLElement, timeout?: number\n): Observable<boolean> {\n  return defer(() => merge(\n    fromEvent(el, \"mouseenter\").pipe(map(() => true)),\n    fromEvent(el, \"mouseleave\").pipe(map(() => false))\n  )\n    .pipe(\n      timeout ? debounce(active => timer(+!active * timeout)) : identity,\n      startWith(el.matches(\":hover\"))\n    )\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { JSX as JSXInternal } from \"preact\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * HTML attributes\n */\ntype Attributes =\n  & JSXInternal.HTMLAttributes\n  & JSXInternal.SVGAttributes\n  & Record<string, any>\n\n/**\n * Child element\n */\ntype Child =\n  | ChildNode\n  | HTMLElement\n  | Text\n  | string\n  | number\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Append a child node to an element\n *\n * @param el - Element\n * @param child - Child node(s)\n */\nfunction appendChild(el: HTMLElement, child: Child | Child[]): void {\n\n  /* Handle primitive types (including raw HTML) */\n  if (typeof child === \"string\" || typeof child === \"number\") {\n    el.innerHTML += child.toString()\n\n  /* Handle nodes */\n  } else if (child instanceof Node) {\n    el.appendChild(child)\n\n  /* Handle nested children */\n  } else if (Array.isArray(child)) {\n    for (const node of child)\n      appendChild(el, node)\n  }\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * JSX factory\n *\n * @template T - Element type\n *\n * @param tag - HTML tag\n * @param attributes - HTML attributes\n * @param children - Child elements\n *\n * @returns Element\n */\nexport function h<T extends keyof HTMLElementTagNameMap>(\n  tag: T, attributes?: Attributes | null, ...children: Child[]\n): HTMLElementTagNameMap[T]\n\nexport function h<T extends h.JSX.Element>(\n  tag: string, attributes?: Attributes | null, ...children: Child[]\n): T\n\nexport function h<T extends h.JSX.Element>(\n  tag: string, attributes?: Attributes | null, ...children: Child[]\n): T {\n  const el = document.createElement(tag)\n\n  /* Set attributes, if any */\n  if (attributes)\n    for (const attr of Object.keys(attributes)) {\n      if (typeof attributes[attr] === \"undefined\")\n        continue\n\n      /* Set default attribute or boolean */\n      if (typeof attributes[attr] !== \"boolean\")\n        el.setAttribute(attr, attributes[attr])\n      else\n        el.setAttribute(attr, \"\")\n    }\n\n  /* Append child nodes */\n  for (const child of children)\n    appendChild(el, child)\n\n  /* Return element */\n  return el as T\n}\n\n/* ----------------------------------------------------------------------------\n * Namespace\n * ------------------------------------------------------------------------- */\n\nexport declare namespace h {\n  namespace JSX {\n    type Element = HTMLElement\n    type IntrinsicElements = JSXInternal.IntrinsicElements\n  }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Round a number for display with repository facts\n *\n * This is a reverse-engineered version of GitHub's weird rounding algorithm\n * for stars, forks and all other numbers. While all numbers below `1,000` are\n * returned as-is, bigger numbers are converted to fixed numbers:\n *\n * - `1,049` => `1k`\n * - `1,050` => `1.1k`\n * - `1,949` => `1.9k`\n * - `1,950` => `2k`\n *\n * @param value - Original value\n *\n * @returns Rounded value\n */\nexport function round(value: number): string {\n  if (value > 999) {\n    const digits = +((value - 950) % 1000 > 99)\n    return `${((value + 0.000001) / 1000).toFixed(digits)}k`\n  } else {\n    return value.toString()\n  }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  defer,\n  finalize,\n  fromEvent,\n  map,\n  merge,\n  switchMap,\n  take,\n  throwError\n} from \"rxjs\"\n\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Create and load a `script` element\n *\n * This function returns an observable that will emit when the script was\n * successfully loaded, or throw an error if it wasn't.\n *\n * @param src - Script URL\n *\n * @returns Script observable\n */\nexport function watchScript(src: string): Observable<void> {\n  const script = h(\"script\", { src })\n  return defer(() => {\n    document.head.appendChild(script)\n    return merge(\n      fromEvent(script, \"load\"),\n      fromEvent(script, \"error\")\n        .pipe(\n          switchMap(() => (\n            throwError(() => new ReferenceError(`Invalid script: ${src}`))\n          ))\n        )\n    )\n      .pipe(\n        map(() => undefined),\n        finalize(() => document.head.removeChild(script)),\n        take(1)\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  NEVER,\n  Observable,\n  Subject,\n  defer,\n  filter,\n  finalize,\n  map,\n  merge,\n  of,\n  shareReplay,\n  startWith,\n  switchMap,\n  tap\n} from \"rxjs\"\n\nimport { watchScript } from \"../../../script\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Element offset\n */\nexport interface ElementSize {\n  width: number                        /* Element width */\n  height: number                       /* Element height */\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Resize observer entry subject\n */\nconst entry$ = new Subject<ResizeObserverEntry>()\n\n/**\n * Resize observer observable\n *\n * This observable will create a `ResizeObserver` on the first subscription\n * and will automatically terminate it when there are no more subscribers.\n * It's quite important to centralize observation in a single `ResizeObserver`,\n * as the performance difference can be quite dramatic, as the link shows.\n *\n * If the browser doesn't have a `ResizeObserver` implementation available, a\n * polyfill is automatically downloaded from unpkg.com. This is also compatible\n * with the built-in privacy plugin, which will download the polyfill and put\n * it alongside the built site for self-hosting.\n *\n * @see https://bit.ly/3iIYfEm - Google Groups on performance\n */\nconst observer$ = defer(() => (\n  typeof ResizeObserver === \"undefined\"\n    ? watchScript(\"https://unpkg.com/resize-observer-polyfill\")\n    : of(undefined)\n))\n  .pipe(\n    map(() => new ResizeObserver(entries => (\n      entries.forEach(entry => entry$.next(entry))\n    ))),\n    switchMap(observer => merge(NEVER, of(observer)).pipe(\n      finalize(() => observer.disconnect())\n    )),\n    shareReplay(1)\n  )\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve element size\n *\n * @param el - Element\n *\n * @returns Element size\n */\nexport function getElementSize(\n  el: HTMLElement\n): ElementSize {\n  return {\n    width:  el.offsetWidth,\n    height: el.offsetHeight\n  }\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch element size\n *\n * This function returns an observable that subscribes to a single internal\n * instance of `ResizeObserver` upon subscription, and emit resize events until\n * termination. Note that this function should not be called with the same\n * element twice, as the first unsubscription will terminate observation.\n *\n * Sadly, we can't use the `DOMRect` objects returned by the observer, because\n * we need the emitted values to be consistent with `getElementSize`, which will\n * return the used values (rounded) and not actual values (unrounded). Thus, we\n * use the `offset*` properties. See the linked GitHub issue.\n *\n * @see https://bit.ly/3m0k3he - GitHub issue\n *\n * @param el - Element\n *\n * @returns Element size observable\n */\nexport function watchElementSize(\n  el: HTMLElement\n): Observable<ElementSize> {\n\n  // Compute target element - since inline elements cannot be observed by the\n  // current `ResizeObserver` implementation as provided by browsers, we need\n  // to determine the first containing parent element and use that one as a\n  // target, while we always compute the actual size from the element.\n  let target = el\n  while (target.clientWidth === 0)\n    if (target.parentElement)\n      target = target.parentElement\n    else\n      break\n\n  // Observe target element and recompute element size on resize - as described\n  // above, the target element is not necessarily the element of interest\n  return observer$.pipe(\n    tap(observer => observer.observe(target)),\n    switchMap(observer => entry$.pipe(\n      filter(entry => entry.target === target),\n      finalize(() => observer.unobserve(target))\n    )),\n    map(() => getElementSize(el)),\n    startWith(getElementSize(el))\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { ElementSize } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve element content size (= scroll width and height)\n *\n * @param el - Element\n *\n * @returns Element content size\n */\nexport function getElementContentSize(\n  el: HTMLElement\n): ElementSize {\n  return {\n    width:  el.scrollWidth,\n    height: el.scrollHeight\n  }\n}\n\n/**\n * Retrieve the overflowing container of an element, if any\n *\n * @param el - Element\n *\n * @returns Overflowing container or nothing\n */\nexport function getElementContainer(\n  el: HTMLElement\n): HTMLElement | undefined {\n  let parent = el.parentElement\n  while (parent)\n    if (\n      el.scrollWidth  <= parent.scrollWidth &&\n      el.scrollHeight <= parent.scrollHeight\n    )\n      parent = (el = parent).parentElement\n    else\n      break\n\n  /* Return overflowing container */\n  return parent ? el : undefined\n}\n\n/**\n * Retrieve all overflowing containers of an element, if any\n *\n * Note that this function has a slightly different behavior, so we should at\n * some point consider refactoring how overflowing containers are handled.\n *\n * @param el - Element\n *\n * @returns Overflowing containers\n */\nexport function getElementContainers(\n  el: HTMLElement\n): HTMLElement[] {\n  const containers: HTMLElement[] = []\n\n  // Walk up the DOM tree until we find an overflowing container\n  let parent = el.parentElement\n  while (parent) {\n    if (\n      el.clientWidth  > parent.clientWidth ||\n      el.clientHeight > parent.clientHeight\n    )\n      containers.push(parent)\n\n    // Continue with parent element\n    parent = (el = parent).parentElement\n  }\n\n  // If the page is short, the body might not be overflowing and there might be\n  // no other containers, which is why we need to make sure the body is present\n  if (containers.length === 0)\n    containers.push(document.documentElement)\n\n  // Return overflowing containers\n  return containers\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  animationFrameScheduler,\n  auditTime,\n  fromEvent,\n  map,\n  merge,\n  startWith\n} from \"rxjs\"\n\nimport { watchElementSize } from \"../../size\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Element offset\n */\nexport interface ElementOffset {\n  x: number                            /* Horizontal offset */\n  y: number                            /* Vertical offset */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve element offset\n *\n * @param el - Element\n *\n * @returns Element offset\n */\nexport function getElementOffset(\n  el: HTMLElement\n): ElementOffset {\n  return {\n    x: el.offsetLeft,\n    y: el.offsetTop\n  }\n}\n\n/**\n * Retrieve absolute element offset\n *\n * @param el - Element\n *\n * @returns Element offset\n */\nexport function getElementOffsetAbsolute(\n  el: HTMLElement\n): ElementOffset {\n  const rect = el.getBoundingClientRect()\n  return {\n    x: rect.x + window.scrollX,\n    y: rect.y + window.scrollY\n  }\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch element offset\n *\n * @param el - Element\n *\n * @returns Element offset observable\n */\nexport function watchElementOffset(\n  el: HTMLElement\n): Observable<ElementOffset> {\n  return merge(\n    fromEvent(window, \"load\"),\n    fromEvent(window, \"resize\")\n  )\n    .pipe(\n      auditTime(0, animationFrameScheduler),\n      map(() => getElementOffset(el)),\n      startWith(getElementOffset(el))\n    )\n}\n\n/**\n * Watch absolute element offset\n *\n * @param el - Element\n *\n * @returns Element offset observable\n */\nexport function watchElementOffsetAbsolute(\n  el: HTMLElement\n): Observable<ElementOffset> {\n  return merge(\n    watchElementOffset(el),\n    watchElementSize(document.body) // @todo find a better way for this\n  )\n    .pipe(\n      map(() => getElementOffsetAbsolute(el)),\n      startWith(getElementOffsetAbsolute(el))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  animationFrameScheduler,\n  auditTime,\n  fromEvent,\n  map,\n  merge,\n  startWith\n} from \"rxjs\"\n\nimport { ElementOffset } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve element content offset (= scroll offset)\n *\n * @param el - Element\n *\n * @returns Element content offset\n */\nexport function getElementContentOffset(\n  el: HTMLElement\n): ElementOffset {\n  return {\n    x: el.scrollLeft,\n    y: el.scrollTop\n  }\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch element content offset\n *\n * @param el - Element\n *\n * @returns Element content offset observable\n */\nexport function watchElementContentOffset(\n  el: HTMLElement\n): Observable<ElementOffset> {\n  return merge(\n    fromEvent(el, \"scroll\"),\n    fromEvent(window, \"scroll\"),\n    fromEvent(window, \"resize\")\n  )\n    .pipe(\n      auditTime(0, animationFrameScheduler),\n      map(() => getElementContentOffset(el)),\n      startWith(getElementContentOffset(el))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  NEVER,\n  Observable,\n  Subject,\n  defer,\n  distinctUntilChanged,\n  filter,\n  finalize,\n  map,\n  merge,\n  of,\n  shareReplay,\n  switchMap,\n  tap\n} from \"rxjs\"\n\nimport {\n  getElementContentSize,\n  getElementSize,\n  watchElementContentOffset\n} from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Intersection observer entry subject\n */\nconst entry$ = new Subject<IntersectionObserverEntry>()\n\n/**\n * Intersection observer observable\n *\n * This observable will create an `IntersectionObserver` on first subscription\n * and will automatically terminate it when there are no more subscribers.\n *\n * @see https://bit.ly/3iIYfEm - Google Groups on performance\n */\nconst observer$ = defer(() => of(\n  new IntersectionObserver(entries => {\n    for (const entry of entries)\n      entry$.next(entry)\n  }, {\n    threshold: 0\n  })\n))\n  .pipe(\n    switchMap(observer => merge(NEVER, of(observer))\n      .pipe(\n        finalize(() => observer.disconnect())\n      )\n    ),\n    shareReplay(1)\n  )\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch element visibility\n *\n * @param el - Element\n *\n * @returns Element visibility observable\n */\nexport function watchElementVisibility(\n  el: HTMLElement\n): Observable<boolean> {\n  return observer$\n    .pipe(\n      tap(observer => observer.observe(el)),\n      switchMap(observer => entry$\n        .pipe(\n          filter(({ target }) => target === el),\n          finalize(() => observer.unobserve(el)),\n          map(({ isIntersecting }) => isIntersecting)\n        )\n      )\n    )\n}\n\n/**\n * Watch element boundary\n *\n * This function returns an observable which emits whether the bottom content\n * boundary (= scroll offset) of an element is within a certain threshold.\n *\n * @param el - Element\n * @param threshold - Threshold\n *\n * @returns Element boundary observable\n */\nexport function watchElementBoundary(\n  el: HTMLElement, threshold = 16\n): Observable<boolean> {\n  return watchElementContentOffset(el)\n    .pipe(\n      map(({ y }) => {\n        const visible = getElementSize(el)\n        const content = getElementContentSize(el)\n        return y >= (\n          content.height - visible.height - threshold\n        )\n      }),\n      distinctUntilChanged()\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  fromEvent,\n  map,\n  startWith\n} from \"rxjs\"\n\nimport { getElement } from \"../element\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Toggle\n */\nexport type Toggle =\n  | \"drawer\"                           /* Toggle for drawer */\n  | \"search\"                           /* Toggle for search */\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Toggle map\n */\nconst toggles: Record<Toggle, HTMLInputElement> = {\n  drawer: getElement(\"[data-md-toggle=drawer]\"),\n  search: getElement(\"[data-md-toggle=search]\")\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve the value of a toggle\n *\n * @param name - Toggle\n *\n * @returns Toggle value\n */\nexport function getToggle(name: Toggle): boolean {\n  return toggles[name].checked\n}\n\n/**\n * Set toggle\n *\n * Simulating a click event seems to be the most cross-browser compatible way\n * of changing the value while also emitting a `change` event. Before, Material\n * used `CustomEvent` to programmatically change the value of a toggle, but this\n * is a much simpler and cleaner solution which doesn't require a polyfill.\n *\n * @param name - Toggle\n * @param value - Toggle value\n */\nexport function setToggle(name: Toggle, value: boolean): void {\n  if (toggles[name].checked !== value)\n    toggles[name].click()\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch toggle\n *\n * @param name - Toggle\n *\n * @returns Toggle value observable\n */\nexport function watchToggle(name: Toggle): Observable<boolean> {\n  const el = toggles[name]\n  return fromEvent(el, \"change\")\n    .pipe(\n      map(() => el.checked),\n      startWith(el.checked)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  filter,\n  fromEvent,\n  map,\n  merge,\n  share,\n  startWith,\n  switchMap\n} from \"rxjs\"\n\nimport { getActiveElement } from \"../element\"\nimport { getToggle } from \"../toggle\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Keyboard mode\n */\nexport type KeyboardMode =\n  | \"global\"                           /* Global */\n  | \"search\"                           /* Search is open */\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Keyboard\n */\nexport interface Keyboard {\n  mode: KeyboardMode                   /* Keyboard mode */\n  type: string                         /* Key type */\n  claim(): void                        /* Key claim */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Check whether an element may receive keyboard input\n *\n * @param el - Element\n * @param type - Key type\n *\n * @returns Test result\n */\nfunction isSusceptibleToKeyboard(\n  el: HTMLElement, type: string\n): boolean {\n  switch (el.constructor) {\n\n    /* Input elements */\n    case HTMLInputElement:\n      /* @ts-expect-error - omit unnecessary type cast */\n      if (el.type === \"radio\")\n        return /^Arrow/.test(type)\n      else\n        return true\n\n    /* Select element and textarea */\n    case HTMLSelectElement:\n    case HTMLTextAreaElement:\n      return true\n\n    /* Everything else */\n    default:\n      return el.isContentEditable\n  }\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch composition events\n *\n * @returns Composition observable\n */\nexport function watchComposition(): Observable<boolean> {\n  return merge(\n    fromEvent(window, \"compositionstart\").pipe(map(() => true)),\n    fromEvent(window, \"compositionend\").pipe(map(() => false))\n  )\n    .pipe(\n      startWith(false)\n    )\n}\n\n/**\n * Watch keyboard\n *\n * @returns Keyboard observable\n */\nexport function watchKeyboard(): Observable<Keyboard> {\n  const keyboard$ = fromEvent<KeyboardEvent>(window, \"keydown\")\n    .pipe(\n      filter(ev => !(ev.metaKey || ev.ctrlKey)),\n      map(ev => ({\n        mode: getToggle(\"search\") ? \"search\" : \"global\",\n        type: ev.key,\n        claim() {\n          ev.preventDefault()\n          ev.stopPropagation()\n        }\n      } as Keyboard)),\n      filter(({ mode, type }) => {\n        if (mode === \"global\") {\n          const active = getActiveElement()\n          if (typeof active !== \"undefined\")\n            return !isSusceptibleToKeyboard(active, type)\n        }\n        return true\n      }),\n      share()\n    )\n\n  /* Don't emit during composition events - see https://bit.ly/3te3Wl8 */\n  return watchComposition()\n    .pipe(\n      switchMap(active => !active ? keyboard$ : EMPTY)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { Subject } from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve location\n *\n * This function returns a `URL` object (and not `Location`) to normalize the\n * typings across the application. Furthermore, locations need to be tracked\n * without setting them and `Location` is a singleton which represents the\n * current location.\n *\n * @returns URL\n */\nexport function getLocation(): URL {\n  return new URL(location.href)\n}\n\n/**\n * Set location\n *\n * If instant navigation is enabled, this function creates a temporary anchor\n * element, sets the `href` attribute, appends it to the body, clicks it, and\n * then removes it again. The event will bubble up the DOM and trigger be\n * intercepted by the instant loading business logic.\n *\n * Note that we must append and remove the anchor element, or the event will\n * not bubble up the DOM, making it impossible to intercept it.\n *\n * @param url - URL to navigate to\n * @param navigate - Force navigation\n */\nexport function setLocation(\n  url: URL | HTMLLinkElement, navigate = false\n): void {\n  if (feature(\"navigation.instant\") && !navigate) {\n    const el = h(\"a\", { href: url.href })\n    document.body.appendChild(el)\n    el.click()\n    el.remove()\n\n  // If we're not using instant navigation, and the page should not be reloaded\n  // just instruct the browser to navigate to the given URL\n  } else {\n    location.href = url.href\n  }\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch location\n *\n * @returns Location subject\n */\nexport function watchLocation(): Subject<URL> {\n  return new Subject<URL>()\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  filter,\n  fromEvent,\n  map,\n  merge,\n  shareReplay,\n  startWith\n} from \"rxjs\"\n\nimport { getOptionalElement } from \"~/browser\"\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve location hash\n *\n * @returns Location hash\n */\nexport function getLocationHash(): string {\n  return location.hash.slice(1)\n}\n\n/**\n * Set location hash\n *\n * Setting a new fragment identifier via `location.hash` will have no effect\n * if the value doesn't change. When a new fragment identifier is set, we want\n * the browser to target the respective element at all times, which is why we\n * use this dirty little trick.\n *\n * @param hash - Location hash\n */\nexport function setLocationHash(hash: string): void {\n  const el = h(\"a\", { href: hash })\n  el.addEventListener(\"click\", ev => ev.stopPropagation())\n  el.click()\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch location hash\n *\n * @param location$ - Location observable\n *\n * @returns Location hash observable\n */\nexport function watchLocationHash(\n  location$: Observable<URL>\n): Observable<string> {\n  return merge(\n    fromEvent<HashChangeEvent>(window, \"hashchange\"),\n    location$\n  )\n    .pipe(\n      map(getLocationHash),\n      startWith(getLocationHash()),\n      filter(hash => hash.length > 0),\n      shareReplay(1)\n    )\n}\n\n/**\n * Watch location target\n *\n * @param location$ - Location observable\n *\n * @returns Location target observable\n */\nexport function watchLocationTarget(\n  location$: Observable<URL>\n): Observable<HTMLElement> {\n  return watchLocationHash(location$)\n    .pipe(\n      map(id => getOptionalElement(`[id=\"${id}\"]`)!),\n      filter(el => typeof el !== \"undefined\")\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  fromEvent,\n  fromEventPattern,\n  map,\n  merge,\n  startWith,\n  switchMap\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch media query\n *\n * Note that although `MediaQueryList.addListener` is deprecated we have to\n * use it, because it's the only way to ensure proper downward compatibility.\n *\n * @see https://bit.ly/3dUBH2m - GitHub issue\n *\n * @param query - Media query\n *\n * @returns Media observable\n */\nexport function watchMedia(query: string): Observable<boolean> {\n  const media = matchMedia(query)\n  return fromEventPattern<boolean>(next => (\n    media.addListener(() => next(media.matches))\n  ))\n    .pipe(\n      startWith(media.matches)\n    )\n}\n\n/**\n * Watch print mode\n *\n * @returns Print observable\n */\nexport function watchPrint(): Observable<boolean> {\n  const media = matchMedia(\"print\")\n  return merge(\n    fromEvent(window, \"beforeprint\").pipe(map(() => true)),\n    fromEvent(window, \"afterprint\").pipe(map(() => false))\n  )\n    .pipe(\n      startWith(media.matches)\n    )\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Toggle an observable with a media observable\n *\n * @template T - Data type\n *\n * @param query$ - Media observable\n * @param factory - Observable factory\n *\n * @returns Toggled observable\n */\nexport function at<T>(\n  query$: Observable<boolean>, factory: () => Observable<T>\n): Observable<T> {\n  return query$\n    .pipe(\n      switchMap(active => active ? factory() : EMPTY)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  map,\n  shareReplay,\n  switchMap\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Options\n */\ninterface Options {\n  progress$?: Subject<number>          // Progress subject\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch the given URL\n *\n * This function returns an observable that emits the response as a blob and\n * completes, or emits an error if the request failed. The caller can cancel\n * the request by unsubscribing at any time, which will automatically abort\n * the inflight request and complete the observable.\n *\n * Note that we use `XMLHTTPRequest` not because we're nostalgic, but because\n * it's the only way to get progress events for downloads and also allow for\n * cancellation of requests, as the official Fetch API does not support this\n * yet, even though we're already in 2024.\n *\n * @param url - Request URL\n * @param options - Options\n *\n * @returns Data observable\n */\nexport function request(\n  url: URL | string, options?: Options\n): Observable<Blob> {\n  return new Observable<Blob>(observer => {\n    const req = new XMLHttpRequest()\n    req.open(\"GET\", `${url}`)\n    req.responseType = \"blob\"\n\n    // Handle response\n    req.addEventListener(\"load\", () => {\n      if (req.status >= 200 && req.status < 300) {\n        observer.next(req.response)\n        observer.complete()\n\n      // Every response that is not in the 2xx range is considered an error\n      } else {\n        observer.error(new Error(req.statusText))\n      }\n    })\n\n    // Handle network errors\n    req.addEventListener(\"error\", () => {\n      observer.error(new Error(\"Network error\"))\n    })\n\n    // Handle aborted requests\n    req.addEventListener(\"abort\", () => {\n      observer.complete()\n    })\n\n    // Handle download progress\n    if (typeof options?.progress$ !== \"undefined\") {\n      req.addEventListener(\"progress\", event => {\n        if (event.lengthComputable) {\n          options.progress$!.next((event.loaded / event.total) * 100)\n\n        // Hack: Chromium doesn't report the total number of bytes if content\n        // is compressed, so we need this fallback - see https://t.ly/ZXofI\n        } else {\n          const length = req.getResponseHeader(\"Content-Length\") ?? 0\n          options.progress$!.next((event.loaded / +length) * 100)\n        }\n      })\n\n      // Immediately set progress to 5% to indicate that we're loading\n      options.progress$.next(5)\n    }\n\n    // Send request and automatically abort request upon unsubscription\n    req.send()\n    return () => req.abort()\n  })\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Fetch JSON from the given URL\n *\n * @template T - Data type\n *\n * @param url - Request URL\n * @param options - Options\n *\n * @returns Data observable\n */\nexport function requestJSON<T>(\n  url: URL | string, options?: Options\n): Observable<T> {\n  return request(url, options)\n    .pipe(\n      switchMap(res => res.text()),\n      map(body => JSON.parse(body) as T),\n      shareReplay(1)\n    )\n}\n\n/**\n * Fetch HTML from the given URL\n *\n * @param url - Request URL\n * @param options - Options\n *\n * @returns Data observable\n */\nexport function requestHTML(\n  url: URL | string, options?: Options\n): Observable<Document> {\n  const dom = new DOMParser()\n  return request(url, options)\n    .pipe(\n      switchMap(res => res.text()),\n      map(res => dom.parseFromString(res, \"text/html\")),\n      shareReplay(1)\n    )\n}\n\n/**\n * Fetch XML from the given URL\n *\n * @param url - Request URL\n * @param options - Options\n *\n * @returns Data observable\n */\nexport function requestXML(\n  url: URL | string, options?: Options\n): Observable<Document> {\n  const dom = new DOMParser()\n  return request(url, options)\n    .pipe(\n      switchMap(res => res.text()),\n      map(res => dom.parseFromString(res, \"text/xml\")),\n      shareReplay(1)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  fromEvent,\n  map,\n  merge,\n  startWith\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Viewport offset\n */\nexport interface ViewportOffset {\n  x: number                            /* Horizontal offset */\n  y: number                            /* Vertical offset */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve viewport offset\n *\n * On iOS Safari, viewport offset can be negative due to overflow scrolling.\n * As this may induce strange behaviors downstream, we'll just limit it to 0.\n *\n * @returns Viewport offset\n */\nexport function getViewportOffset(): ViewportOffset {\n  return {\n    x: Math.max(0, scrollX),\n    y: Math.max(0, scrollY)\n  }\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch viewport offset\n *\n * @returns Viewport offset observable\n */\nexport function watchViewportOffset(): Observable<ViewportOffset> {\n  return merge(\n    fromEvent(window, \"scroll\", { passive: true }),\n    fromEvent(window, \"resize\", { passive: true })\n  )\n    .pipe(\n      map(getViewportOffset),\n      startWith(getViewportOffset())\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  fromEvent,\n  map,\n  startWith\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Viewport size\n */\nexport interface ViewportSize {\n  width: number                        /* Viewport width */\n  height: number                       /* Viewport height */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve viewport size\n *\n * @returns Viewport size\n */\nexport function getViewportSize(): ViewportSize {\n  return {\n    width:  innerWidth,\n    height: innerHeight\n  }\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch viewport size\n *\n * @returns Viewport size observable\n */\nexport function watchViewportSize(): Observable<ViewportSize> {\n  return fromEvent(window, \"resize\", { passive: true })\n    .pipe(\n      map(getViewportSize),\n      startWith(getViewportSize())\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  combineLatest,\n  map,\n  shareReplay\n} from \"rxjs\"\n\nimport {\n  ViewportOffset,\n  watchViewportOffset\n} from \"../offset\"\nimport {\n  ViewportSize,\n  watchViewportSize\n} from \"../size\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Viewport\n */\nexport interface Viewport {\n  offset: ViewportOffset               /* Viewport offset */\n  size: ViewportSize                   /* Viewport size */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch viewport\n *\n * @returns Viewport observable\n */\nexport function watchViewport(): Observable<Viewport> {\n  return combineLatest([\n    watchViewportOffset(),\n    watchViewportSize()\n  ])\n    .pipe(\n      map(([offset, size]) => ({ offset, size })),\n      shareReplay(1)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  combineLatest,\n  distinctUntilKeyChanged,\n  map\n} from \"rxjs\"\n\nimport { Header } from \"~/components\"\n\nimport { getElementOffset } from \"../../element\"\nimport { Viewport } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch viewport relative to element\n *\n * @param el - Element\n * @param options - Options\n *\n * @returns Viewport observable\n */\nexport function watchViewportAt(\n  el: HTMLElement, { viewport$, header$ }: WatchOptions\n): Observable<Viewport> {\n  const size$ = viewport$\n    .pipe(\n      distinctUntilKeyChanged(\"size\")\n    )\n\n  /* Compute element offset */\n  const offset$ = combineLatest([size$, header$])\n    .pipe(\n      map(() => getElementOffset(el))\n    )\n\n  /* Compute relative viewport, return hot observable */\n  return combineLatest([header$, viewport$, offset$])\n    .pipe(\n      map(([{ height }, { offset, size }, { x, y }]) => ({\n        offset: {\n          x: offset.x - x,\n          y: offset.y - y + height\n        },\n        size\n      }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  endWith,\n  fromEvent,\n  ignoreElements,\n  mergeWith,\n  share,\n  takeUntil\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Worker message\n */\nexport interface WorkerMessage {\n  type: unknown                        /* Message type */\n  data?: unknown                       /* Message data */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Create an observable for receiving from a web worker\n *\n * @template T - Data type\n *\n * @param worker - Web worker\n *\n * @returns Message observable\n */\nfunction recv<T>(worker: Worker): Observable<T> {\n  return fromEvent<MessageEvent<T>, T>(worker, \"message\", ev => ev.data)\n}\n\n/**\n * Create a subject for sending to a web worker\n *\n * @template T - Data type\n *\n * @param worker - Web worker\n *\n * @returns Message subject\n */\nfunction send<T>(worker: Worker): Subject<T> {\n  const send$ = new Subject<T>()\n  send$.subscribe(data => worker.postMessage(data))\n\n  /* Return message subject */\n  return send$\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Create a bidirectional communication channel to a web worker\n *\n * @template T - Data type\n *\n * @param url - Worker URL\n * @param worker - Worker\n *\n * @returns Worker subject\n */\nexport function watchWorker<T extends WorkerMessage>(\n  url: string, worker = new Worker(url)\n): Subject<T> {\n  const recv$ = recv<T>(worker)\n  const send$ = send<T>(worker)\n\n  /* Create worker subject and forward messages */\n  const worker$ = new Subject<T>()\n  worker$.subscribe(send$)\n\n  /* Return worker subject */\n  const done$ = send$.pipe(ignoreElements(), endWith(true))\n  return worker$\n    .pipe(\n      ignoreElements(),\n      mergeWith(recv$.pipe(takeUntil(done$))),\n      share()\n    ) as Subject<T>\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { getElement, getLocation } from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Feature flag\n */\nexport type Flag =\n  | \"announce.dismiss\"                 /* Dismissable announcement bar */\n  | \"content.code.annotate\"            /* Code annotations */\n  | \"content.code.copy\"                /* Code copy button */\n  | \"content.lazy\"                     /* Lazy content elements */\n  | \"content.tabs.link\"                /* Link content tabs */\n  | \"content.tooltips\"                 /* Tooltips */\n  | \"header.autohide\"                  /* Hide header */\n  | \"navigation.expand\"                /* Automatic expansion */\n  | \"navigation.indexes\"               /* Section pages */\n  | \"navigation.instant\"               /* Instant navigation */\n  | \"navigation.instant.progress\"      /* Instant navigation progress */\n  | \"navigation.sections\"              /* Section navigation */\n  | \"navigation.tabs\"                  /* Tabs navigation */\n  | \"navigation.tabs.sticky\"           /* Tabs navigation (sticky) */\n  | \"navigation.top\"                   /* Back-to-top button */\n  | \"navigation.tracking\"              /* Anchor tracking */\n  | \"search.highlight\"                 /* Search highlighting */\n  | \"search.share\"                     /* Search sharing */\n  | \"search.suggest\"                   /* Search suggestions */\n  | \"toc.follow\"                       /* Following table of contents */\n  | \"toc.integrate\"                    /* Integrated table of contents */\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Translation\n */\nexport type Translation =\n  | \"clipboard.copy\"                   /* Copy to clipboard */\n  | \"clipboard.copied\"                 /* Copied to clipboard */\n  | \"search.result.placeholder\"        /* Type to start searching */\n  | \"search.result.none\"               /* No matching documents */\n  | \"search.result.one\"                /* 1 matching document */\n  | \"search.result.other\"              /* # matching documents */\n  | \"search.result.more.one\"           /* 1 more on this page */\n  | \"search.result.more.other\"         /* # more on this page */\n  | \"search.result.term.missing\"       /* Missing */\n  | \"select.version\"                   /* Version selector */\n\n/**\n * Translations\n */\nexport type Translations =\n  Record<Translation, string>\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Versioning\n */\nexport interface Versioning {\n  provider: \"mike\"                     /* Version provider */\n  default?: string | string[]          /* Default version */\n  alias?: boolean                      /* Show alias */\n}\n\n/**\n * Configuration\n */\nexport interface Config {\n  base: string                         /* Base URL */\n  features: Flag[]                     /* Feature flags */\n  translations: Translations           /* Translations */\n  search: string                       /* Search worker URL */\n  tags?: Record<string, string>        /* Tags mapping */\n  version?: Versioning                 /* Versioning */\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve global configuration and make base URL absolute\n */\nconst script = getElement(\"#__config\")\nconst config: Config = JSON.parse(script.textContent!)\nconfig.base = `${new URL(config.base, getLocation())}`\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve global configuration\n *\n * @returns Global configuration\n */\nexport function configuration(): Config {\n  return config\n}\n\n/**\n * Check whether a feature flag is enabled\n *\n * @param flag - Feature flag\n *\n * @returns Test result\n */\nexport function feature(flag: Flag): boolean {\n  return config.features.includes(flag)\n}\n\n/**\n * Retrieve the translation for the given key\n *\n * @param key - Key to be translated\n * @param value - Positional value, if any\n *\n * @returns Translation\n */\nexport function translation(\n  key: Translation, value?: string | number\n): string {\n  return typeof value !== \"undefined\"\n    ? config.translations[key].replace(\"#\", value.toString())\n    : config.translations[key]\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { getElement, getElements } from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Component type\n */\nexport type ComponentType =\n  | \"announce\"                         /* Announcement bar */\n  | \"container\"                        /* Container */\n  | \"consent\"                          /* Consent */\n  | \"content\"                          /* Content */\n  | \"dialog\"                           /* Dialog */\n  | \"header\"                           /* Header */\n  | \"header-title\"                     /* Header title */\n  | \"header-topic\"                     /* Header topic */\n  | \"main\"                             /* Main area */\n  | \"outdated\"                         /* Version warning */\n  | \"palette\"                          /* Color palette */\n  | \"progress\"                         /* Progress indicator */\n  | \"search\"                           /* Search */\n  | \"search-query\"                     /* Search input */\n  | \"search-result\"                    /* Search results */\n  | \"search-share\"                     /* Search sharing */\n  | \"search-suggest\"                   /* Search suggestions */\n  | \"sidebar\"                          /* Sidebar */\n  | \"skip\"                             /* Skip link */\n  | \"source\"                           /* Repository information */\n  | \"tabs\"                             /* Navigation tabs */\n  | \"toc\"                              /* Table of contents */\n  | \"top\"                              /* Back-to-top button */\n\n/**\n * Component\n *\n * @template T - Component type\n * @template U - Reference type\n */\nexport type Component<\n  T extends {} = {},\n  U extends HTMLElement = HTMLElement\n> =\n  T & {\n    ref: U                             /* Component reference */\n  }\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Component type map\n */\ninterface ComponentTypeMap {\n  \"announce\": HTMLElement              /* Announcement bar */\n  \"container\": HTMLElement             /* Container */\n  \"consent\": HTMLElement               /* Consent */\n  \"content\": HTMLElement               /* Content */\n  \"dialog\": HTMLElement                /* Dialog */\n  \"header\": HTMLElement                /* Header */\n  \"header-title\": HTMLElement          /* Header title */\n  \"header-topic\": HTMLElement          /* Header topic */\n  \"main\": HTMLElement                  /* Main area */\n  \"outdated\": HTMLElement              /* Version warning */\n  \"palette\": HTMLElement               /* Color palette */\n  \"progress\": HTMLElement              /* Progress indicator */\n  \"search\": HTMLElement                /* Search */\n  \"search-query\": HTMLInputElement     /* Search input */\n  \"search-result\": HTMLElement         /* Search results */\n  \"search-share\": HTMLAnchorElement    /* Search sharing */\n  \"search-suggest\": HTMLElement        /* Search suggestions */\n  \"sidebar\": HTMLElement               /* Sidebar */\n  \"skip\": HTMLAnchorElement            /* Skip link */\n  \"source\": HTMLAnchorElement          /* Repository information */\n  \"tabs\": HTMLElement                  /* Navigation tabs */\n  \"toc\": HTMLElement                   /* Table of contents */\n  \"top\": HTMLAnchorElement             /* Back-to-top button */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve the element for a given component or throw a reference error\n *\n * @template T - Component type\n *\n * @param type - Component type\n * @param node - Node of reference\n *\n * @returns Element\n */\nexport function getComponentElement<T extends ComponentType>(\n  type: T, node: ParentNode = document\n): ComponentTypeMap[T] {\n  return getElement(`[data-md-component=${type}]`, node)\n}\n\n/**\n * Retrieve all elements for a given component\n *\n * @template T - Component type\n *\n * @param type - Component type\n * @param node - Node of reference\n *\n * @returns Elements\n */\nexport function getComponentElements<T extends ComponentType>(\n  type: T, node: ParentNode = document\n): ComponentTypeMap[T][] {\n  return getElements(`[data-md-component=${type}]`, node)\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  defer,\n  finalize,\n  fromEvent,\n  map,\n  tap\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport { getElement } from \"~/browser\"\n\nimport { Component } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Announcement bar\n */\nexport interface Announce {\n  hash: number                        /* Content hash */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch announcement bar\n *\n * @param el - Announcement bar element\n *\n * @returns Announcement bar observable\n */\nexport function watchAnnounce(\n  el: HTMLElement\n): Observable<Announce> {\n  const button = getElement(\".md-typeset > :first-child\", el)\n  return fromEvent(button, \"click\", { once: true })\n    .pipe(\n      map(() => getElement(\".md-typeset\", el)),\n      map(content => ({ hash: __md_hash(content.innerHTML) }))\n    )\n}\n\n/**\n * Mount announcement bar\n *\n * @param el - Announcement bar element\n *\n * @returns Announcement bar component observable\n */\nexport function mountAnnounce(\n  el: HTMLElement\n): Observable<Component<Announce>> {\n  if (!feature(\"announce.dismiss\") || !el.childElementCount)\n    return EMPTY\n\n  /* Support instant navigation - see https://t.ly/3FTme */\n  if (!el.hidden) {\n    const content = getElement(\".md-typeset\", el)\n    if (__md_hash(content.innerHTML) === __md_get(\"__announce\"))\n      el.hidden = true\n  }\n\n  /* Mount component on subscription */\n  return defer(() => {\n    const push$ = new Subject<Announce>()\n    push$.subscribe(({ hash }) => {\n      el.hidden = true\n\n      /* Persist preference in local storage */\n      __md_set<number>(\"__announce\", hash)\n    })\n\n    /* Create and return component */\n    return watchAnnounce(el)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  finalize,\n  map,\n  tap\n} from \"rxjs\"\n\nimport { Component } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Consent\n */\nexport interface Consent {\n  hidden: boolean                      /* Consent is hidden */\n}\n\n/**\n * Consent defaults\n */\nexport interface ConsentDefaults {\n  analytics?: boolean                  /* Consent for Analytics */\n  github?: boolean                     /* Consent for GitHub */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  target$: Observable<HTMLElement>     /* Target observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  target$: Observable<HTMLElement>     /* Target observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch consent\n *\n * @param el - Consent element\n * @param options - Options\n *\n * @returns Consent observable\n */\nexport function watchConsent(\n  el: HTMLElement, { target$ }: WatchOptions\n): Observable<Consent> {\n  return target$\n    .pipe(\n      map(target => ({ hidden: target !== el }))\n    )\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Mount consent\n *\n * @param el - Consent element\n * @param options - Options\n *\n * @returns Consent component observable\n */\nexport function mountConsent(\n  el: HTMLElement, options: MountOptions\n): Observable<Component<Consent>> {\n  const internal$ = new Subject<Consent>()\n  internal$.subscribe(({ hidden }) => {\n    el.hidden = hidden\n  })\n\n  /* Create and return component */\n  return watchConsent(el, options)\n    .pipe(\n      tap(state => internal$.next(state)),\n      finalize(() => internal$.complete()),\n      map(state => ({ ref: el, ...state }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { ComponentChild } from \"preact\"\n\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Tooltip style\n */\nexport type TooltipStyle =\n  | \"inline\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a tooltip\n *\n * @param id - Tooltip identifier\n * @param style - Tooltip style\n *\n * @returns Element\n */\nexport function renderTooltip(\n  id?: string, style?: TooltipStyle\n): HTMLElement {\n  if (style === \"inline\") { // @todo refactor control flow\n    return (\n      <div class=\"md-tooltip md-tooltip--inline\" id={id} role=\"tooltip\">\n        <div class=\"md-tooltip__inner md-typeset\"></div>\n      </div>\n    )\n  } else {\n    return (\n      <div class=\"md-tooltip\" id={id} role=\"tooltip\">\n        <div class=\"md-tooltip__inner md-typeset\"></div>\n      </div>\n    )\n  }\n}\n\n// @todo: rename\nexport function renderInlineTooltip2(\n  ...children: ComponentChild[]\n): HTMLElement {\n  return (\n    <div class=\"md-tooltip2\" role=\"tooltip\">\n      <div class=\"md-tooltip2__inner md-typeset\">\n        {children}\n      </div>\n    </div>\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { h } from \"~/utilities\"\n\nimport { renderTooltip } from \"../tooltip\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render an annotation\n *\n * @param id - Annotation identifier\n * @param prefix - Tooltip identifier prefix\n *\n * @returns Element\n */\nexport function renderAnnotation(\n  id: string | number, prefix?: string\n): HTMLElement {\n  prefix = prefix ? `${prefix}_annotation_${id}` : undefined\n\n  /* Render tooltip with anchor, if given */\n  if (prefix) {\n    const anchor = prefix ? `#${prefix}` : undefined\n    return (\n      <aside class=\"md-annotation\" tabIndex={0}>\n        {renderTooltip(prefix)}\n        <a href={anchor} class=\"md-annotation__index\" tabIndex={-1}>\n          <span data-md-annotation-id={id}></span>\n        </a>\n      </aside>\n    )\n  } else {\n    return (\n      <aside class=\"md-annotation\" tabIndex={0}>\n        {renderTooltip(prefix)}\n        <span class=\"md-annotation__index\" tabIndex={-1}>\n          <span data-md-annotation-id={id}></span>\n        </span>\n      </aside>\n    )\n  }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { translation } from \"~/_\"\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a 'copy-to-clipboard' button\n *\n * @param id - Unique identifier\n *\n * @returns Element\n */\nexport function renderClipboardButton(id: string): HTMLElement {\n  return (\n    <button\n      class=\"md-clipboard md-icon\"\n      title={translation(\"clipboard.copy\")}\n      data-clipboard-target={`#${id} > code`}\n    ></button>\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport escapeHTML from \"escape-html\"\nimport { ComponentChild } from \"preact\"\n\nimport { configuration, feature, translation } from \"~/_\"\nimport { SearchItem } from \"~/integrations/search\"\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Render flag\n */\nconst enum Flag {\n  TEASER = 1,                          /* Render teaser */\n  PARENT = 2                           /* Render as parent */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper function\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a search document\n *\n * @param document - Search document\n * @param flag - Render flags\n *\n * @returns Element\n */\nfunction renderSearchDocument(\n  document: SearchItem, flag: Flag\n): HTMLElement {\n  const parent = flag & Flag.PARENT\n  const teaser = flag & Flag.TEASER\n\n  /* Render missing query terms */\n  const missing = Object.keys(document.terms)\n    .filter(key => !document.terms[key])\n    .reduce<ComponentChild[]>((list, key) => [\n      ...list, <del>{escapeHTML(key)}</del>, \" \"\n    ], [])\n    .slice(0, -1)\n\n  /* Assemble query string for highlighting */\n  const config = configuration()\n  const url = new URL(document.location, config.base)\n  if (feature(\"search.highlight\"))\n    url.searchParams.set(\"h\", Object.entries(document.terms)\n      .filter(([, match]) => match)\n      .reduce((highlight, [value]) => `${highlight} ${value}`.trim(), \"\")\n    )\n\n  /* Render article or section, depending on flags */\n  const { tags } = configuration()\n  return (\n    <a href={`${url}`} class=\"md-search-result__link\" tabIndex={-1}>\n      <article\n        class=\"md-search-result__article md-typeset\"\n        data-md-score={document.score.toFixed(2)}\n      >\n        {parent > 0 && <div class=\"md-search-result__icon md-icon\"></div>}\n        {parent > 0 && <h1>{document.title}</h1>}\n        {parent <= 0 && <h2>{document.title}</h2>}\n        {teaser > 0 && document.text.length > 0 &&\n          document.text\n        }\n        {document.tags && document.tags.map(tag => {\n          const type = tags\n            ? tag in tags\n              ? `md-tag-icon md-tag--${tags[tag]}`\n              : \"md-tag-icon\"\n            : \"\"\n          return (\n            <span class={`md-tag ${type}`}>{tag}</span>\n          )\n        })}\n        {teaser > 0 && missing.length > 0 &&\n          <p class=\"md-search-result__terms\">\n            {translation(\"search.result.term.missing\")}: {...missing}\n          </p>\n        }\n      </article>\n    </a>\n  )\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a search result\n *\n * @param result - Search result\n *\n * @returns Element\n */\nexport function renderSearchResultItem(\n  result: SearchItem[]\n): HTMLElement {\n  const threshold = result[0].score\n  const docs = [...result]\n\n  const config = configuration()\n\n  /* Find and extract parent article */\n  const parent = docs.findIndex(doc => {\n    const l = `${new URL(doc.location, config.base)}` // @todo hacky\n    return !l.includes(\"#\")\n  })\n  const [article] = docs.splice(parent, 1)\n\n  /* Determine last index above threshold */\n  let index = docs.findIndex(doc => doc.score < threshold)\n  if (index === -1)\n    index = docs.length\n\n  /* Partition sections */\n  const best = docs.slice(0, index)\n  const more = docs.slice(index)\n\n  /* Render children */\n  const children = [\n    renderSearchDocument(article, Flag.PARENT | +(!parent && index === 0)),\n    ...best.map(section => renderSearchDocument(section, Flag.TEASER)),\n    ...more.length ? [\n      <details class=\"md-search-result__more\">\n        <summary tabIndex={-1}>\n          <div>\n            {more.length > 0 && more.length === 1\n              ? translation(\"search.result.more.one\")\n              : translation(\"search.result.more.other\", more.length)\n            }\n          </div>\n        </summary>\n        {...more.map(section => renderSearchDocument(section, Flag.TEASER))}\n      </details>\n    ] : []\n  ]\n\n  /* Render search result */\n  return (\n    <li class=\"md-search-result__item\">\n      {children}\n    </li>\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { SourceFacts } from \"~/components\"\nimport { h, round } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render repository facts\n *\n * @param facts - Repository facts\n *\n * @returns Element\n */\nexport function renderSourceFacts(facts: SourceFacts): HTMLElement {\n  return (\n    <ul class=\"md-source__facts\">\n      {Object.entries(facts).map(([key, value]) => (\n        <li class={`md-source__fact md-source__fact--${key}`}>\n          {typeof value === \"number\" ? round(value) : value}\n        </li>\n      ))}\n    </ul>\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Tabbed control type\n */\ntype TabbedControlType =\n  | \"prev\"\n  | \"next\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render control for content tabs\n *\n * @param type - Control type\n *\n * @returns Element\n */\nexport function renderTabbedControl(\n  type: TabbedControlType\n): HTMLElement {\n  const classes = `tabbed-control tabbed-control--${type}`\n  return (\n    <div class={classes} hidden>\n      <button class=\"tabbed-button\" tabIndex={-1} aria-hidden=\"true\"></button>\n    </div>\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a table inside a wrapper to improve scrolling on mobile\n *\n * @param table - Table element\n *\n * @returns Element\n */\nexport function renderTable(table: HTMLElement): HTMLElement {\n  return (\n    <div class=\"md-typeset__scrollwrap\">\n      <div class=\"md-typeset__table\">\n        {table}\n      </div>\n    </div>\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { configuration, translation } from \"~/_\"\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Version properties\n */\nexport interface VersionProperties {\n  hidden?: boolean                     /* Version is hidden */\n}\n\n/**\n * Version\n */\nexport interface Version {\n  version: string                      /* Version identifier */\n  title: string                        /* Version title */\n  aliases: string[]                    /* Version aliases */\n  properties?: VersionProperties       /* Version properties */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a version\n *\n * @param version - Version\n *\n * @returns Element\n */\nfunction renderVersion(version: Version): HTMLElement {\n  const config = configuration()\n\n  /* Ensure trailing slash - see https://bit.ly/3rL5u3f */\n  const url = new URL(`../${version.version}/`, config.base)\n  return (\n    <li class=\"md-version__item\">\n      <a href={`${url}`} class=\"md-version__link\">\n        {version.title}\n        {config.version?.alias && version.aliases.length > 0 && (\n          <span class=\"md-version__alias\">\n            {version.aliases[0]}\n          </span>\n        )}\n      </a>\n    </li>\n  )\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a version selector\n *\n * @param versions - Versions\n * @param active - Active version\n *\n * @returns Element\n */\nexport function renderVersionSelector(\n  versions: Version[], active: Version\n): HTMLElement {\n  const config = configuration()\n  versions = versions.filter(version => !version.properties?.hidden)\n  return (\n    <div class=\"md-version\">\n      <button\n        class=\"md-version__current\"\n        aria-label={translation(\"select.version\")}\n      >\n        {active.title}\n        {config.version?.alias && active.aliases.length > 0 && (\n          <span class=\"md-version__alias\">\n            {active.aliases[0]}\n          </span>\n        )}\n      </button>\n      <ul class=\"md-version__list\">\n        {versions.map(renderVersion)}\n      </ul>\n    </div>\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  BehaviorSubject,\n  EMPTY,\n  Observable,\n  Subject,\n  animationFrameScheduler,\n  combineLatest,\n  combineLatestWith,\n  debounce,\n  defer,\n  distinctUntilChanged,\n  endWith,\n  filter,\n  finalize,\n  first,\n  ignoreElements,\n  map,\n  mergeMap,\n  observeOn,\n  queueScheduler,\n  share,\n  startWith,\n  switchMap,\n  tap,\n  throttleTime,\n  timer,\n  withLatestFrom\n} from \"rxjs\"\n\nimport {\n  ElementOffset,\n  Viewport,\n  getElement,\n  getElementContainers,\n  getElementOffsetAbsolute,\n  getElementSize,\n  watchElementContentOffset,\n  watchElementFocus,\n  watchElementHover\n} from \"~/browser\"\nimport { renderInlineTooltip2 } from \"~/templates\"\n\nimport { Component } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Tooltip\n */\nexport interface Tooltip {\n  active: boolean                      // Tooltip is active\n  offset: ElementOffset                // Tooltip offset\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Dependencies\n */\ninterface Dependencies {\n  content$: Observable<HTMLElement>    // Tooltip content observable\n  viewport$: Observable<Viewport>      // Viewport observable\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Global sequence number for tooltips\n */\nlet sequence = 0\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch tooltip\n *\n * This function tracks the tooltip host element, and deduces the active state\n * and offset of the tooltip from it. The active state is determined by whether\n * the host element is focused or hovered, and the offset is determined by the\n * host element's absolute position in the document.\n *\n * @param el - Tooltip host element\n *\n * @returns Tooltip observable\n */\nexport function watchTooltip2(\n  el: HTMLElement\n): Observable<Tooltip> {\n\n  // Compute whether tooltip should be shown - we need to watch both focus and\n  // hover events on the host element and emit if one of them is active. In case\n  // of a hover event, we keep the element visible for a short amount of time\n  // after the pointer left the host element for a better user experience.\n  const active$ =\n    combineLatest([\n      watchElementFocus(el),\n      watchElementHover(el)\n    ])\n      .pipe(\n        map(([focus, hover]) => focus || hover),\n        distinctUntilChanged()\n      )\n\n  // We need to determine all parent elements of the host element that are\n  // currently scrollable, as they might affect the position of the tooltip\n  // depending on their horizontal of vertical offset. We must track all of\n  // them and recompute the position of the tooltip if they change.\n  const offset$ =\n    defer(() => getElementContainers(el)).pipe(\n      mergeMap(watchElementContentOffset),\n      throttleTime(1),\n      // Note that we need to poll the value again if the active state changes,\n      // as otherwise the tooltip might be misplaced. This particularly happens\n      // when using third-party integrations like tablesort that change the\n      // position of elements \u2013 see https://t.ly/Y-V7X\n      combineLatestWith(active$),\n      map(() => getElementOffsetAbsolute(el)),\n    )\n\n  // Only track parent elements and compute offset of the tooltip host if the\n  // tooltip should be shown - we defer the computation of the offset until the\n  // tooltip becomes active for the first time. This is necessary, because we\n  // must also keep the tooltip active as long as it is focused or hovered.\n  return active$.pipe(\n    first(active => active),\n    switchMap(() => combineLatest([active$, offset$])),\n    map(([active, offset]) => ({ active, offset })),\n    share()\n  )\n}\n\n/**\n * Mount tooltip\n *\n * This function renders a tooltip with the content from the provided `content$`\n * observable as passed via the dependencies. If the returned element has a role\n * of type `dialog`, the tooltip is considered to be interactive, and rendered\n * either above or below the host element, depending on the available space.\n *\n * If the returned element has a role of type `tooltip`, the tooltip is always\n * rendered below the host element and considered to be non-interactive. This\n * allows us to reuse the same positioning logic for both interactive and\n * non-interactive tooltips, as it is largely the same.\n *\n * @param el - Tooltip host element\n * @param dependencies - Dependencies\n *\n * @returns Tooltip component observable\n */\nexport function mountTooltip2(\n  el: HTMLElement, dependencies: Dependencies\n): Observable<Component<Tooltip>> {\n  const { content$, viewport$ } = dependencies\n\n  // Compute unique tooltip id - this is necessary to associate the tooltip host\n  // element with the tooltip element for ARIA purposes\n  const id = `__tooltip2_${sequence++}`\n\n  // Create component on subscription\n  return defer(() => {\n    const push$ = new Subject<Tooltip>()\n\n    // Create subject to track tooltip presence and visibility - we use another\n    // purely internal subject to track the tooltip's presence and visibility,\n    // as the tooltip should be visible if the host element or tooltip itself\n    // is focused or hovered to allow for smooth pointer migration\n    const show$ = new BehaviorSubject(false)\n    push$.pipe(ignoreElements(), endWith(false))\n      .subscribe(show$)\n\n    // Create observable controlling tooltip element - we create and attach the\n    // tooltip only if it is actually present, in order to keep the number of\n    // elements low. We need to keep the tooltip visible for a short time after\n    // the pointer left the host element or tooltip itself. For this, we use an\n    // inner subscription to the tooltip observable, which we terminate when the\n    // tooltip should not be shown, automatically removing the element. Moreover\n    // we use the queue scheduler, which will schedule synchronously in case the\n    // tooltip should be shown, and asynchronously if it should be hidden.\n    const node$ = show$.pipe(\n      debounce(active => timer(+!active * 250, queueScheduler)),\n      distinctUntilChanged(),\n      switchMap(active => active ? content$ : EMPTY),\n      tap(node => node.id = id),\n      share()\n    )\n\n    // Compute tooltip presence and visibility - the tooltip should be shown if\n    // the host element or the tooltip itself is focused or hovered\n    combineLatest([\n      push$.pipe(map(({ active }) => active)),\n      node$.pipe(\n        switchMap(node => watchElementHover(node, 250)),\n        startWith(false)\n      )\n    ])\n      .pipe(map(states => states.some(active => active)))\n      .subscribe(show$)\n\n    // Compute tooltip origin - we need to compute the tooltip origin depending\n    // on the position of the host element, the viewport size, as well as the\n    // actual size of the tooltip, if positioned above. The tooltip must about\n    // to be rendered for this to be correct, which is why we do it here.\n    const origin$ = show$.pipe(\n      filter(active => active),\n      withLatestFrom(node$, viewport$),\n      map(([_, node, { size }]) => {\n        const host = el.getBoundingClientRect()\n        const x = host.width / 2\n\n        // If the tooltip is non-interactive, we always render it below the\n        // actual element because all operating systems do it that way\n        if (node.role === \"tooltip\") {\n          return { x, y: 8 + host.height }\n\n        // Otherwise, we determine where there is more space, and render the\n        // tooltip either above or below the host element\n        } else if (host.y >= size.height / 2) {\n          const { height } = getElementSize(node)\n          return { x, y: -16 - height }\n        } else {\n          return { x, y: +16 + host.height }\n        }\n      })\n    )\n\n    // Update tooltip position - we always need to update the position of the\n    // tooltip, as it might change depending on the viewport offset of the host\n    combineLatest([node$, push$, origin$])\n      .subscribe(([node, { offset }, origin]) => {\n        node.style.setProperty(\"--md-tooltip-host-x\", `${offset.x}px`)\n        node.style.setProperty(\"--md-tooltip-host-y\", `${offset.y}px`)\n\n        // Update tooltip origin - this is mainly set to determine the position\n        // of the tooltip tail, to show the direction it is originating from\n        node.style.setProperty(\"--md-tooltip-x\", `${origin.x}px`)\n        node.style.setProperty(\"--md-tooltip-y\", `${origin.y}px`)\n\n        // Update tooltip render location, i.e., whether the tooltip is shown\n        // above or below the host element, depending on the available space\n        node.classList.toggle(\"md-tooltip2--top\",    origin.y <  0)\n        node.classList.toggle(\"md-tooltip2--bottom\", origin.y >= 0)\n      })\n\n    // Update tooltip width - we only explicitly set the width of the tooltip\n    // if it is non-interactive, in case it should always be rendered centered\n    show$.pipe(\n      filter(active => active),\n      withLatestFrom(node$, (_, node) => node),\n      filter(node => node.role === \"tooltip\")\n    )\n      .subscribe(node => {\n        const size = getElementSize(getElement(\":scope > *\", node))\n\n        // Set tooltip width and remove tail by setting it to a width of zero -\n        // if authors want to keep the tail, we can move this to CSS later\n        node.style.setProperty(\"--md-tooltip-width\", `${size.width}px`)\n        node.style.setProperty(\"--md-tooltip-tail\",  `${0}px`)\n      })\n\n    // Update tooltip visibility - we defer to the next animation frame, because\n    // the tooltip must first be added to the document before we make it appear,\n    // or it will appear instantly without delay. Additionally, we need to keep\n    // the tooltip visible for a short time after the pointer left the host.\n    show$.pipe(\n      distinctUntilChanged(),\n      observeOn(animationFrameScheduler),\n      withLatestFrom(node$)\n    )\n      .subscribe(([active, node]) => {\n        node.classList.toggle(\"md-tooltip2--active\", active)\n      })\n\n    // Set up ARIA attributes when tooltip is visible\n    combineLatest([\n      show$.pipe(filter(active => active)),\n      node$\n    ])\n      .subscribe(([_, node]) => {\n        if (node.role === \"dialog\") {\n          el.setAttribute(\"aria-controls\", id)\n          el.setAttribute(\"aria-haspopup\", \"dialog\")\n        } else {\n          el.setAttribute(\"aria-describedby\", id)\n        }\n      })\n\n    // Remove ARIA attributes when tooltip is hidden\n    show$.pipe(filter(active => !active))\n      .subscribe(() => {\n        el.removeAttribute(\"aria-controls\")\n        el.removeAttribute(\"aria-describedby\")\n        el.removeAttribute(\"aria-haspopup\")\n      })\n\n    // Create and return component\n    return watchTooltip2(el)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n\n// ----------------------------------------------------------------------------\n\n/**\n * Mount inline tooltip\n *\n * @todo refactor this function\n *\n * @param el - Tooltip host element\n * @param dependencies - Dependencies\n * @param container - Container\n *\n * @returns Tooltip component observable\n */\nexport function mountInlineTooltip2(\n  el: HTMLElement, { viewport$ }: { viewport$: Observable<Viewport> },\n  container = document.body\n): Observable<Component<Tooltip>> {\n  return mountTooltip2(el, {\n    content$: new Observable<HTMLElement>(observer => {\n      const title = el.title\n      const node = renderInlineTooltip2(title)\n      observer.next(node)\n      el.removeAttribute(\"title\")\n      // Append tooltip and remove on unsubscription\n      container.append(node)\n      return () => {\n        node.remove()\n        el.setAttribute(\"title\", title)\n      }\n    }),\n    viewport$\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  animationFrameScheduler,\n  auditTime,\n  combineLatest,\n  debounceTime,\n  defer,\n  delay,\n  endWith,\n  filter,\n  finalize,\n  fromEvent,\n  ignoreElements,\n  map,\n  merge,\n  switchMap,\n  take,\n  takeUntil,\n  tap,\n  throttleTime,\n  withLatestFrom\n} from \"rxjs\"\n\nimport {\n  ElementOffset,\n  getActiveElement,\n  getElementSize,\n  watchElementContentOffset,\n  watchElementFocus,\n  watchElementOffset,\n  watchElementVisibility\n} from \"~/browser\"\n\nimport { Component } from \"../../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Annotation\n */\nexport interface Annotation {\n  active: boolean                      /* Annotation is active */\n  offset: ElementOffset                /* Annotation offset */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  target$: Observable<HTMLElement>     /* Location target observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch annotation\n *\n * @param el - Annotation element\n * @param container - Containing element\n *\n * @returns Annotation observable\n */\nexport function watchAnnotation(\n  el: HTMLElement, container: HTMLElement\n): Observable<Annotation> {\n  const offset$ = defer(() => combineLatest([\n    watchElementOffset(el),\n    watchElementContentOffset(container)\n  ]))\n    .pipe(\n      map(([{ x, y }, scroll]): ElementOffset => {\n        const { width, height } = getElementSize(el)\n        return ({\n          x: x - scroll.x + width  / 2,\n          y: y - scroll.y + height / 2\n        })\n      })\n    )\n\n  /* Actively watch annotation on focus */\n  return watchElementFocus(el)\n    .pipe(\n      switchMap(active => offset$\n        .pipe(\n          map(offset => ({ active, offset })),\n          take(+!active || Infinity)\n        )\n      )\n    )\n}\n\n/**\n * Mount annotation\n *\n * @param el - Annotation element\n * @param container - Containing element\n * @param options - Options\n *\n * @returns Annotation component observable\n */\nexport function mountAnnotation(\n  el: HTMLElement, container: HTMLElement, { target$ }: MountOptions\n): Observable<Component<Annotation>> {\n  const [tooltip, index] = Array.from(el.children)\n\n  /* Mount component on subscription */\n  return defer(() => {\n    const push$ = new Subject<Annotation>()\n    const done$ = push$.pipe(ignoreElements(), endWith(true))\n    push$.subscribe({\n\n      /* Handle emission */\n      next({ offset }) {\n        el.style.setProperty(\"--md-tooltip-x\", `${offset.x}px`)\n        el.style.setProperty(\"--md-tooltip-y\", `${offset.y}px`)\n      },\n\n      /* Handle complete */\n      complete() {\n        el.style.removeProperty(\"--md-tooltip-x\")\n        el.style.removeProperty(\"--md-tooltip-y\")\n      }\n    })\n\n    /* Start animation only when annotation is visible */\n    watchElementVisibility(el)\n      .pipe(\n        takeUntil(done$)\n      )\n        .subscribe(visible => {\n          el.toggleAttribute(\"data-md-visible\", visible)\n        })\n\n    /* Toggle tooltip presence to mitigate empty lines when copying */\n    merge(\n      push$.pipe(filter(({ active }) => active)),\n      push$.pipe(debounceTime(250), filter(({ active }) => !active))\n    )\n      .subscribe({\n\n        /* Handle emission */\n        next({ active }) {\n          if (active)\n            el.prepend(tooltip)\n          else\n            tooltip.remove()\n        },\n\n        /* Handle complete */\n        complete() {\n          el.prepend(tooltip)\n        }\n      })\n\n    /* Toggle tooltip visibility */\n    push$\n      .pipe(\n        auditTime(16, animationFrameScheduler)\n      )\n        .subscribe(({ active }) => {\n          tooltip.classList.toggle(\"md-tooltip--active\", active)\n        })\n\n    /* Track relative origin of tooltip */\n    push$\n      .pipe(\n        throttleTime(125, animationFrameScheduler),\n        filter(() => !!el.offsetParent),\n        map(() => el.offsetParent!.getBoundingClientRect()),\n        map(({ x }) => x)\n      )\n        .subscribe({\n\n          /* Handle emission */\n          next(origin) {\n            if (origin)\n              el.style.setProperty(\"--md-tooltip-0\", `${-origin}px`)\n            else\n              el.style.removeProperty(\"--md-tooltip-0\")\n          },\n\n          /* Handle complete */\n          complete() {\n            el.style.removeProperty(\"--md-tooltip-0\")\n          }\n        })\n\n    /* Allow to copy link without scrolling to anchor */\n    fromEvent<MouseEvent>(index, \"click\")\n      .pipe(\n        takeUntil(done$),\n        filter(ev => !(ev.metaKey || ev.ctrlKey))\n      )\n        .subscribe(ev => {\n          ev.stopPropagation()\n          ev.preventDefault()\n        })\n\n    /* Allow to open link in new tab or blur on close */\n    fromEvent<MouseEvent>(index, \"mousedown\")\n      .pipe(\n        takeUntil(done$),\n        withLatestFrom(push$)\n      )\n        .subscribe(([ev, { active }]) => {\n\n          /* Open in new tab */\n          if (ev.button !== 0 || ev.metaKey || ev.ctrlKey) {\n            ev.preventDefault()\n\n          /* Close annotation */\n          } else if (active) {\n            ev.preventDefault()\n\n            /* Focus parent annotation, if any */\n            const parent = el.parentElement!.closest(\".md-annotation\")\n            if (parent instanceof HTMLElement)\n              parent.focus()\n            else\n              getActiveElement()?.blur()\n          }\n        })\n\n    /* Open and focus annotation on location target */\n    target$\n      .pipe(\n        takeUntil(done$),\n        filter(target => target === tooltip),\n        delay(125)\n      )\n        .subscribe(() => el.focus())\n\n    /* Create and return component */\n    return watchAnnotation(el, container)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  defer,\n  endWith,\n  finalize,\n  ignoreElements,\n  merge,\n  share,\n  takeUntil\n} from \"rxjs\"\n\nimport {\n  getElement,\n  getElements,\n  getOptionalElement\n} from \"~/browser\"\nimport { renderAnnotation } from \"~/templates\"\n\nimport { Component } from \"../../../_\"\nimport {\n  Annotation,\n  mountAnnotation\n} from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  target$: Observable<HTMLElement>     /* Location target observable */\n  print$: Observable<boolean>          /* Media print observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Find all annotation hosts in the containing element\n *\n * @param container - Containing element\n *\n * @returns Annotation hosts\n */\nfunction findHosts(container: HTMLElement): HTMLElement[] {\n  return container.tagName === \"CODE\"\n    ? getElements(\".c, .c1, .cm\", container)\n    : [container]\n}\n\n/**\n * Find all annotation markers in the containing element\n *\n * @param container - Containing element\n *\n * @returns Annotation markers\n */\nfunction findMarkers(container: HTMLElement): Text[] {\n  const markers: Text[] = []\n  for (const el of findHosts(container)) {\n    const nodes: Text[] = []\n\n    /* Find all text nodes in current element */\n    const it = document.createNodeIterator(el, NodeFilter.SHOW_TEXT)\n    for (let node = it.nextNode(); node; node = it.nextNode())\n      nodes.push(node as Text)\n\n    /* Find all markers in each text node */\n    for (let text of nodes) {\n      let match: RegExpExecArray | null\n\n      /* Split text at marker and add to list */\n      while ((match = /(\\(\\d+\\))(!)?/.exec(text.textContent!))) {\n        const [, id, force] = match\n        if (typeof force === \"undefined\") {\n          const marker = text.splitText(match.index)\n          text = marker.splitText(id.length)\n          markers.push(marker)\n\n        /* Replace entire text with marker */\n        } else {\n          text.textContent = id\n          markers.push(text)\n          break\n        }\n      }\n    }\n  }\n  return markers\n}\n\n/**\n * Swap the child nodes of two elements\n *\n * @param source - Source element\n * @param target - Target element\n */\nfunction swap(source: HTMLElement, target: HTMLElement): void {\n  target.append(...Array.from(source.childNodes))\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount annotation list\n *\n * This function analyzes the containing code block and checks for markers\n * referring to elements in the given annotation list. If no markers are found,\n * the list is left untouched. Otherwise, list elements are rendered as\n * annotations inside the code block.\n *\n * @param el - Annotation list element\n * @param container - Containing element\n * @param options - Options\n *\n * @returns Annotation component observable\n */\nexport function mountAnnotationList(\n  el: HTMLElement, container: HTMLElement, { target$, print$ }: MountOptions\n): Observable<Component<Annotation>> {\n\n  /* Compute prefix for tooltip anchors */\n  const parent = container.closest(\"[id]\")\n  const prefix = parent?.id\n\n  /* Find and replace all markers with empty annotations */\n  const annotations = new Map<string, HTMLElement>()\n  for (const marker of findMarkers(container)) {\n    const [, id] = marker.textContent!.match(/\\((\\d+)\\)/)!\n    if (getOptionalElement(`:scope > li:nth-child(${id})`, el)) {\n      annotations.set(id, renderAnnotation(id, prefix))\n      marker.replaceWith(annotations.get(id)!)\n    }\n  }\n\n  /* Keep list if there are no annotations to render */\n  if (annotations.size === 0)\n    return EMPTY\n\n  /* Mount component on subscription */\n  return defer(() => {\n    const push$ = new Subject()\n    const done$ = push$.pipe(ignoreElements(), endWith(true))\n\n    /* Retrieve container pairs for swapping */\n    const pairs: [HTMLElement, HTMLElement][] = []\n    for (const [id, annotation] of annotations)\n      pairs.push([\n        getElement(\".md-typeset\", annotation),\n        getElement(`:scope > li:nth-child(${id})`, el)\n      ])\n\n    /* Handle print mode - see https://bit.ly/3rgPdpt */\n    print$.pipe(takeUntil(done$))\n      .subscribe(active => {\n        el.hidden = !active\n\n        /* Add class to discern list element */\n        el.classList.toggle(\"md-annotation-list\", active)\n\n        /* Show annotations in code block or list (print) */\n        for (const [inner, child] of pairs)\n          if (!active)\n            swap(child, inner)\n          else\n            swap(inner, child)\n      })\n\n    /* Create and return component */\n    return merge(...[...annotations]\n      .map(([, annotation]) => (\n        mountAnnotation(annotation, container, { target$ })\n      ))\n    )\n      .pipe(\n        finalize(() => push$.complete()),\n        share()\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { EMPTY, Observable, defer } from \"rxjs\"\n\nimport { Component } from \"../../../_\"\nimport { Annotation } from \"../_\"\nimport { mountAnnotationList } from \"../list\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  target$: Observable<HTMLElement>     /* Location target observable */\n  print$: Observable<boolean>          /* Media print observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Find list element directly following a block\n *\n * @param el - Annotation block element\n *\n * @returns List element or nothing\n */\nfunction findList(el: HTMLElement): HTMLElement | undefined {\n  if (el.nextElementSibling) {\n    const sibling = el.nextElementSibling as HTMLElement\n    if (sibling.tagName === \"OL\")\n      return sibling\n\n    /* Skip empty paragraphs - see https://bit.ly/3r4ZJ2O */\n    else if (sibling.tagName === \"P\" && !sibling.children.length)\n      return findList(sibling)\n  }\n\n  /* Everything else */\n  return undefined\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount annotation block\n *\n * @param el - Annotation block element\n * @param options - Options\n *\n * @returns Annotation component observable\n */\nexport function mountAnnotationBlock(\n  el: HTMLElement, options: MountOptions\n): Observable<Component<Annotation>> {\n  return defer(() => {\n    const list = findList(el)\n    return typeof list !== \"undefined\"\n      ? mountAnnotationList(list, el, options)\n      : EMPTY\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport ClipboardJS from \"clipboard\"\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  defer,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  filter,\n  finalize,\n  map,\n  mergeWith,\n  switchMap,\n  take,\n  takeLast,\n  takeUntil,\n  tap\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport {\n  getElementContentSize,\n  getElements,\n  watchElementSize,\n  watchElementVisibility\n} from \"~/browser\"\nimport {\n  Tooltip,\n  mountInlineTooltip2\n} from \"~/components/tooltip2\"\nimport { renderClipboardButton } from \"~/templates\"\n\nimport { Component } from \"../../../_\"\nimport {\n  Annotation,\n  mountAnnotationList\n} from \"../../annotation\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Code block overflow\n */\nexport interface Overflow {\n  scrollable: boolean                  /* Code block overflows */\n}\n\n/**\n * Code block\n */\nexport type CodeBlock =\n  | Overflow\n  | Annotation\n  | Tooltip\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  target$: Observable<HTMLElement>     /* Location target observable */\n  print$: Observable<boolean>          /* Media print observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Global sequence number for code blocks\n */\nlet sequence = 0\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Find candidate list element directly following a code block\n *\n * @param el - Code block element\n *\n * @returns List element or nothing\n */\nfunction findCandidateList(el: HTMLElement): HTMLElement | undefined {\n  if (el.nextElementSibling) {\n    const sibling = el.nextElementSibling as HTMLElement\n    if (sibling.tagName === \"OL\")\n      return sibling\n\n    /* Skip empty paragraphs - see https://bit.ly/3r4ZJ2O */\n    else if (sibling.tagName === \"P\" && !sibling.children.length)\n      return findCandidateList(sibling)\n  }\n\n  /* Everything else */\n  return undefined\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch code block\n *\n * This function monitors size changes of the viewport, as well as switches of\n * content tabs with embedded code blocks, as both may trigger overflow.\n *\n * @param el - Code block element\n *\n * @returns Code block observable\n */\nexport function watchCodeBlock(\n  el: HTMLElement\n): Observable<Overflow> {\n  return watchElementSize(el)\n    .pipe(\n      map(({ width }) => {\n        const content = getElementContentSize(el)\n        return {\n          scrollable: content.width > width\n        }\n      }),\n      distinctUntilKeyChanged(\"scrollable\")\n    )\n}\n\n/**\n * Mount code block\n *\n * This function ensures that an overflowing code block is focusable through\n * keyboard, so it can be scrolled without a mouse to improve on accessibility.\n * Furthermore, if code annotations are enabled, they are mounted if and only\n * if the code block is currently visible, e.g., not in a hidden content tab.\n *\n * Note that code blocks may be mounted eagerly or lazily. If they're mounted\n * lazily (on first visibility), code annotation anchor links will not work,\n * as they are evaluated on initial page load, and code annotations in general\n * might feel a little bumpier.\n *\n * @param el - Code block element\n * @param options - Options\n *\n * @returns Code block and annotation component observable\n */\nexport function mountCodeBlock(\n  el: HTMLElement, options: MountOptions\n): Observable<Component<CodeBlock>> {\n  const { matches: hover } = matchMedia(\"(hover)\")\n\n  /* Defer mounting of code block - see https://bit.ly/3vHVoVD */\n  const factory$ = defer(() => {\n    const push$ = new Subject<Overflow>()\n    const done$ = push$.pipe(takeLast(1))\n    push$.subscribe(({ scrollable }) => {\n      if (scrollable && hover)\n        el.setAttribute(\"tabindex\", \"0\")\n      else\n        el.removeAttribute(\"tabindex\")\n    })\n\n    /* Render button for Clipboard.js integration */\n    const content$: Array<Observable<Component<CodeBlock>>> = []\n    if (ClipboardJS.isSupported()) {\n      if (el.closest(\".copy\") || (\n        feature(\"content.code.copy\") && !el.closest(\".no-copy\")\n      )) {\n        const parent = el.closest(\"pre\")!\n        parent.id = `__code_${sequence++}`\n\n        /* Mount tooltip, if enabled */\n        const button = renderClipboardButton(parent.id)\n        parent.insertBefore(button, el)\n        if (feature(\"content.tooltips\"))\n          content$.push(mountInlineTooltip2(button, { viewport$ }))\n      }\n    }\n\n    /* Handle code annotations */\n    const container = el.closest(\".highlight\")\n    if (container instanceof HTMLElement) {\n      const list = findCandidateList(container)\n\n      /* Mount code annotations, if enabled */\n      if (typeof list !== \"undefined\" && (\n        container.classList.contains(\"annotate\") ||\n        feature(\"content.code.annotate\")\n      )) {\n        const annotations$ = mountAnnotationList(list, el, options)\n        content$.push(\n          watchElementSize(container)\n            .pipe(\n              takeUntil(done$),\n              map(({ width, height }) => width && height),\n              distinctUntilChanged(),\n              switchMap(active => active ? annotations$ : EMPTY)\n            )\n        )\n      }\n    }\n\n    // If the code block has line spans, we can add this additional class to\n    // the code block element, which fixes the problem for highlighted code\n    // lines not stretching to the entirety of the screen when the code block\n    // overflows, e.g., on mobile - see\n    const spans = getElements(\":scope > span[id]\", el)\n    if (spans.length)\n      el.classList.add(\"md-code__content\")\n\n    /* Create and return component */\n    return watchCodeBlock(el)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state })),\n        mergeWith(...content$)\n      )\n  })\n\n  /* Mount code block lazily */\n  if (feature(\"content.lazy\"))\n    return watchElementVisibility(el)\n      .pipe(\n        filter(visible => visible),\n        take(1),\n        switchMap(() => factory$)\n      )\n\n  /* Mount code block */\n  return factory$\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  defer,\n  filter,\n  finalize,\n  map,\n  merge,\n  tap\n} from \"rxjs\"\n\nimport { Component } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Details\n */\nexport interface Details {\n  action: \"open\" | \"close\"             /* Details state */\n  reveal?: boolean                     /* Details is revealed */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  target$: Observable<HTMLElement>     /* Location target observable */\n  print$: Observable<boolean>          /* Media print observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  target$: Observable<HTMLElement>     /* Location target observable */\n  print$: Observable<boolean>          /* Media print observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch details\n *\n * @param el - Details element\n * @param options - Options\n *\n * @returns Details observable\n */\nexport function watchDetails(\n  el: HTMLDetailsElement, { target$, print$ }: WatchOptions\n): Observable<Details> {\n  let open = true\n  return merge(\n\n    /* Open and focus details on location target */\n    target$\n      .pipe(\n        map(target => target.closest(\"details:not([open])\")!),\n        filter(details => el === details),\n        map(() => ({\n          action: \"open\", reveal: true\n        }) as Details)\n      ),\n\n    /* Open details on print and close afterwards */\n    print$\n      .pipe(\n        filter(active => active || !open),\n        tap(() => open = el.open),\n        map(active => ({\n          action: active ? \"open\" : \"close\"\n        }) as Details)\n      )\n  )\n}\n\n/**\n * Mount details\n *\n * This function ensures that `details` tags are opened on anchor jumps and\n * prior to printing, so the whole content of the page is visible.\n *\n * @param el - Details element\n * @param options - Options\n *\n * @returns Details component observable\n */\nexport function mountDetails(\n  el: HTMLDetailsElement, options: MountOptions\n): Observable<Component<Details>> {\n  return defer(() => {\n    const push$ = new Subject<Details>()\n    push$.subscribe(({ action, reveal }) => {\n      el.toggleAttribute(\"open\", action === \"open\")\n      if (reveal)\n        el.scrollIntoView()\n    })\n\n    /* Create and return component */\n    return watchDetails(el, options)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", ".node circle,.node ellipse,.node path,.node polygon,.node rect{fill:var(--md-mermaid-node-bg-color);stroke:var(--md-mermaid-node-fg-color)}marker{fill:var(--md-mermaid-edge-color)!important}.edgeLabel .label rect{fill:#0000}.label{color:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}.label foreignObject{line-height:normal;overflow:visible}.label div .edgeLabel{color:var(--md-mermaid-label-fg-color)}.edgeLabel,.edgeLabel p,.label div .edgeLabel{background-color:var(--md-mermaid-label-bg-color)}.edgeLabel,.edgeLabel p{fill:var(--md-mermaid-label-bg-color);color:var(--md-mermaid-edge-color)}.edgePath .path,.flowchart-link{stroke:var(--md-mermaid-edge-color);stroke-width:.05rem}.edgePath .arrowheadPath{fill:var(--md-mermaid-edge-color);stroke:none}.cluster rect{fill:var(--md-default-fg-color--lightest);stroke:var(--md-default-fg-color--lighter)}.cluster span{color:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}g #flowchart-circleEnd,g #flowchart-circleStart,g #flowchart-crossEnd,g #flowchart-crossStart,g #flowchart-pointEnd,g #flowchart-pointStart{stroke:none}g.classGroup line,g.classGroup rect{fill:var(--md-mermaid-node-bg-color);stroke:var(--md-mermaid-node-fg-color)}g.classGroup text{fill:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}.classLabel .box{fill:var(--md-mermaid-label-bg-color);background-color:var(--md-mermaid-label-bg-color);opacity:1}.classLabel .label{fill:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}.node .divider{stroke:var(--md-mermaid-node-fg-color)}.relation{stroke:var(--md-mermaid-edge-color)}.cardinality{fill:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}.cardinality text{fill:inherit!important}defs #classDiagram-compositionEnd,defs #classDiagram-compositionStart,defs #classDiagram-dependencyEnd,defs #classDiagram-dependencyStart,defs #classDiagram-extensionEnd,defs #classDiagram-extensionStart{fill:var(--md-mermaid-edge-color)!important;stroke:var(--md-mermaid-edge-color)!important}defs #classDiagram-aggregationEnd,defs #classDiagram-aggregationStart{fill:var(--md-mermaid-label-bg-color)!important;stroke:var(--md-mermaid-edge-color)!important}g.stateGroup rect{fill:var(--md-mermaid-node-bg-color);stroke:var(--md-mermaid-node-fg-color)}g.stateGroup .state-title{fill:var(--md-mermaid-label-fg-color)!important;font-family:var(--md-mermaid-font-family)}g.stateGroup .composit{fill:var(--md-mermaid-label-bg-color)}.nodeLabel,.nodeLabel p{color:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}a .nodeLabel{text-decoration:underline}.node circle.state-end,.node circle.state-start,.start-state{fill:var(--md-mermaid-edge-color);stroke:none}.end-state-inner,.end-state-outer{fill:var(--md-mermaid-edge-color)}.end-state-inner,.node circle.state-end{stroke:var(--md-mermaid-label-bg-color)}.transition{stroke:var(--md-mermaid-edge-color)}[id^=state-fork] rect,[id^=state-join] rect{fill:var(--md-mermaid-edge-color)!important;stroke:none!important}.statediagram-cluster.statediagram-cluster .inner{fill:var(--md-default-bg-color)}.statediagram-cluster rect{fill:var(--md-mermaid-node-bg-color);stroke:var(--md-mermaid-node-fg-color)}.statediagram-state rect.divider{fill:var(--md-default-fg-color--lightest);stroke:var(--md-default-fg-color--lighter)}defs #statediagram-barbEnd{stroke:var(--md-mermaid-edge-color)}.attributeBoxEven,.attributeBoxOdd{fill:var(--md-mermaid-node-bg-color);stroke:var(--md-mermaid-node-fg-color)}.entityBox{fill:var(--md-mermaid-label-bg-color);stroke:var(--md-mermaid-node-fg-color)}.entityLabel{fill:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}.relationshipLabelBox{fill:var(--md-mermaid-label-bg-color);fill-opacity:1;background-color:var(--md-mermaid-label-bg-color);opacity:1}.relationshipLabel{fill:var(--md-mermaid-label-fg-color)}.relationshipLine{stroke:var(--md-mermaid-edge-color)}defs #ONE_OR_MORE_END *,defs #ONE_OR_MORE_START *,defs #ONLY_ONE_END *,defs #ONLY_ONE_START *,defs #ZERO_OR_MORE_END *,defs #ZERO_OR_MORE_START *,defs #ZERO_OR_ONE_END *,defs #ZERO_OR_ONE_START *{stroke:var(--md-mermaid-edge-color)!important}defs #ZERO_OR_MORE_END circle,defs #ZERO_OR_MORE_START circle{fill:var(--md-mermaid-label-bg-color)}.actor{fill:var(--md-mermaid-sequence-actor-bg-color);stroke:var(--md-mermaid-sequence-actor-border-color)}text.actor>tspan{fill:var(--md-mermaid-sequence-actor-fg-color);font-family:var(--md-mermaid-font-family)}line{stroke:var(--md-mermaid-sequence-actor-line-color)}.actor-man circle,.actor-man line{fill:var(--md-mermaid-sequence-actorman-bg-color);stroke:var(--md-mermaid-sequence-actorman-line-color)}.messageLine0,.messageLine1{stroke:var(--md-mermaid-sequence-message-line-color)}.note{fill:var(--md-mermaid-sequence-note-bg-color);stroke:var(--md-mermaid-sequence-note-border-color)}.loopText,.loopText>tspan,.messageText,.noteText>tspan{stroke:none;font-family:var(--md-mermaid-font-family)!important}.messageText{fill:var(--md-mermaid-sequence-message-fg-color)}.loopText,.loopText>tspan{fill:var(--md-mermaid-sequence-loop-fg-color)}.noteText>tspan{fill:var(--md-mermaid-sequence-note-fg-color)}#arrowhead path{fill:var(--md-mermaid-sequence-message-line-color);stroke:none}.loopLine{fill:var(--md-mermaid-sequence-loop-bg-color);stroke:var(--md-mermaid-sequence-loop-border-color)}.labelBox{fill:var(--md-mermaid-sequence-label-bg-color);stroke:none}.labelText,.labelText>span{fill:var(--md-mermaid-sequence-label-fg-color);font-family:var(--md-mermaid-font-family)}.sequenceNumber{fill:var(--md-mermaid-sequence-number-fg-color)}rect.rect{fill:var(--md-mermaid-sequence-box-bg-color);stroke:none}rect.rect+text.text{fill:var(--md-mermaid-sequence-box-fg-color)}defs #sequencenumber{fill:var(--md-mermaid-sequence-number-bg-color)!important}", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  map,\n  of,\n  shareReplay,\n  tap\n} from \"rxjs\"\n\nimport { watchScript } from \"~/browser\"\nimport { h } from \"~/utilities\"\n\nimport { Component } from \"../../_\"\n\nimport themeCSS from \"./index.css\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mermaid diagram\n */\nexport interface Mermaid {}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Mermaid instance observable\n */\nlet mermaid$: Observable<void>\n\n/**\n * Global sequence number for diagrams\n */\nlet sequence = 0\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch Mermaid script\n *\n * @returns Mermaid scripts observable\n */\nfunction fetchScripts(): Observable<void> {\n  return typeof mermaid === \"undefined\" || mermaid instanceof Element\n    ? watchScript(\"https://unpkg.com/mermaid@11/dist/mermaid.min.js\")\n    : of(undefined)\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount Mermaid diagram\n *\n * @param el - Code block element\n *\n * @returns Mermaid diagram component observable\n */\nexport function mountMermaid(\n  el: HTMLElement\n): Observable<Component<Mermaid>> {\n  el.classList.remove(\"mermaid\") // Hack: mitigate https://bit.ly/3CiN6Du\n  mermaid$ ||= fetchScripts()\n    .pipe(\n      tap(() => mermaid.initialize({\n        startOnLoad: false,\n        themeCSS,\n        sequence: {\n          actorFontSize: \"16px\", // Hack: mitigate https://bit.ly/3y0NEi3\n          messageFontSize: \"16px\",\n          noteFontSize: \"16px\"\n        }\n      })),\n      map(() => undefined),\n      shareReplay(1)\n    )\n\n  /* Render diagram */\n  mermaid$.subscribe(async () => {\n    el.classList.add(\"mermaid\") // Hack: mitigate https://bit.ly/3CiN6Du\n    const id = `__mermaid_${sequence++}`\n\n    /* Create host element to replace code block */\n    const host = h(\"div\", { class: \"mermaid\" })\n    const text = el.textContent\n\n    /* Render and inject diagram */\n    const { svg, fn } = await mermaid.render(id, text)\n\n    /* Create a shadow root and inject diagram */\n    const shadow = host.attachShadow({ mode: \"closed\" })\n    shadow.innerHTML = svg\n\n    /* Replace code block with diagram and bind functions */\n    el.replaceWith(host)\n    fn?.(shadow)\n  })\n\n  /* Create and return component */\n  return mermaid$\n    .pipe(\n      map(() => ({ ref: el }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { Observable, of } from \"rxjs\"\n\nimport { renderTable } from \"~/templates\"\nimport { h } from \"~/utilities\"\n\nimport { Component } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Data table\n */\nexport interface DataTable {}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Sentinel for replacement\n */\nconst sentinel = h(\"table\")\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount data table\n *\n * This function wraps a data table in another scrollable container, so it can\n * be smoothly scrolled on smaller screen sizes and won't break the layout.\n *\n * @param el - Data table element\n *\n * @returns Data table component observable\n */\nexport function mountDataTable(\n  el: HTMLElement\n): Observable<Component<DataTable>> {\n  el.replaceWith(sentinel)\n  sentinel.replaceWith(renderTable(el))\n\n  /* Create and return component */\n  return of({ ref: el })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  animationFrameScheduler,\n  asyncScheduler,\n  auditTime,\n  combineLatest,\n  defer,\n  endWith,\n  filter,\n  finalize,\n  fromEvent,\n  ignoreElements,\n  map,\n  merge,\n  skip,\n  startWith,\n  subscribeOn,\n  takeUntil,\n  tap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport {\n  Viewport,\n  getElement,\n  getElementContentOffset,\n  getElementContentSize,\n  getElementOffset,\n  getElementSize,\n  getElements,\n  watchElementContentOffset,\n  watchElementSize,\n  watchElementVisibility\n} from \"~/browser\"\nimport { renderTabbedControl } from \"~/templates\"\nimport { h } from \"~/utilities\"\n\nimport { Component } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Content tabs\n */\nexport interface ContentTabs {\n  active: HTMLLabelElement             /* Active tab label */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  target$: Observable<HTMLElement>     /* Location target observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch content tabs\n *\n * @param inputs - Content tabs input elements\n *\n * @returns Content tabs observable\n */\nexport function watchContentTabs(\n  inputs: HTMLInputElement[]\n): Observable<ContentTabs> {\n  const initial = inputs.find(input => input.checked) || inputs[0]\n  return merge(...inputs.map(input => fromEvent(input, \"change\")\n    .pipe(\n      map(() => getElement<HTMLLabelElement>(`label[for=\"${input.id}\"]`))\n    )\n  ))\n    .pipe(\n      startWith(getElement<HTMLLabelElement>(`label[for=\"${initial.id}\"]`)),\n      map(active => ({ active }))\n    )\n}\n\n/**\n * Mount content tabs\n *\n * @param el - Content tabs element\n * @param options - Options\n *\n * @returns Content tabs component observable\n */\nexport function mountContentTabs(\n  el: HTMLElement, { viewport$, target$ }: MountOptions\n): Observable<Component<ContentTabs>> {\n  const container = getElement(\".tabbed-labels\", el)\n  const inputs = getElements<HTMLInputElement>(\":scope > input\", el)\n\n  /* Render content tab previous button for pagination */\n  const prev = renderTabbedControl(\"prev\")\n  el.append(prev)\n\n  /* Render content tab next button for pagination */\n  const next = renderTabbedControl(\"next\")\n  el.append(next)\n\n  /* Mount component on subscription */\n  return defer(() => {\n    const push$ = new Subject<ContentTabs>()\n    const done$ = push$.pipe(ignoreElements(), endWith(true))\n    combineLatest([push$, watchElementSize(el), watchElementVisibility(el)])\n      .pipe(\n        takeUntil(done$),\n        auditTime(1, animationFrameScheduler)\n      )\n        .subscribe({\n\n          /* Handle emission */\n          next([{ active }, size]) {\n            const offset = getElementOffset(active)\n            const { width } = getElementSize(active)\n\n            /* Set tab indicator offset and width */\n            el.style.setProperty(\"--md-indicator-x\", `${offset.x}px`)\n            el.style.setProperty(\"--md-indicator-width\", `${width}px`)\n\n            /* Scroll container to active content tab */\n            const content = getElementContentOffset(container)\n            if (\n              offset.x         < content.x              ||\n              offset.x + width > content.x + size.width\n            )\n              container.scrollTo({\n                left: Math.max(0, offset.x - 16),\n                behavior: \"smooth\"\n              })\n          },\n\n          /* Handle complete */\n          complete() {\n            el.style.removeProperty(\"--md-indicator-x\")\n            el.style.removeProperty(\"--md-indicator-width\")\n          }\n        })\n\n    /* Hide content tab buttons on borders */\n    combineLatest([\n      watchElementContentOffset(container),\n      watchElementSize(container)\n    ])\n      .pipe(\n        takeUntil(done$)\n      )\n        .subscribe(([offset, size]) => {\n          const content = getElementContentSize(container)\n          prev.hidden = offset.x < 16\n          next.hidden = offset.x > content.width - size.width - 16\n        })\n\n    /* Paginate content tab container on click */\n    merge(\n      fromEvent(prev, \"click\").pipe(map(() => -1)),\n      fromEvent(next, \"click\").pipe(map(() => +1))\n    )\n      .pipe(\n        takeUntil(done$)\n      )\n        .subscribe(direction => {\n          const { width } = getElementSize(container)\n          container.scrollBy({\n            left: width * direction,\n            behavior: \"smooth\"\n          })\n        })\n\n    /* Switch to content tab target */\n    target$\n      .pipe(\n        takeUntil(done$),\n        filter(input => inputs.includes(input as HTMLInputElement))\n      )\n        .subscribe(input => input.click())\n\n    /* Add link to each content tab label */\n    container.classList.add(\"tabbed-labels--linked\")\n    for (const input of inputs) {\n      const label = getElement<HTMLLabelElement>(`label[for=\"${input.id}\"]`)\n      label.replaceChildren(h(\"a\", {\n        href: `#${label.htmlFor}`,\n        tabIndex: -1\n      }, ...Array.from(label.childNodes)))\n\n      /* Allow to copy link without scrolling to anchor */\n      fromEvent<MouseEvent>(label.firstElementChild!, \"click\")\n        .pipe(\n          takeUntil(done$),\n          filter(ev => !(ev.metaKey || ev.ctrlKey)),\n          tap(ev => {\n            ev.preventDefault()\n            ev.stopPropagation()\n          })\n        )\n          // @todo we might need to remove the anchor link on complete\n          .subscribe(() => {\n            history.replaceState({}, \"\", `#${label.htmlFor}`)\n            label.click()\n          })\n    }\n\n    /* Set up linking of content tabs, if enabled */\n    if (feature(\"content.tabs.link\"))\n      push$.pipe(\n        skip(1),\n        withLatestFrom(viewport$)\n      )\n        .subscribe(([{ active }, { offset }]) => {\n          const tab = active.innerText.trim()\n          if (active.hasAttribute(\"data-md-switching\")) {\n            active.removeAttribute(\"data-md-switching\")\n\n          /* Determine viewport offset of active tab */\n          } else {\n            const y = el.offsetTop - offset.y\n\n            /* Passively activate other tabs */\n            for (const set of getElements(\"[data-tabs]\"))\n              for (const input of getElements<HTMLInputElement>(\n                \":scope > input\", set\n              )) {\n                const label = getElement(`label[for=\"${input.id}\"]`)\n                if (\n                  label !== active &&\n                  label.innerText.trim() === tab\n                ) {\n                  label.setAttribute(\"data-md-switching\", \"\")\n                  input.click()\n                  break\n                }\n              }\n\n            /* Bring active tab into view */\n            window.scrollTo({\n              top: el.offsetTop - y\n            })\n\n            /* Persist active tabs in local storage */\n            const tabs = __md_get<string[]>(\"__tabs\") || []\n            __md_set(\"__tabs\", [...new Set([tab, ...tabs])])\n          }\n        })\n\n    /* Pause media (audio, video) on switch - see https://bit.ly/3Bk6cel */\n    push$.pipe(takeUntil(done$))\n      .subscribe(() => {\n        for (const media of getElements<HTMLAudioElement>(\"audio, video\", el))\n          media.pause()\n      })\n\n    /* Create and return component */\n    return watchContentTabs(inputs)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n    .pipe(\n      subscribeOn(asyncScheduler)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { Observable, merge } from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport { Viewport, getElements } from \"~/browser\"\n\nimport { Component } from \"../../_\"\nimport {\n  Tooltip,\n  mountInlineTooltip2\n} from \"../../tooltip2\"\nimport {\n  Annotation,\n  mountAnnotationBlock\n} from \"../annotation\"\nimport {\n  CodeBlock,\n  mountCodeBlock\n} from \"../code\"\nimport {\n  Details,\n  mountDetails\n} from \"../details\"\nimport {\n  Mermaid,\n  mountMermaid\n} from \"../mermaid\"\nimport {\n  DataTable,\n  mountDataTable\n} from \"../table\"\nimport {\n  ContentTabs,\n  mountContentTabs\n} from \"../tabs\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Content\n */\nexport type Content =\n  | Annotation\n  | CodeBlock\n  | ContentTabs\n  | DataTable\n  | Details\n  | Mermaid\n  | Tooltip\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  target$: Observable<HTMLElement>     /* Location target observable */\n  print$: Observable<boolean>          /* Media print observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount content\n *\n * This function mounts all components that are found in the content of the\n * actual article, including code blocks, data tables and details.\n *\n * @param el - Content element\n * @param options - Options\n *\n * @returns Content component observable\n */\nexport function mountContent(\n  el: HTMLElement, { viewport$, target$, print$ }: MountOptions\n): Observable<Component<Content>> {\n  return merge(\n\n    /* Annotations */\n    ...getElements(\".annotate:not(.highlight)\", el)\n      .map(child => mountAnnotationBlock(child, { target$, print$ })),\n\n    /* Code blocks */\n    ...getElements(\"pre:not(.mermaid) > code\", el)\n      .map(child => mountCodeBlock(child, { target$, print$ })),\n\n    /* Mermaid diagrams */\n    ...getElements(\"pre.mermaid\", el)\n      .map(child => mountMermaid(child)),\n\n    /* Data tables */\n    ...getElements(\"table:not([class])\", el)\n      .map(child => mountDataTable(child)),\n\n    /* Details */\n    ...getElements(\"details\", el)\n      .map(child => mountDetails(child, { target$, print$ })),\n\n    /* Content tabs */\n    ...getElements(\"[data-tabs]\", el)\n      .map(child => mountContentTabs(child, { viewport$, target$ })),\n\n    /* Tooltips */\n    ...getElements(\"[title]\", el)\n      .filter(() => feature(\"content.tooltips\"))\n      .map(child => mountInlineTooltip2(child, { viewport$ }))\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  defer,\n  delay,\n  finalize,\n  map,\n  merge,\n  of,\n  switchMap,\n  tap\n} from \"rxjs\"\n\nimport { getElement } from \"~/browser\"\n\nimport { Component } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Dialog\n */\nexport interface Dialog {\n  message: string                      /* Dialog message */\n  active: boolean                      /* Dialog is active */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  alert$: Subject<string>              /* Alert subject */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  alert$: Subject<string>              /* Alert subject */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch dialog\n *\n * @param _el - Dialog element\n * @param options - Options\n *\n * @returns Dialog observable\n */\nexport function watchDialog(\n  _el: HTMLElement, { alert$ }: WatchOptions\n): Observable<Dialog> {\n  return alert$\n    .pipe(\n      switchMap(message => merge(\n        of(true),\n        of(false).pipe(delay(2000))\n      )\n        .pipe(\n          map(active => ({ message, active }))\n        )\n      )\n    )\n}\n\n/**\n * Mount dialog\n *\n * This function reveals the dialog in the right corner when a new alert is\n * emitted through the subject that is passed as part of the options.\n *\n * @param el - Dialog element\n * @param options - Options\n *\n * @returns Dialog component observable\n */\nexport function mountDialog(\n  el: HTMLElement, options: MountOptions\n): Observable<Component<Dialog>> {\n  const inner = getElement(\".md-typeset\", el)\n  return defer(() => {\n    const push$ = new Subject<Dialog>()\n    push$.subscribe(({ message, active }) => {\n      el.classList.toggle(\"md-dialog--active\", active)\n      inner.textContent = message\n    })\n\n    /* Create and return component */\n    return watchDialog(el, options)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  animationFrameScheduler,\n  asyncScheduler,\n  auditTime,\n  combineLatest,\n  debounceTime,\n  defer,\n  distinctUntilChanged,\n  filter,\n  finalize,\n  map,\n  merge,\n  of,\n  subscribeOn,\n  tap,\n  throttleTime\n} from \"rxjs\"\n\nimport {\n  ElementOffset,\n  getElement,\n  getElementContainer,\n  getElementOffset,\n  getElementSize,\n  watchElementContentOffset,\n  watchElementFocus,\n  watchElementHover\n} from \"~/browser\"\nimport { renderTooltip } from \"~/templates\"\n\nimport { Component } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Tooltip\n */\nexport interface Tooltip {\n  active: boolean                      /* Tooltip is active */\n  offset: ElementOffset                /* Tooltip offset */\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Global sequence number for tooltips\n */\nlet sequence = 0\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch tooltip\n *\n * This function will append the tooltip temporarily to compute its width,\n * which is necessary for correct centering, and then removing it again.\n *\n * @param el - Tooltip element\n * @param host - Host element\n *\n * @returns Tooltip observable\n */\nexport function watchTooltip(\n  el: HTMLElement, host: HTMLElement\n): Observable<Tooltip> {\n  document.body.append(el)\n\n  /* Compute width and remove tooltip immediately */\n  const { width } = getElementSize(el)\n  el.style.setProperty(\"--md-tooltip-width\", `${width}px`)\n  el.remove()\n\n  /* Retrieve and watch containing element */\n  const container = getElementContainer(host)\n  const scroll$ =\n    typeof container !== \"undefined\"\n      ? watchElementContentOffset(container)\n      : of({ x: 0, y: 0 })\n\n  /* Compute tooltip visibility */\n  const active$ = merge(\n    watchElementFocus(host),\n    watchElementHover(host)\n  )\n    .pipe(\n      distinctUntilChanged()\n    )\n\n  /* Compute tooltip offset */\n  return combineLatest([active$, scroll$])\n    .pipe(\n      map(([active, scroll]) => {\n        let { x, y } = getElementOffset(host)\n        const size = getElementSize(host)\n\n        /**\n         * Experimental: fix handling of tables - see https://bit.ly/3TQEj5O\n         *\n         * If this proves to be a viable fix, we should refactor tooltip\n         * positioning and somehow streamline the current process. This might\n         * also fix positioning for annotations inside tables, which is another\n         * limitation.\n         */\n        const table = host.closest(\"table\")\n        if (table && host.parentElement) {\n          x += table.offsetLeft + host.parentElement.offsetLeft\n          y += table.offsetTop  + host.parentElement.offsetTop\n        }\n        return {\n          active,\n          offset: {\n            x: x - scroll.x + size.width  / 2 - width / 2,\n            y: y - scroll.y + size.height + 8\n          }\n        }\n      })\n    )\n}\n\n/**\n * Mount tooltip\n *\n * @param el - Host element\n *\n * @returns Tooltip component observable\n */\nexport function mountTooltip(\n  el: HTMLElement\n): Observable<Component<Tooltip>> {\n  const title = el.title\n  if (!title.length)\n    return EMPTY\n\n  /* Render tooltip and set title from host element */\n  const id = `__tooltip_${sequence++}`\n  const tooltip = renderTooltip(id, \"inline\")\n  const typeset = getElement(\".md-typeset\", tooltip)\n  typeset.innerHTML = title\n\n  /* Mount component on subscription */\n  return defer(() => {\n    const push$ = new Subject<Tooltip>()\n    push$.subscribe({\n\n      /* Handle emission */\n      next({ offset }) {\n        tooltip.style.setProperty(\"--md-tooltip-x\", `${offset.x}px`)\n        tooltip.style.setProperty(\"--md-tooltip-y\", `${offset.y}px`)\n      },\n\n      /* Handle complete */\n      complete() {\n        tooltip.style.removeProperty(\"--md-tooltip-x\")\n        tooltip.style.removeProperty(\"--md-tooltip-y\")\n      }\n    })\n\n    /* Toggle tooltip presence to mitigate empty lines when copying */\n    merge(\n      push$.pipe(filter(({ active }) => active)),\n      push$.pipe(debounceTime(250), filter(({ active }) => !active))\n    )\n      .subscribe({\n\n        /* Handle emission */\n        next({ active }) {\n          if (active) {\n            el.insertAdjacentElement(\"afterend\", tooltip)\n            el.setAttribute(\"aria-describedby\", id)\n            el.removeAttribute(\"title\")\n          } else {\n            tooltip.remove()\n            el.removeAttribute(\"aria-describedby\")\n            el.setAttribute(\"title\", title)\n          }\n        },\n\n        /* Handle complete */\n        complete() {\n          tooltip.remove()\n          el.removeAttribute(\"aria-describedby\")\n          el.setAttribute(\"title\", title)\n        }\n      })\n\n    /* Toggle tooltip visibility */\n    push$\n      .pipe(\n        auditTime(16, animationFrameScheduler)\n      )\n        .subscribe(({ active }) => {\n          tooltip.classList.toggle(\"md-tooltip--active\", active)\n        })\n\n    // @todo - refactor positioning together with annotations \u2013 there are\n    // several things that overlap and are identical in handling\n\n    /* Track relative origin of tooltip */\n    push$\n      .pipe(\n        throttleTime(125, animationFrameScheduler),\n        filter(() => !!el.offsetParent),\n        map(() => el.offsetParent!.getBoundingClientRect()),\n        map(({ x }) => x)\n      )\n      .subscribe({\n\n        /* Handle emission */\n        next(origin) {\n          if (origin)\n            tooltip.style.setProperty(\"--md-tooltip-0\", `${-origin}px`)\n          else\n            tooltip.style.removeProperty(\"--md-tooltip-0\")\n        },\n\n        /* Handle complete */\n        complete() {\n          tooltip.style.removeProperty(\"--md-tooltip-0\")\n        }\n      })\n\n    /* Create and return component */\n    return watchTooltip(tooltip, el)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n    .pipe(\n      subscribeOn(asyncScheduler)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  bufferCount,\n  combineLatest,\n  combineLatestWith,\n  defer,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  endWith,\n  filter,\n  from,\n  ignoreElements,\n  map,\n  mergeMap,\n  mergeWith,\n  of,\n  shareReplay,\n  startWith,\n  switchMap,\n  takeUntil\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport {\n  Viewport,\n  getElements,\n  watchElementSize,\n  watchToggle\n} from \"~/browser\"\n\nimport { Component } from \"../../_\"\nimport { Main } from \"../../main\"\nimport {\n  Tooltip,\n  mountTooltip\n} from \"../../tooltip\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Header\n */\nexport interface Header {\n  height: number                       /* Header visible height */\n  hidden: boolean                      /* Header is hidden */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n  main$: Observable<Main>              /* Main area observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Compute whether the header is hidden\n *\n * If the user scrolls past a certain threshold, the header can be hidden when\n * scrolling down, and shown when scrolling up.\n *\n * @param options - Options\n *\n * @returns Toggle observable\n */\nfunction isHidden({ viewport$ }: WatchOptions): Observable<boolean> {\n  if (!feature(\"header.autohide\"))\n    return of(false)\n\n  /* Compute direction and turning point */\n  const direction$ = viewport$\n    .pipe(\n      map(({ offset: { y } }) => y),\n      bufferCount(2, 1),\n      map(([a, b]) => [a < b, b] as const),\n      distinctUntilKeyChanged(0)\n    )\n\n  /* Compute whether header should be hidden */\n  const hidden$ = combineLatest([viewport$, direction$])\n    .pipe(\n      filter(([{ offset }, [, y]]) => Math.abs(y - offset.y) > 100),\n      map(([, [direction]]) => direction),\n      distinctUntilChanged()\n    )\n\n  /* Compute threshold for hiding */\n  const search$ = watchToggle(\"search\")\n  return combineLatest([viewport$, search$])\n    .pipe(\n      map(([{ offset }, search]) => offset.y > 400 && !search),\n      distinctUntilChanged(),\n      switchMap(active => active ? hidden$ : of(false)),\n      startWith(false)\n    )\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch header\n *\n * @param el - Header element\n * @param options - Options\n *\n * @returns Header observable\n */\nexport function watchHeader(\n  el: HTMLElement, options: WatchOptions\n): Observable<Header> {\n  return defer(() => combineLatest([\n    watchElementSize(el),\n    isHidden(options)\n  ]))\n    .pipe(\n      map(([{ height }, hidden]) => ({\n        height,\n        hidden\n      })),\n      distinctUntilChanged((a, b) => (\n        a.height === b.height &&\n        a.hidden === b.hidden\n      )),\n      shareReplay(1)\n    )\n}\n\n/**\n * Mount header\n *\n * This function manages the different states of the header, i.e. whether it's\n * hidden or rendered with a shadow. This depends heavily on the main area.\n *\n * @param el - Header element\n * @param options - Options\n *\n * @returns Header component observable\n */\nexport function mountHeader(\n  el: HTMLElement, { header$, main$ }: MountOptions\n): Observable<Component<Header | Tooltip>> {\n  return defer(() => {\n    const push$ = new Subject<Main>()\n    const done$ = push$.pipe(ignoreElements(), endWith(true))\n    push$\n      .pipe(\n        distinctUntilKeyChanged(\"active\"),\n        combineLatestWith(header$)\n      )\n        .subscribe(([{ active }, { hidden }]) => {\n          el.classList.toggle(\"md-header--shadow\", active && !hidden)\n          el.hidden = hidden\n        })\n\n    /* Mount tooltips, if enabled */\n    const tooltips = from(getElements(\"[title]\", el))\n      .pipe(\n        filter(() => feature(\"content.tooltips\")),\n        mergeMap(child => mountTooltip(child))\n      )\n\n    /* Link to main area */\n    main$.subscribe(push$)\n\n    /* Create and return component */\n    return header$\n      .pipe(\n        takeUntil(done$),\n        map(state => ({ ref: el, ...state })),\n        mergeWith(tooltips.pipe(takeUntil(done$)))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  defer,\n  distinctUntilKeyChanged,\n  finalize,\n  map,\n  tap\n} from \"rxjs\"\n\nimport {\n  Viewport,\n  getElementSize,\n  getOptionalElement,\n  watchViewportAt\n} from \"~/browser\"\n\nimport { Component } from \"../../_\"\nimport { Header } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Header\n */\nexport interface HeaderTitle {\n  active: boolean                      /* Header title is active */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch header title\n *\n * @param el - Heading element\n * @param options - Options\n *\n * @returns Header title observable\n */\nexport function watchHeaderTitle(\n  el: HTMLElement, { viewport$, header$ }: WatchOptions\n): Observable<HeaderTitle> {\n  return watchViewportAt(el, { viewport$, header$ })\n    .pipe(\n      map(({ offset: { y } }) => {\n        const { height } = getElementSize(el)\n        return {\n          active: y >= height\n        }\n      }),\n      distinctUntilKeyChanged(\"active\")\n    )\n}\n\n/**\n * Mount header title\n *\n * This function swaps the header title from the site title to the title of the\n * current page when the user scrolls past the first headline.\n *\n * @param el - Header title element\n * @param options - Options\n *\n * @returns Header title component observable\n */\nexport function mountHeaderTitle(\n  el: HTMLElement, options: MountOptions\n): Observable<Component<HeaderTitle>> {\n  return defer(() => {\n    const push$ = new Subject<HeaderTitle>()\n    push$.subscribe({\n\n      /* Handle emission */\n      next({ active }) {\n        el.classList.toggle(\"md-header__title--active\", active)\n      },\n\n      /* Handle complete */\n      complete() {\n        el.classList.remove(\"md-header__title--active\")\n      }\n    })\n\n    /* Obtain headline, if any */\n    const heading = getOptionalElement(\".md-content h1\")\n    if (typeof heading === \"undefined\")\n      return EMPTY\n\n    /* Create and return component */\n    return watchHeaderTitle(heading, options)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  combineLatest,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  map,\n  switchMap\n} from \"rxjs\"\n\nimport {\n  Viewport,\n  watchElementSize\n} from \"~/browser\"\n\nimport { Header } from \"../header\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Main area\n */\nexport interface Main {\n  offset: number                       /* Main area top offset */\n  height: number                       /* Main area visible height */\n  active: boolean                      /* Main area is active */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch main area\n *\n * This function returns an observable that computes the visual parameters of\n * the main area which depends on the viewport vertical offset and height, as\n * well as the height of the header element, if the header is fixed.\n *\n * @param el - Main area element\n * @param options - Options\n *\n * @returns Main area observable\n */\nexport function watchMain(\n  el: HTMLElement, { viewport$, header$ }: WatchOptions\n): Observable<Main> {\n\n  /* Compute necessary adjustment for header */\n  const adjust$ = header$\n    .pipe(\n      map(({ height }) => height),\n      distinctUntilChanged()\n    )\n\n  /* Compute the main area's top and bottom borders */\n  const border$ = adjust$\n    .pipe(\n      switchMap(() => watchElementSize(el)\n        .pipe(\n          map(({ height }) => ({\n            top:    el.offsetTop,\n            bottom: el.offsetTop + height\n          })),\n          distinctUntilKeyChanged(\"bottom\")\n        )\n      )\n    )\n\n  /* Compute the main area's offset, visible height and if we scrolled past */\n  return combineLatest([adjust$, border$, viewport$])\n    .pipe(\n      map(([header, { top, bottom }, { offset: { y }, size: { height } }]) => {\n        height = Math.max(0, height\n          - Math.max(0, top    - y,  header)\n          - Math.max(0, height + y - bottom)\n        )\n        return {\n          offset: top - header,\n          height,\n          active: top - header <= y\n        }\n      }),\n      distinctUntilChanged((a, b) => (\n        a.offset === b.offset &&\n        a.height === b.height &&\n        a.active === b.active\n      ))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  asyncScheduler,\n  defer,\n  filter,\n  finalize,\n  fromEvent,\n  map,\n  mergeMap,\n  observeOn,\n  of,\n  repeat,\n  shareReplay,\n  skip,\n  startWith,\n  takeUntil,\n  tap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport { getElements, watchMedia } from \"~/browser\"\nimport { h } from \"~/utilities\"\n\nimport {\n  Component,\n  getComponentElement\n} from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Palette colors\n */\nexport interface PaletteColor {\n  media?: string                       /* Media query */\n  scheme?: string                      /* Color scheme */\n  primary?: string                     /* Primary color */\n  accent?: string                      /* Accent color */\n}\n\n/**\n * Palette\n */\nexport interface Palette {\n  index: number                        /* Palette index */\n  color: PaletteColor                  /* Palette colors */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch color palette\n *\n * @param inputs - Color palette element\n *\n * @returns Color palette observable\n */\nexport function watchPalette(\n  inputs: HTMLInputElement[]\n): Observable<Palette> {\n  const current = __md_get<Palette>(\"__palette\") || {\n    index: inputs.findIndex(input => matchMedia(\n      input.getAttribute(\"data-md-color-media\")!\n    ).matches)\n  }\n\n  /* Emit changes in color palette */\n  const index = Math.max(0, Math.min(current.index, inputs.length - 1))\n  return of(...inputs)\n    .pipe(\n      mergeMap(input => fromEvent(input, \"change\").pipe(map(() => input))),\n      startWith(inputs[index]),\n      map(input => ({\n        index: inputs.indexOf(input),\n        color: {\n          media:   input.getAttribute(\"data-md-color-media\"),\n          scheme:  input.getAttribute(\"data-md-color-scheme\"),\n          primary: input.getAttribute(\"data-md-color-primary\"),\n          accent:  input.getAttribute(\"data-md-color-accent\")\n        }\n      } as Palette)),\n      shareReplay(1)\n    )\n}\n\n/**\n * Mount color palette\n *\n * @param el - Color palette element\n *\n * @returns Color palette component observable\n */\nexport function mountPalette(\n  el: HTMLElement\n): Observable<Component<Palette>> {\n  const inputs = getElements<HTMLInputElement>(\"input\", el)\n  const meta = h(\"meta\", { name: \"theme-color\" })\n  document.head.appendChild(meta)\n\n  // Add color scheme meta tag\n  const scheme = h(\"meta\", { name: \"color-scheme\" })\n  document.head.appendChild(scheme)\n\n  /* Mount component on subscription */\n  const media$ = watchMedia(\"(prefers-color-scheme: light)\")\n  return defer(() => {\n    const push$ = new Subject<Palette>()\n    push$.subscribe(palette => {\n      document.body.setAttribute(\"data-md-color-switching\", \"\")\n\n      /* Retrieve color palette for system preference */\n      if (palette.color.media === \"(prefers-color-scheme)\") {\n        const media = matchMedia(\"(prefers-color-scheme: light)\")\n        const input = document.querySelector(media.matches\n          ? \"[data-md-color-media='(prefers-color-scheme: light)']\"\n          : \"[data-md-color-media='(prefers-color-scheme: dark)']\"\n        )!\n\n        /* Retrieve colors for system preference */\n        palette.color.scheme  = input.getAttribute(\"data-md-color-scheme\")!\n        palette.color.primary = input.getAttribute(\"data-md-color-primary\")!\n        palette.color.accent  = input.getAttribute(\"data-md-color-accent\")!\n      }\n\n      /* Set color palette */\n      for (const [key, value] of Object.entries(palette.color))\n        document.body.setAttribute(`data-md-color-${key}`, value)\n\n      /* Set toggle visibility */\n      for (let index = 0; index < inputs.length; index++) {\n        const label = inputs[index].nextElementSibling\n        if (label instanceof HTMLElement)\n          label.hidden = palette.index !== index\n      }\n\n      /* Persist preference in local storage */\n      __md_set(\"__palette\", palette)\n    })\n\n    // Handle color switch on Enter or Space - see https://t.ly/YIhVj\n    fromEvent<KeyboardEvent>(el, \"keydown\").pipe(\n      filter(ev => ev.key === \"Enter\"),\n      withLatestFrom(push$, (_, palette) => palette)\n    )\n      .subscribe(({ index }) => {\n        index = (index + 1) % inputs.length\n        inputs[index].click()\n        inputs[index].focus()\n      })\n\n    /* Update theme-color meta tag */\n    push$\n      .pipe(\n        map(() => {\n          const header = getComponentElement(\"header\")\n          const style  = window.getComputedStyle(header)\n\n          // Set color scheme\n          scheme.content = style.colorScheme\n\n          /* Return color in hexadecimal format */\n          return style.backgroundColor.match(/\\d+/g)!\n            .map(value => (+value).toString(16).padStart(2, \"0\"))\n            .join(\"\")\n        })\n      )\n        .subscribe(color => meta.content = `#${color}`)\n\n    /* Revert transition durations after color switch */\n    push$.pipe(observeOn(asyncScheduler))\n      .subscribe(() => {\n        document.body.removeAttribute(\"data-md-color-switching\")\n      })\n\n    /* Create and return component */\n    return watchPalette(inputs)\n      .pipe(\n        takeUntil(media$.pipe(skip(1))),\n        repeat(),\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  defer,\n  finalize,\n  map,\n  tap\n} from \"rxjs\"\n\nimport { Component } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Progress indicator\n */\nexport interface Progress {\n  value: number                        // Progress value\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  progress$: Subject<number>           // Progress subject\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount progress indicator\n *\n * @param el - Progress indicator element\n * @param options - Options\n *\n * @returns Progress indicator component observable\n */\nexport function mountProgress(\n  el: HTMLElement, { progress$ }: MountOptions\n): Observable<Component<Progress>> {\n\n  // Mount component on subscription\n  return defer(() => {\n    const push$ = new Subject<Progress>()\n    push$.subscribe(({ value }) => {\n      el.style.setProperty(\"--md-progress-value\", `${value}`)\n    })\n\n    // Create and return component\n    return progress$\n      .pipe(\n        tap(value => push$.next({ value })),\n        finalize(() => push$.complete()),\n        map(value => ({ ref: el, value }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport ClipboardJS from \"clipboard\"\nimport {\n  Observable,\n  Subject,\n  map,\n  tap\n} from \"rxjs\"\n\nimport { translation } from \"~/_\"\nimport { getElement } from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Setup options\n */\ninterface SetupOptions {\n  alert$: Subject<string>              /* Alert subject */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Extract text to copy\n *\n * @param el - HTML element\n *\n * @returns Extracted text\n */\nfunction extract(el: HTMLElement): string {\n  el.setAttribute(\"data-md-copying\", \"\")\n  const copy = el.closest(\"[data-copy]\")\n  const text = copy\n    ? copy.getAttribute(\"data-copy\")!\n    : el.innerText\n  el.removeAttribute(\"data-md-copying\")\n  return text.trimEnd()\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Set up Clipboard.js integration\n *\n * @param options - Options\n */\nexport function setupClipboardJS(\n  { alert$ }: SetupOptions\n): void {\n  if (ClipboardJS.isSupported()) {\n    new Observable<ClipboardJS.Event>(subscriber => {\n      new ClipboardJS(\"[data-clipboard-target], [data-clipboard-text]\", {\n        text: el => (\n          el.getAttribute(\"data-clipboard-text\")! ||\n          extract(getElement(\n            el.getAttribute(\"data-clipboard-target\")!\n          ))\n        )\n      })\n        .on(\"success\", ev => subscriber.next(ev))\n    })\n      .pipe(\n        tap(ev => {\n          const trigger = ev.trigger as HTMLElement\n          trigger.focus()\n        }),\n        map(() => translation(\"clipboard.copied\"))\n      )\n        .subscribe(alert$)\n  }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  catchError,\n  map,\n  of\n} from \"rxjs\"\n\nimport {\n  getElement,\n  getElements,\n  requestXML\n} from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Sitemap, i.e. a list of URLs\n */\nexport type Sitemap = Map<string, URL[]>\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Resolve URL to the given base URL\n *\n * When serving the site with instant navigation, MkDocs will set the hostname\n * to the value as specified in `dev_addr`, but the browser allows for several\n * hostnames to be used: `localhost`, `127.0.0.1` or even `0.0.0.0`, depending\n * on configuration. This function resolves the URL to the given hostname.\n *\n * @param url - URL\n * @param base - Base URL\n *\n * @returns Resolved URL\n */\nfunction resolve(url: URL, base: URL) {\n  url.protocol = base.protocol\n  url.hostname = base.hostname\n  return url\n}\n\n/**\n * Extract sitemap from document\n *\n * This function extracts the URLs and alternate links from the document, and\n * associates alternate links to the original URL as found in `loc`, allowing\n * the browser to navigate to the correct page when switching languages. The\n * format of the sitemap is expected to adhere to:\n *\n * ``` xml\n * <urlset>\n *   <url>\n *     <loc>...</loc>\n *     <xhtml:link rel=\"alternate\" hreflang=\"en\" href=\"...\"/>\n *     <xhtml:link rel=\"alternate\" hreflang=\"de\" href=\"...\"/>\n *     ...\n *   </url>\n *   ...\n * </urlset>\n * ```\n *\n * @param document - Document\n * @param base - Base URL\n *\n * @returns Sitemap\n */\nfunction extract(document: Document, base: URL): Sitemap {\n  const sitemap: Sitemap = new Map()\n  for (const el of getElements(\"url\", document)) {\n    const url = getElement(\"loc\", el)\n\n    // Create entry for location and add it to the list of links\n    const links = [resolve(new URL(url.textContent!), base)]\n    sitemap.set(`${links[0]}`, links)\n\n    // Attach alternate links to current entry\n    for (const link of getElements(\"[rel=alternate]\", el)) {\n      const href = link.getAttribute(\"href\")\n      if (href != null)\n        links.push(resolve(new URL(href), base))\n    }\n  }\n\n  // Return sitemap\n  return sitemap\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch the sitemap for the given base URL\n *\n * If a network or parsing error occurs, we just default to an empty sitemap,\n * which means the caller should fall back to regular navigation.\n *\n * @param base - Base URL\n *\n * @returns Sitemap observable\n */\nexport function fetchSitemap(base: URL | string): Observable<Sitemap> {\n  return requestXML(new URL(\"sitemap.xml\", base))\n    .pipe(\n      map(document => extract(document, new URL(base))),\n      catchError(() => of(new Map())),\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  catchError,\n  combineLatestWith,\n  concat,\n  debounceTime,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  endWith,\n  fromEvent,\n  ignoreElements,\n  map,\n  merge,\n  of,\n  share,\n  switchMap,\n  tap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport { configuration, feature } from \"~/_\"\nimport {\n  Viewport,\n  getElements,\n  getLocation,\n  getOptionalElement,\n  requestHTML,\n  setLocation,\n  setLocationHash\n} from \"~/browser\"\nimport { getComponentElement } from \"~/components\"\n\nimport { Sitemap, fetchSitemap } from \"../sitemap\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Setup options\n */\ninterface SetupOptions {\n  location$: Subject<URL>              // Location subject\n  viewport$: Observable<Viewport>      // Viewport observable\n  progress$: Subject<number>           // Progress subject\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Handle clicks on internal URLs while skipping external URLs\n *\n * @param ev - Mouse event\n * @param sitemap - Sitemap\n *\n * @returns URL observable\n */\nfunction handle(\n  ev: MouseEvent, sitemap: Sitemap\n): Observable<URL> {\n  if (!(ev.target instanceof Element))\n    return EMPTY\n\n  // Skip, as target is not within a link - clicks on non-link elements are\n  // also captured, which we need to exclude from processing\n  const el = ev.target.closest(\"a\")\n  if (el === null)\n    return EMPTY\n\n  // Skip, as link opens in new window - we now know we have captured a click\n  // on a link, but the link either has a `target` property defined, or the\n  // user pressed the `meta` or `ctrl` key to open it in a new window. Thus,\n  // we need to filter this event as well.\n  if (el.target || ev.metaKey || ev.ctrlKey)\n    return EMPTY\n\n  // Next, we must check if the URL is relevant for us, i.e., if it's an\n  // internal link to a page that is managed by MkDocs. Only then we can be\n  // sure that the structure of the page to be loaded adheres to the current\n  // document structure and can subsequently be injected into it without doing\n  // a full reload. For this reason, we must canonicalize the URL by removing\n  // all search parameters and hash fragments.\n  const url = new URL(el.href)\n  url.search = url.hash = \"\"\n\n  // Skip, if URL is not included in the sitemap - this could be the case when\n  // linking between versions or languages, or to another page that the author\n  // included as part of the build, but that is not managed by MkDocs. In that\n  // case we must not continue with instant navigation.\n  if (!sitemap.has(`${url}`))\n    return EMPTY\n\n  // We now know that we have a link to an internal page, so we prevent the\n  // browser from navigation and emit the URL for instant navigation. Note that\n  // this also includes anchor links, which means we need to implement anchor\n  // positioning ourselves. The reason for this is that if we wouldn't manage\n  // anchor links as well, scroll restoration will not work correctly (e.g.\n  // following an anchor link and scrolling).\n  ev.preventDefault()\n  return of(new URL(el.href))\n}\n\n/**\n * Create a map of head elements for lookup and replacement\n *\n * @param document - Document\n *\n * @returns Tag map\n */\nfunction head(document: Document): Map<string, HTMLElement> {\n  const tags = new Map<string, HTMLElement>()\n  for (const el of getElements(\":scope > *\", document.head))\n    tags.set(el.outerHTML, el)\n\n  // Return tag map\n  return tags\n}\n\n/**\n * Resolve relative URLs in the given document\n *\n * This function resolves relative `href` and `src` attributes, which can belong\n * to all sorts of tags, like meta tags, links, images, scripts and more.\n *\n * @param document - Document\n *\n * @returns Document observable\n */\nfunction resolve(document: Document): Observable<Document> {\n  for (const el of getElements(\"[href], [src]\", document))\n    for (const key of [\"href\", \"src\"]) {\n      const value = el.getAttribute(key)\n      if (value && !/^(?:[a-z]+:)?\\/\\//i.test(value)) {\n        // @ts-expect-error - trick: self-assign to resolve URL\n        el[key] = el[key]\n        break\n      }\n    }\n\n  // Return document observable\n  return of(document)\n}\n\n/**\n * Inject the contents of a document into the current one\n *\n * @param next - Next document\n *\n * @returns Document observable\n */\nfunction inject(next: Document): Observable<Document> {\n  for (const selector of [\n    \"[data-md-component=announce]\",\n    \"[data-md-component=container]\",\n    \"[data-md-component=header-topic]\",\n    \"[data-md-component=outdated]\",\n    \"[data-md-component=logo]\",\n    \"[data-md-component=skip]\",\n    ...feature(\"navigation.tabs.sticky\")\n      ? [\"[data-md-component=tabs]\"]\n      : []\n  ]) {\n    const source = getOptionalElement(selector)\n    const target = getOptionalElement(selector, next)\n    if (\n      typeof source !== \"undefined\" &&\n      typeof target !== \"undefined\"\n    ) {\n      source.replaceWith(target)\n    }\n  }\n\n  // Update meta tags\n  const tags = head(document)\n  for (const [html, el] of head(next))\n    if (tags.has(html))\n      tags.delete(html)\n    else\n      document.head.appendChild(el)\n\n  // Remove meta tags that are not present in the new document\n  for (const el of tags.values()) {\n    const name = el.getAttribute(\"name\")\n    // @todo - find a better way to handle attributes we add dynamically in\n    // other components without mounting components on every navigation, as\n    // this might impact overall performance - see https://t.ly/ehp_O\n    if (name !== \"theme-color\" && name !== \"color-scheme\")\n      el.remove()\n  }\n\n  // After components and meta tags were replaced, re-evaluate scripts\n  // that were provided by the author as part of Markdown files\n  const container = getComponentElement(\"container\")\n  return concat(getElements(\"script\", container))\n    .pipe(\n      switchMap(el => {\n        const script = next.createElement(\"script\")\n        if (el.src) {\n          for (const name of el.getAttributeNames())\n            script.setAttribute(name, el.getAttribute(name)!)\n          el.replaceWith(script)\n\n          // Complete when script is loaded\n          return new Observable(observer => {\n            script.onload = () => observer.complete()\n          })\n\n        // Complete immediately\n        } else {\n          script.textContent = el.textContent\n          el.replaceWith(script)\n          return EMPTY\n        }\n      }),\n      ignoreElements(),\n      endWith(document)\n    )\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Set up instant navigation\n *\n * This is a heavily orchestrated operation - see inline comments to learn how\n * this works with Material for MkDocs, and how you can hook into it.\n *\n * @param options - Options\n *\n * @returns Document observable\n */\nexport function setupInstantNavigation(\n  { location$, viewport$, progress$ }: SetupOptions\n): Observable<Document> {\n  const config = configuration()\n  if (location.protocol === \"file:\")\n    return EMPTY\n\n  // Load sitemap immediately, so we have it available when the user initiates\n  // the first navigation request without any perceivable delay\n  const sitemap$ = fetchSitemap(config.base)\n\n  // Since we might be on a slow connection, the user might trigger multiple\n  // instant navigation events that overlap. MkDocs produces relative URLs for\n  // all internal links, which becomes a problem in this case, because we need\n  // to change the base URL the moment the user clicks a link that should be\n  // intercepted in order to be consistent with popstate, which means that the\n  // base URL would now be incorrect when resolving another relative link from\n  // the same site. For this reason we always resolve all relative links to\n  // absolute links, so we can be sure this never happens.\n  of(document)\n    .subscribe(resolve)\n\n  // --------------------------------------------------------------------------\n  // Navigation interception\n  // --------------------------------------------------------------------------\n\n  // Intercept navigation - to keep the number of event listeners down we use\n  // the fact that uncaptured events bubble up to the body. This has the nice\n  // property that we don't need to detach and then re-attach event listeners\n  // when the document is replaced after a navigation event.\n  const instant$ =\n    fromEvent<MouseEvent>(document.body, \"click\")\n      .pipe(\n        combineLatestWith(sitemap$),\n        switchMap(([ev, sitemap]) => handle(ev, sitemap)),\n        share()\n      )\n\n  // Intercept history change events, e.g. when the user uses the browser's\n  // back or forward buttons, and emit new location for fetching and parsing\n  const history$ =\n    fromEvent<PopStateEvent>(window, \"popstate\")\n      .pipe(\n        map(getLocation),\n        share()\n      )\n\n  // While it would be better UX to defer navigation events until the document\n  // is fully fetched and parsed, we must schedule it here to synchronize with\n  // popstate events, as they are emitted immediately. Moreover we need to\n  // store the current viewport offset for scroll restoration later on.\n  instant$.pipe(withLatestFrom(viewport$))\n    .subscribe(([url, { offset }]) => {\n      history.replaceState(offset, \"\")\n      history.pushState(null, \"\", url)\n    })\n\n  // Emit URLs that should be fetched via instant navigation on location subject\n  // which was passed into this function. The state of instant navigation can be\n  // intercepted by other parts of the application, which can synchronously back\n  // up or restore state before or after instant navigation happens.\n  merge(instant$, history$)\n    .subscribe(location$)\n\n  // --------------------------------------------------------------------------\n  // Fetching and parsing\n  // --------------------------------------------------------------------------\n\n  // Fetch document - we deduplicate requests to the same location, so we don't\n  // end up with multiple requests for the same page. We use `switchMap`, since\n  // we want to cancel the previous request when a new one is triggered, which\n  // is automatically handled by the observable returned by `request`. This is\n  // essential to ensure a good user experience, as we don't want to load pages\n  // that are not needed anymore, e.g., when the user clicks multiple links in\n  // quick succession or on slow connections. If the request fails for some\n  // reason, we fall back and use regular navigation, forcing a reload.\n  const document$ =\n    location$.pipe(\n      distinctUntilKeyChanged(\"pathname\"),\n      switchMap(url => requestHTML(url, { progress$ })\n        .pipe(\n          catchError(() => {\n            setLocation(url, true)\n            return EMPTY\n          })\n        )\n      ),\n\n      // The document was successfully fetched and parsed, so we can inject its\n      // contents into the currently active document\n      switchMap(resolve),\n      switchMap(inject),\n      share()\n    )\n\n  // --------------------------------------------------------------------------\n  // Scroll restoration\n  // --------------------------------------------------------------------------\n\n  // Handle scroll restoration - we must restore the viewport offset after the\n  // document has been fetched and injected, and every time the user clicks an\n  // anchor that leads to an element on the same page, which might also happen\n  // when the user uses the back or forward button.\n  merge(\n    document$.pipe(withLatestFrom(location$, (_, url) => url)),\n\n    // Handle instant navigation events that are triggered by the user clicking\n    // on an anchor link with a hash fragment different from the current one, as\n    // well as from popstate events, which are emitted when the user navigates\n    // back and forth between pages. We use a two-layered subscription to scope\n    // the scroll restoration to the current page, as we don't need to restore\n    // the viewport offset when the user navigates to a different page, as this\n    // is already handled by the previous observable.\n    document$.pipe(\n      switchMap(() => location$),\n      distinctUntilKeyChanged(\"pathname\"),\n      switchMap(() => location$),\n      distinctUntilKeyChanged(\"hash\")\n    ),\n\n    // Handle instant navigation events that are triggered by the user clicking\n    // on an anchor link with the same hash fragment as the current one in the\n    // URL. It is essential that we only intercept those from instant navigation\n    // events and not from history change events, or we'll end up in and endless\n    // loop. The top-level history entry must be removed, as it will be replaced\n    // with a new one, which would otherwise lead to a duplicate entry.\n    location$.pipe(\n      distinctUntilChanged((a, b) => (\n        a.pathname === b.pathname &&\n        a.hash     === b.hash\n      )),\n      switchMap(() => instant$),\n      tap(() => history.back())\n    )\n  )\n    .subscribe(url => {\n\n      // Check if the current history entry has a state, which happens when the\n      // user presses the back or forward button to visit a page we've already\n      // seen. If there's no state, it means a new page was visited and we must\n      // scroll to the top, unless an anchor is given.\n      if (history.state !== null || !url.hash) {\n        window.scrollTo(0, history.state?.y ?? 0)\n      } else {\n        history.scrollRestoration = \"auto\"\n        setLocationHash(url.hash)\n        history.scrollRestoration = \"manual\"\n      }\n    })\n\n  // Disable scroll restoration when an instant navigation event occurs, so the\n  // browser does not immediately set the viewport offset to the prior history\n  // entry, scrolling to the position on the same page, which would look odd.\n  // Instead, we manually restore the position once the page has loaded.\n  location$.subscribe(() => {\n    history.scrollRestoration = \"manual\"\n  })\n\n  // Enable scroll restoration before window unloads - this is essential to\n  // ensure that full reloads (F5) restore the viewport offset correctly. If\n  // only popstate events wouldn't reset the viewport offset prior to their\n  // emission, we could just reset this in popstate. Meh.\n  fromEvent(window, \"beforeunload\")\n    .subscribe(() => {\n      history.scrollRestoration = \"auto\"\n    })\n\n  // Track viewport offset, so we can restore it when the user navigates back\n  // and forth between pages. Note that this must be debounced and cannot be\n  // done in popstate, as popstate has already removed the entry from the\n  // history, which means it is too late.\n  viewport$.pipe(\n    distinctUntilKeyChanged(\"offset\"),\n    debounceTime(100)\n  )\n    .subscribe(({ offset }) => {\n      history.replaceState(offset, \"\")\n    })\n\n  // Return document observable\n  return document$\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport escapeHTML from \"escape-html\"\n\nimport { SearchConfig } from \"../config\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search highlight function\n *\n * @param value - Value\n *\n * @returns Highlighted value\n */\nexport type SearchHighlightFn = (value: string) => string\n\n/**\n * Search highlight factory function\n *\n * @param query - Query value\n *\n * @returns Search highlight function\n */\nexport type SearchHighlightFactoryFn = (query: string) => SearchHighlightFn\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Create a search highlighter\n *\n * @param config - Search configuration\n *\n * @returns Search highlight factory function\n */\nexport function setupSearchHighlighter(\n  config: SearchConfig\n): SearchHighlightFactoryFn {\n  // Hack: temporarily remove pure lookaheads and lookbehinds\n  const regex = config.separator.split(\"|\").map(term => {\n    const temp = term.replace(/(\\(\\?[!=<][^)]+\\))/g, \"\")\n    return temp.length === 0 ? \"\uFFFD\" : term\n  })\n    .join(\"|\")\n\n  const separator = new RegExp(regex, \"img\")\n  const highlight = (_: unknown, data: string, term: string) => {\n    return `${data}<mark data-md-highlight>${term}</mark>`\n  }\n\n  /* Return factory function */\n  return (query: string) => {\n    query = query\n      .replace(/[\\s*+\\-:~^]+/g, \" \")\n      .trim()\n\n    /* Create search term match expression */\n    const match = new RegExp(`(^|${config.separator}|)(${\n      query\n        .replace(/[|\\\\{}()[\\]^$+*?.-]/g, \"\\\\$&\")\n        .replace(separator, \"|\")\n    })`, \"img\")\n\n    /* Highlight string value */\n    return value => escapeHTML(value)\n      .replace(match, highlight)\n      .replace(/<\\/mark>(\\s+)<mark[^>]*>/img, \"$1\")\n  }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A RTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { SearchResult } from \"../../_\"\nimport { SearchIndex } from \"../../config\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search message type\n */\nexport const enum SearchMessageType {\n  SETUP,                               /* Search index setup */\n  READY,                               /* Search index ready */\n  QUERY,                               /* Search query */\n  RESULT                               /* Search results */\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Message containing the data necessary to setup the search index\n */\nexport interface SearchSetupMessage {\n  type: SearchMessageType.SETUP        /* Message type */\n  data: SearchIndex                    /* Message data */\n}\n\n/**\n * Message indicating the search index is ready\n */\nexport interface SearchReadyMessage {\n  type: SearchMessageType.READY        /* Message type */\n}\n\n/**\n * Message containing a search query\n */\nexport interface SearchQueryMessage {\n  type: SearchMessageType.QUERY        /* Message type */\n  data: string                         /* Message data */\n}\n\n/**\n * Message containing results for a search query\n */\nexport interface SearchResultMessage {\n  type: SearchMessageType.RESULT       /* Message type */\n  data: SearchResult                   /* Message data */\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Message exchanged with the search worker\n */\nexport type SearchMessage =\n  | SearchSetupMessage\n  | SearchReadyMessage\n  | SearchQueryMessage\n  | SearchResultMessage\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Type guard for search ready messages\n *\n * @param message - Search worker message\n *\n * @returns Test result\n */\nexport function isSearchReadyMessage(\n  message: SearchMessage\n): message is SearchReadyMessage {\n  return message.type === SearchMessageType.READY\n}\n\n/**\n * Type guard for search result messages\n *\n * @param message - Search worker message\n *\n * @returns Test result\n */\nexport function isSearchResultMessage(\n  message: SearchMessage\n): message is SearchResultMessage {\n  return message.type === SearchMessageType.RESULT\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A RTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  ObservableInput,\n  Subject,\n  first,\n  merge,\n  of,\n  switchMap\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport { watchToggle, watchWorker } from \"~/browser\"\n\nimport { SearchIndex } from \"../../config\"\nimport {\n  SearchMessage,\n  SearchMessageType\n} from \"../message\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Set up search worker\n *\n * This function creates and initializes a web worker that is used for search,\n * so that the user interface doesn't freeze. In general, the application does\n * not care how search is implemented, as long as the web worker conforms to\n * the format expected by the application as defined in `SearchMessage`. This\n * allows the author to implement custom search functionality, by providing a\n * custom web worker via configuration.\n *\n * Material for MkDocs' built-in search implementation makes use of Lunr.js, an\n * efficient and fast implementation for client-side search. Leveraging a tiny\n * iframe-based web worker shim, search is even supported for the `file://`\n * protocol, enabling search for local non-hosted builds.\n *\n * If the protocol is `file://`, search initialization is deferred to mitigate\n * freezing, as it's now synchronous by design - see https://bit.ly/3C521EO\n *\n * @see https://bit.ly/3igvtQv - How to implement custom search\n *\n * @param url - Worker URL\n * @param index$ - Search index observable input\n *\n * @returns Search worker\n */\nexport function setupSearchWorker(\n  url: string, index$: ObservableInput<SearchIndex>\n): Subject<SearchMessage> {\n  const worker$ = watchWorker<SearchMessage>(url)\n  merge(\n    of(location.protocol !== \"file:\"),\n    watchToggle(\"search\")\n  )\n    .pipe(\n      first(active => active),\n      switchMap(() => index$)\n    )\n      .subscribe(({ config, docs }) => worker$.next({\n        type: SearchMessageType.SETUP,\n        data: {\n          config,\n          docs,\n          options: {\n            suggest: feature(\"search.suggest\")\n          }\n        }\n      }))\n\n  /* Return search worker */\n  return worker$\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Subject,\n  catchError,\n  combineLatest,\n  filter,\n  fromEvent,\n  map,\n  of,\n  switchMap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport { configuration } from \"~/_\"\nimport {\n  getElement,\n  getLocation,\n  requestJSON,\n  setLocation\n} from \"~/browser\"\nimport { getComponentElements } from \"~/components\"\nimport {\n  Version,\n  renderVersionSelector\n} from \"~/templates\"\n\nimport { fetchSitemap } from \"../sitemap\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Setup options\n */\ninterface SetupOptions {\n  document$: Subject<Document>         /* Document subject */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Set up version selector\n *\n * @param options - Options\n */\nexport function setupVersionSelector(\n  { document$ }: SetupOptions\n): void {\n  const config = configuration()\n  const versions$ = requestJSON<Version[]>(\n    new URL(\"../versions.json\", config.base)\n  )\n    .pipe(\n      catchError(() => EMPTY) // @todo refactor instant loading\n    )\n\n  /* Determine current version */\n  const current$ = versions$\n    .pipe(\n      map(versions => {\n        const [, current] = config.base.match(/([^/]+)\\/?$/)!\n        return versions.find(({ version, aliases }) => (\n          version === current || aliases.includes(current)\n        )) || versions[0]\n      })\n    )\n\n  /* Intercept inter-version navigation */\n  versions$\n    .pipe(\n      map(versions => new Map(versions.map(version => [\n        `${new URL(`../${version.version}/`, config.base)}`,\n        version\n      ]))),\n      switchMap(urls => fromEvent<MouseEvent>(document.body, \"click\")\n        .pipe(\n          filter(ev => !ev.metaKey && !ev.ctrlKey),\n          withLatestFrom(current$),\n          switchMap(([ev, current]) => {\n            if (ev.target instanceof Element) {\n              const el = ev.target.closest(\"a\")\n              if (el && !el.target && urls.has(el.href)) {\n                const url = el.href\n                // This is a temporary hack to detect if a version inside the\n                // version selector or on another part of the site was clicked.\n                // If we're inside the version selector, we definitely want to\n                // find the same page, as we might have different deployments\n                // due to aliases. However, if we're outside the version\n                // selector, we must abort here, because we might otherwise\n                // interfere with instant navigation. We need to refactor this\n                // at some point together with instant navigation.\n                //\n                // See https://github.com/squidfunk/mkdocs-material/issues/4012\n                if (!ev.target.closest(\".md-version\")) {\n                  const version = urls.get(url)!\n                  if (version === current)\n                    return EMPTY\n                }\n                ev.preventDefault()\n                return of(url)\n              }\n            }\n            return EMPTY\n          }),\n          switchMap(url => {\n            return fetchSitemap(new URL(url))\n              .pipe(\n                map(sitemap => {\n                  const location = getLocation()\n                  const path = location.href.replace(config.base, url)\n                  return sitemap.has(path.split(\"#\")[0])\n                    ? new URL(path)\n                    : new URL(url)\n                })\n              )\n          })\n        )\n      )\n    )\n      .subscribe(url => setLocation(url, true))\n\n  /* Render version selector and warning */\n  combineLatest([versions$, current$])\n    .subscribe(([versions, current]) => {\n      const topic = getElement(\".md-header__topic\")\n      topic.appendChild(renderVersionSelector(versions, current))\n    })\n\n  /* Integrate outdated version banner with instant navigation */\n  document$.pipe(switchMap(() => current$))\n    .subscribe(current => {\n\n      /* Check if version state was already determined */\n      let outdated = __md_get(\"__outdated\", sessionStorage)\n      if (outdated === null) {\n        outdated = true\n\n        /* Obtain and normalize default versions */\n        let ignored = config.version?.default || \"latest\"\n        if (!Array.isArray(ignored))\n          ignored = [ignored]\n\n        /* Check if version is considered a default */\n        main: for (const ignore of ignored)\n          for (const version of current.aliases.concat(current.version))\n            if (new RegExp(ignore, \"i\").test(version)) {\n              outdated = false\n              break main\n            }\n\n        /* Persist version state in session storage */\n        __md_set(\"__outdated\", outdated, sessionStorage)\n      }\n\n      /* Unhide outdated version banner */\n      if (outdated)\n        for (const warning of getComponentElements(\"outdated\"))\n          warning.hidden = false\n    })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  combineLatest,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  endWith,\n  finalize,\n  first,\n  fromEvent,\n  ignoreElements,\n  map,\n  merge,\n  shareReplay,\n  takeUntil,\n  tap\n} from \"rxjs\"\n\nimport {\n  getElement,\n  getLocation,\n  setToggle,\n  watchElementFocus,\n  watchToggle\n} from \"~/browser\"\nimport {\n  SearchMessage,\n  SearchMessageType,\n  isSearchReadyMessage\n} from \"~/integrations\"\n\nimport { Component } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search query\n */\nexport interface SearchQuery {\n  value: string                        /* Query value */\n  focus: boolean                       /* Query focus */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  worker$: Subject<SearchMessage>      /* Search worker */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  worker$: Subject<SearchMessage>      /* Search worker */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch search query\n *\n * Note that the focus event which triggers re-reading the current query value\n * is delayed by `1ms` so the input's empty state is allowed to propagate.\n *\n * @param el - Search query element\n * @param options - Options\n *\n * @returns Search query observable\n */\nexport function watchSearchQuery(\n  el: HTMLInputElement, { worker$ }: WatchOptions\n): Observable<SearchQuery> {\n\n  /* Support search deep linking */\n  const { searchParams } = getLocation()\n  if (searchParams.has(\"q\")) {\n    setToggle(\"search\", true)\n\n    /* Set query from parameter */\n    el.value = searchParams.get(\"q\")!\n    el.focus()\n\n    /* Remove query parameter on close */\n    watchToggle(\"search\")\n      .pipe(\n        first(active => !active)\n      )\n        .subscribe(() => {\n          const url = getLocation()\n          url.searchParams.delete(\"q\")\n          history.replaceState({}, \"\", `${url}`)\n        })\n  }\n\n  /* Intercept focus and input events */\n  const focus$ = watchElementFocus(el)\n  const value$ = merge(\n    worker$.pipe(first(isSearchReadyMessage)),\n    fromEvent(el, \"keyup\"),\n    focus$\n  )\n    .pipe(\n      map(() => el.value),\n      distinctUntilChanged()\n    )\n\n  /* Combine into single observable */\n  return combineLatest([value$, focus$])\n    .pipe(\n      map(([value, focus]) => ({ value, focus })),\n      shareReplay(1)\n    )\n}\n\n/**\n * Mount search query\n *\n * @param el - Search query element\n * @param options - Options\n *\n * @returns Search query component observable\n */\nexport function mountSearchQuery(\n  el: HTMLInputElement, { worker$ }: MountOptions\n): Observable<Component<SearchQuery, HTMLInputElement>> {\n  const push$ = new Subject<SearchQuery>()\n  const done$ = push$.pipe(ignoreElements(), endWith(true))\n\n  /* Handle value change */\n  combineLatest([\n    worker$.pipe(first(isSearchReadyMessage)),\n    push$\n  ], (_, query) => query)\n    .pipe(\n      distinctUntilKeyChanged(\"value\")\n    )\n      .subscribe(({ value }) => worker$.next({\n        type: SearchMessageType.QUERY,\n        data: value\n      }))\n\n  /* Handle focus change */\n  push$\n    .pipe(\n      distinctUntilKeyChanged(\"focus\")\n    )\n      .subscribe(({ focus }) => {\n        if (focus)\n          setToggle(\"search\", focus)\n      })\n\n  /* Handle reset */\n  fromEvent(el.form!, \"reset\")\n    .pipe(\n      takeUntil(done$)\n    )\n      .subscribe(() => el.focus())\n\n  // Focus search query on label click - note that this is necessary to bring\n  // up the keyboard on iOS and other mobile platforms, as the search dialog is\n  // not visible at first, and programatically focusing an input element must\n  // be triggered by a user interaction - see https://t.ly/Cb30n\n  const label = getElement(\"header [for=__search]\")\n  fromEvent(label, \"click\")\n    .subscribe(() => el.focus())\n\n  /* Create and return component */\n  return watchSearchQuery(el, { worker$ })\n    .pipe(\n      tap(state => push$.next(state)),\n      finalize(() => push$.complete()),\n      map(state => ({ ref: el, ...state })),\n      shareReplay(1)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  bufferCount,\n  filter,\n  finalize,\n  first,\n  fromEvent,\n  map,\n  merge,\n  mergeMap,\n  of,\n  share,\n  skipUntil,\n  switchMap,\n  takeUntil,\n  tap,\n  withLatestFrom,\n  zipWith\n} from \"rxjs\"\n\nimport { translation } from \"~/_\"\nimport {\n  getElement,\n  getOptionalElement,\n  watchElementBoundary,\n  watchToggle\n} from \"~/browser\"\nimport {\n  SearchMessage,\n  SearchResult,\n  isSearchReadyMessage,\n  isSearchResultMessage\n} from \"~/integrations\"\nimport { renderSearchResultItem } from \"~/templates\"\nimport { round } from \"~/utilities\"\n\nimport { Component } from \"../../_\"\nimport { SearchQuery } from \"../query\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  query$: Observable<SearchQuery>      /* Search query observable */\n  worker$: Subject<SearchMessage>      /* Search worker */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount search result list\n *\n * This function performs a lazy rendering of the search results, depending on\n * the vertical offset of the search result container.\n *\n * @param el - Search result list element\n * @param options - Options\n *\n * @returns Search result list component observable\n */\nexport function mountSearchResult(\n  el: HTMLElement, { worker$, query$ }: MountOptions\n): Observable<Component<SearchResult>> {\n  const push$ = new Subject<SearchResult>()\n  const boundary$ = watchElementBoundary(el.parentElement!)\n    .pipe(\n      filter(Boolean)\n    )\n\n  /* Retrieve container */\n  const container = el.parentElement!\n\n  /* Retrieve nested components */\n  const meta = getElement(\":scope > :first-child\", el)\n  const list = getElement(\":scope > :last-child\", el)\n\n  /* Reveal to accessibility tree \u2013 see https://bit.ly/3iAA7t8 */\n  watchToggle(\"search\")\n    .subscribe(active => list.setAttribute(\n      \"role\", active ? \"list\" : \"presentation\"\n    ))\n\n  /* Update search result metadata */\n  push$\n    .pipe(\n      withLatestFrom(query$),\n      skipUntil(worker$.pipe(first(isSearchReadyMessage)))\n    )\n      .subscribe(([{ items }, { value }]) => {\n        switch (items.length) {\n\n          /* No results */\n          case 0:\n            meta.textContent = value.length\n              ? translation(\"search.result.none\")\n              : translation(\"search.result.placeholder\")\n            break\n\n          /* One result */\n          case 1:\n            meta.textContent = translation(\"search.result.one\")\n            break\n\n          /* Multiple result */\n          default:\n            const count = round(items.length)\n            meta.textContent = translation(\"search.result.other\", count)\n        }\n      })\n\n  /* Render search result item */\n  const render$ = push$\n    .pipe(\n      tap(() => list.innerHTML = \"\"),\n      switchMap(({ items }) => merge(\n        of(...items.slice(0, 10)),\n        of(...items.slice(10))\n          .pipe(\n            bufferCount(4),\n            zipWith(boundary$),\n            switchMap(([chunk]) => chunk)\n          )\n      )),\n      map(renderSearchResultItem),\n      share()\n    )\n\n  /* Update search result list */\n  render$.subscribe(item => list.appendChild(item))\n  render$\n    .pipe(\n      mergeMap(item => {\n        const details = getOptionalElement(\"details\", item)\n        if (typeof details === \"undefined\")\n          return EMPTY\n\n        /* Keep position of details element stable */\n        return fromEvent(details, \"toggle\")\n          .pipe(\n            takeUntil(push$),\n            map(() => details)\n          )\n      })\n    )\n      .subscribe(details => {\n        if (\n          details.open === false &&\n          details.offsetTop <= container.scrollTop\n        )\n          container.scrollTo({ top: details.offsetTop })\n      })\n\n  /* Filter search result message */\n  const result$ = worker$\n    .pipe(\n      filter(isSearchResultMessage),\n      map(({ data }) => data)\n    )\n\n  /* Create and return component */\n  return result$\n    .pipe(\n      tap(state => push$.next(state)),\n      finalize(() => push$.complete()),\n      map(state => ({ ref: el, ...state }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  endWith,\n  finalize,\n  fromEvent,\n  ignoreElements,\n  map,\n  takeUntil,\n  tap\n} from \"rxjs\"\n\nimport { getLocation } from \"~/browser\"\n\nimport { Component } from \"../../_\"\nimport { SearchQuery } from \"../query\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search sharing\n */\nexport interface SearchShare {\n  url: URL                             /* Deep link for sharing */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  query$: Observable<SearchQuery>      /* Search query observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  query$: Observable<SearchQuery>      /* Search query observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount search sharing\n *\n * @param _el - Search sharing element\n * @param options - Options\n *\n * @returns Search sharing observable\n */\nexport function watchSearchShare(\n  _el: HTMLElement, { query$ }: WatchOptions\n): Observable<SearchShare> {\n  return query$\n    .pipe(\n      map(({ value }) => {\n        const url = getLocation()\n        url.hash = \"\"\n\n        /* Compute readable query strings */\n        value = value\n          .replace(/\\s+/g, \"+\")        /* Collapse whitespace */\n          .replace(/&/g, \"%26\")        /* Escape '&' character */\n          .replace(/=/g, \"%3D\")        /* Escape '=' character */\n\n        /* Replace query string */\n        url.search = `q=${value}`\n        return { url }\n      })\n    )\n}\n\n/**\n * Mount search sharing\n *\n * @param el - Search sharing element\n * @param options - Options\n *\n * @returns Search sharing component observable\n */\nexport function mountSearchShare(\n  el: HTMLAnchorElement, options: MountOptions\n): Observable<Component<SearchShare>> {\n  const push$ = new Subject<SearchShare>()\n  const done$ = push$.pipe(ignoreElements(), endWith(true))\n  push$.subscribe(({ url }) => {\n    el.setAttribute(\"data-clipboard-text\", el.href)\n    el.href = `${url}`\n  })\n\n  /* Prevent following of link */\n  fromEvent(el, \"click\")\n    .pipe(\n      takeUntil(done$)\n    )\n      .subscribe(ev => ev.preventDefault())\n\n  /* Create and return component */\n  return watchSearchShare(el, options)\n    .pipe(\n      tap(state => push$.next(state)),\n      finalize(() => push$.complete()),\n      map(state => ({ ref: el, ...state }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  asyncScheduler,\n  combineLatestWith,\n  distinctUntilChanged,\n  filter,\n  finalize,\n  fromEvent,\n  map,\n  merge,\n  observeOn,\n  tap\n} from \"rxjs\"\n\nimport { Keyboard } from \"~/browser\"\nimport {\n  SearchMessage,\n  SearchResult,\n  isSearchResultMessage\n} from \"~/integrations\"\n\nimport { Component, getComponentElement } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search suggestions\n */\nexport interface SearchSuggest {}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  keyboard$: Observable<Keyboard>      /* Keyboard observable */\n  worker$: Subject<SearchMessage>      /* Search worker */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount search suggestions\n *\n * This function will perform a lazy rendering of the search results, depending\n * on the vertical offset of the search result container.\n *\n * @param el - Search result list element\n * @param options - Options\n *\n * @returns Search result list component observable\n */\nexport function mountSearchSuggest(\n  el: HTMLElement, { worker$, keyboard$ }: MountOptions\n): Observable<Component<SearchSuggest>> {\n  const push$ = new Subject<SearchResult>()\n\n  /* Retrieve query component and track all changes */\n  const query  = getComponentElement(\"search-query\")\n  const query$ = merge(\n    fromEvent(query, \"keydown\"),\n    fromEvent(query, \"focus\")\n  )\n    .pipe(\n      observeOn(asyncScheduler),\n      map(() => query.value),\n      distinctUntilChanged(),\n    )\n\n  /* Update search suggestions */\n  push$\n    .pipe(\n      combineLatestWith(query$),\n      map(([{ suggest }, value]) => {\n        const words = value.split(/([\\s-]+)/)\n        if (suggest?.length && words[words.length - 1]) {\n          const last = suggest[suggest.length - 1]\n          if (last.startsWith(words[words.length - 1]))\n            words[words.length - 1] = last\n        } else {\n          words.length = 0\n        }\n        return words\n      })\n    )\n      .subscribe(words => el.innerHTML = words\n        .join(\"\")\n        .replace(/\\s/g, \"&nbsp;\")\n      )\n\n  /* Set up search keyboard handlers */\n  keyboard$\n    .pipe(\n      filter(({ mode }) => mode === \"search\")\n    )\n      .subscribe(key => {\n        switch (key.type) {\n\n          /* Right arrow: accept current suggestion */\n          case \"ArrowRight\":\n            if (\n              el.innerText.length &&\n              query.selectionStart === query.value.length\n            )\n              query.value = el.innerText\n            break\n        }\n      })\n\n  /* Filter search result message */\n  const result$ = worker$\n    .pipe(\n      filter(isSearchResultMessage),\n      map(({ data }) => data)\n    )\n\n  /* Create and return component */\n  return result$\n    .pipe(\n      tap(state => push$.next(state)),\n      finalize(() => push$.complete()),\n      map(() => ({ ref: el }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  NEVER,\n  Observable,\n  ObservableInput,\n  filter,\n  fromEvent,\n  merge,\n  mergeWith\n} from \"rxjs\"\n\nimport { configuration } from \"~/_\"\nimport {\n  Keyboard,\n  getActiveElement,\n  getElements,\n  setToggle\n} from \"~/browser\"\nimport {\n  SearchIndex,\n  SearchResult,\n  setupSearchWorker\n} from \"~/integrations\"\n\nimport {\n  Component,\n  getComponentElement,\n  getComponentElements\n} from \"../../_\"\nimport {\n  SearchQuery,\n  mountSearchQuery\n} from \"../query\"\nimport { mountSearchResult } from \"../result\"\nimport {\n  SearchShare,\n  mountSearchShare\n} from \"../share\"\nimport {\n  SearchSuggest,\n  mountSearchSuggest\n} from \"../suggest\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search\n */\nexport type Search =\n  | SearchQuery\n  | SearchResult\n  | SearchShare\n  | SearchSuggest\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  index$: ObservableInput<SearchIndex> /* Search index observable */\n  keyboard$: Observable<Keyboard>      /* Keyboard observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount search\n *\n * This function sets up the search functionality, including the underlying\n * web worker and all keyboard bindings.\n *\n * @param el - Search element\n * @param options - Options\n *\n * @returns Search component observable\n */\nexport function mountSearch(\n  el: HTMLElement, { index$, keyboard$ }: MountOptions\n): Observable<Component<Search>> {\n  const config = configuration()\n  try {\n    const worker$ = setupSearchWorker(config.search, index$)\n\n    /* Retrieve query and result components */\n    const query  = getComponentElement(\"search-query\", el)\n    const result = getComponentElement(\"search-result\", el)\n\n    /* Always close search on result selection */\n    fromEvent<PointerEvent>(el, \"click\")\n      .pipe(\n        filter(({ target }) => (\n          target instanceof Element && !!target.closest(\"a\")\n        ))\n      )\n        .subscribe(() => setToggle(\"search\", false))\n\n    /* Set up search keyboard handlers */\n    keyboard$\n      .pipe(\n        filter(({ mode }) => mode === \"search\")\n      )\n        .subscribe(key => {\n          const active = getActiveElement()\n          switch (key.type) {\n\n            /* Enter: go to first (best) result */\n            case \"Enter\":\n              if (active === query) {\n                const anchors = new Map<HTMLAnchorElement, number>()\n                for (const anchor of getElements<HTMLAnchorElement>(\n                  \":first-child [href]\", result\n                )) {\n                  const article = anchor.firstElementChild!\n                  anchors.set(anchor, parseFloat(\n                    article.getAttribute(\"data-md-score\")!\n                  ))\n                }\n\n                /* Go to result with highest score, if any */\n                if (anchors.size) {\n                  const [[best]] = [...anchors].sort(([, a], [, b]) => b - a)\n                  best.click()\n                }\n\n                /* Otherwise omit form submission */\n                key.claim()\n              }\n              break\n\n            /* Escape or Tab: close search */\n            case \"Escape\":\n            case \"Tab\":\n              setToggle(\"search\", false)\n              query.blur()\n              break\n\n            /* Vertical arrows: select previous or next search result */\n            case \"ArrowUp\":\n            case \"ArrowDown\":\n              if (typeof active === \"undefined\") {\n                query.focus()\n              } else {\n                const els = [query, ...getElements(\n                  \":not(details) > [href], summary, details[open] [href]\",\n                  result\n                )]\n                const i = Math.max(0, (\n                  Math.max(0, els.indexOf(active)) + els.length + (\n                    key.type === \"ArrowUp\" ? -1 : +1\n                  )\n                ) % els.length)\n                els[i].focus()\n              }\n\n              /* Prevent scrolling of page */\n              key.claim()\n              break\n\n            /* All other keys: hand to search query */\n            default:\n              if (query !== getActiveElement())\n                query.focus()\n          }\n        })\n\n    /* Set up global keyboard handlers */\n    keyboard$\n      .pipe(\n        filter(({ mode }) => mode === \"global\")\n      )\n        .subscribe(key => {\n          switch (key.type) {\n\n            /* Open search and select query */\n            case \"f\":\n            case \"s\":\n            case \"/\":\n              query.focus()\n              query.select()\n\n              /* Prevent scrolling of page */\n              key.claim()\n              break\n          }\n        })\n\n    /* Create and return component */\n    const query$ = mountSearchQuery(query, { worker$ })\n    return merge(\n      query$,\n      mountSearchResult(result, { worker$, query$ })\n    )\n      .pipe(\n        mergeWith(\n\n          /* Search sharing */\n          ...getComponentElements(\"search-share\", el)\n            .map(child => mountSearchShare(child, { query$ })),\n\n          /* Search suggestions */\n          ...getComponentElements(\"search-suggest\", el)\n            .map(child => mountSearchSuggest(child, { worker$, keyboard$ }))\n        )\n      )\n\n  /* Gracefully handle broken search */\n  } catch (err) {\n    el.hidden = true\n    return NEVER\n  }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  ObservableInput,\n  combineLatest,\n  filter,\n  map,\n  startWith\n} from \"rxjs\"\n\nimport { getLocation } from \"~/browser\"\nimport {\n  SearchIndex,\n  setupSearchHighlighter\n} from \"~/integrations\"\nimport { h } from \"~/utilities\"\n\nimport { Component } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search highlighting\n */\nexport interface SearchHighlight {\n  nodes: Map<ChildNode, string>        /* Map of replacements */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  index$: ObservableInput<SearchIndex> /* Search index observable */\n  location$: Observable<URL>           /* Location observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount search highlighting\n *\n * @param el - Content element\n * @param options - Options\n *\n * @returns Search highlighting component observable\n */\nexport function mountSearchHiglight(\n  el: HTMLElement, { index$, location$ }: MountOptions\n): Observable<Component<SearchHighlight>> {\n  return combineLatest([\n    index$,\n    location$\n      .pipe(\n        startWith(getLocation()),\n        filter(url => !!url.searchParams.get(\"h\"))\n      )\n  ])\n    .pipe(\n      map(([index, url]) => setupSearchHighlighter(index.config)(\n        url.searchParams.get(\"h\")!\n      )),\n      map(fn => {\n        const nodes = new Map<ChildNode, string>()\n\n        /* Traverse text nodes and collect matches */\n        const it = document.createNodeIterator(el, NodeFilter.SHOW_TEXT)\n        for (let node = it.nextNode(); node; node = it.nextNode()) {\n          if (node.parentElement?.offsetHeight) {\n            const original = node.textContent!\n            const replaced = fn(original)\n            if (replaced.length > original.length)\n              nodes.set(node as ChildNode, replaced)\n          }\n        }\n\n        /* Replace original nodes with matches */\n        for (const [node, text] of nodes) {\n          const { childNodes } = h(\"span\", null, text)\n          node.replaceWith(...Array.from(childNodes))\n        }\n\n        /* Return component */\n        return { ref: el, nodes }\n      })\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  animationFrameScheduler,\n  asyncScheduler,\n  auditTime,\n  combineLatest,\n  defer,\n  distinctUntilChanged,\n  endWith,\n  finalize,\n  first,\n  from,\n  fromEvent,\n  ignoreElements,\n  map,\n  mergeMap,\n  observeOn,\n  takeUntil,\n  tap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport {\n  Viewport,\n  getElement,\n  getElementOffset,\n  getElementSize,\n  getElements\n} from \"~/browser\"\n\nimport { Component } from \"../_\"\nimport { Header } from \"../header\"\nimport { Main } from \"../main\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Sidebar\n */\nexport interface Sidebar {\n  height: number                       /* Sidebar height */\n  locked: boolean                      /* Sidebar is locked */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  main$: Observable<Main>              /* Main area observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n  main$: Observable<Main>              /* Main area observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch sidebar\n *\n * This function returns an observable that computes the visual parameters of\n * the sidebar which depends on the vertical viewport offset, as well as the\n * height of the main area. When the page is scrolled beyond the header, the\n * sidebar is locked and fills the remaining space.\n *\n * @param el - Sidebar element\n * @param options - Options\n *\n * @returns Sidebar observable\n */\nexport function watchSidebar(\n  el: HTMLElement, { viewport$, main$ }: WatchOptions\n): Observable<Sidebar> {\n  const parent = el.closest<HTMLElement>(\".md-grid\")!\n  const adjust =\n    parent.offsetTop -\n    parent.parentElement!.offsetTop\n\n  /* Compute the sidebar's available height and if it should be locked */\n  return combineLatest([main$, viewport$])\n    .pipe(\n      map(([{ offset, height }, { offset: { y } }]) => {\n        height = height\n          + Math.min(adjust, Math.max(0, y - offset))\n          - adjust\n        return {\n          height,\n          locked: y >= offset + adjust\n        }\n      }),\n      distinctUntilChanged((a, b) => (\n        a.height === b.height &&\n        a.locked === b.locked\n      ))\n    )\n}\n\n/**\n * Mount sidebar\n *\n * This function doesn't set the height of the actual sidebar, but of its first\n * child \u2013 the `.md-sidebar__scrollwrap` element in order to mitigiate jittery\n * sidebars when the footer is scrolled into view. At some point we switched\n * from `absolute` / `fixed` positioning to `sticky` positioning, significantly\n * reducing jitter in some browsers (respectively Firefox and Safari) when\n * scrolling from the top. However, top-aligned sticky positioning means that\n * the sidebar snaps to the bottom when the end of the container is reached.\n * This is what leads to the mentioned jitter, as the sidebar's height may be\n * updated too slowly.\n *\n * This behaviour can be mitigiated by setting the height of the sidebar to `0`\n * while preserving the padding, and the height on its first element.\n *\n * @param el - Sidebar element\n * @param options - Options\n *\n * @returns Sidebar component observable\n */\nexport function mountSidebar(\n  el: HTMLElement, { header$, ...options }: MountOptions\n): Observable<Component<Sidebar>> {\n  const inner = getElement(\".md-sidebar__scrollwrap\", el)\n  const { y } = getElementOffset(inner)\n  return defer(() => {\n    const push$ = new Subject<Sidebar>()\n    const done$ = push$.pipe(ignoreElements(), endWith(true))\n    const next$ = push$\n      .pipe(\n        auditTime(0, animationFrameScheduler)\n      )\n\n    /* Update sidebar height and offset */\n    next$.pipe(withLatestFrom(header$))\n      .subscribe({\n\n        /* Handle emission */\n        next([{ height }, { height: offset }]) {\n          inner.style.height = `${height - 2 * y}px`\n          el.style.top       = `${offset}px`\n        },\n\n        /* Handle complete */\n        complete() {\n          inner.style.height = \"\"\n          el.style.top       = \"\"\n        }\n      })\n\n    /* Bring active item into view on initial load */\n    next$.pipe(first())\n      .subscribe(() => {\n        for (const item of getElements(\".md-nav__link--active[href]\", el)) {\n          if (!item.clientHeight) // skip invisible toc in left sidebar\n            continue\n          const container = item.closest<HTMLElement>(\".md-sidebar__scrollwrap\")!\n          if (typeof container !== \"undefined\") {\n            const offset = item.offsetTop - container.offsetTop\n            const { height } = getElementSize(container)\n            container.scrollTo({\n              top: offset - height / 2\n            })\n          }\n        }\n      })\n\n    /* Handle accessibility for expandable items, see https://bit.ly/3jaod9p */\n    from(getElements<HTMLLabelElement>(\"label[tabindex]\", el))\n      .pipe(\n        mergeMap(label => fromEvent(label, \"click\")\n          .pipe(\n            observeOn(asyncScheduler),\n            map(() => label),\n            takeUntil(done$)\n          )\n        )\n      )\n        .subscribe(label => {\n          const input = getElement<HTMLInputElement>(`[id=\"${label.htmlFor}\"]`)\n          const nav = getElement(`[aria-labelledby=\"${label.id}\"]`)\n          nav.setAttribute(\"aria-expanded\", `${input.checked}`)\n        })\n\n    /* Create and return component */\n    return watchSidebar(el, options)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { Repo, User } from \"github-types\"\nimport {\n  EMPTY,\n  Observable,\n  catchError,\n  defaultIfEmpty,\n  map,\n  zip\n} from \"rxjs\"\n\nimport { requestJSON } from \"~/browser\"\n\nimport { SourceFacts } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * GitHub release (partial)\n */\ninterface Release {\n  tag_name: string                     /* Tag name */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch GitHub repository facts\n *\n * @param user - GitHub user or organization\n * @param repo - GitHub repository\n *\n * @returns Repository facts observable\n */\nexport function fetchSourceFactsFromGitHub(\n  user: string, repo?: string\n): Observable<SourceFacts> {\n  if (typeof repo !== \"undefined\") {\n    const url = `https://api.github.com/repos/${user}/${repo}`\n    return zip(\n\n      /* Fetch version */\n      requestJSON<Release>(`${url}/releases/latest`)\n        .pipe(\n          catchError(() => EMPTY), // @todo refactor instant loading\n          map(release => ({\n            version: release.tag_name\n          })),\n          defaultIfEmpty({})\n        ),\n\n      /* Fetch stars and forks */\n      requestJSON<Repo>(url)\n        .pipe(\n          catchError(() => EMPTY), // @todo refactor instant loading\n          map(info => ({\n            stars: info.stargazers_count,\n            forks: info.forks_count\n          })),\n          defaultIfEmpty({})\n        )\n    )\n      .pipe(\n        map(([release, info]) => ({ ...release, ...info }))\n      )\n\n  /* User or organization */\n  } else {\n    const url = `https://api.github.com/users/${user}`\n    return requestJSON<User>(url)\n      .pipe(\n        map(info => ({\n          repositories: info.public_repos\n        })),\n        defaultIfEmpty({})\n      )\n  }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { ProjectSchema } from \"gitlab\"\nimport {\n  EMPTY,\n  Observable,\n  catchError,\n  defaultIfEmpty,\n  map,\n  zip\n} from \"rxjs\"\n\nimport { requestJSON } from \"~/browser\"\n\nimport { SourceFacts } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * GitLab release (partial)\n */\ninterface Release { // @todo remove and use the ReleaseSchema type instead after switching from gitlab to @gitbeaker/rest\n  tag_name: string                     /* Tag name */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch GitLab repository facts\n *\n * @param base - GitLab base\n * @param project - GitLab project\n *\n * @returns Repository facts observable\n */\nexport function fetchSourceFactsFromGitLab(\n  base: string, project: string\n): Observable<SourceFacts> {\n  const url = `https://${base}/api/v4/projects/${encodeURIComponent(project)}`\n  return zip(\n\n    /* Fetch version */\n    requestJSON<Release>(`${url}/releases/permalink/latest`)\n      .pipe(\n        catchError(() => EMPTY), // @todo refactor instant loading\n        map(({ tag_name }) => ({\n          version: tag_name\n        })),\n        defaultIfEmpty({})\n      ),\n\n    /* Fetch stars and forks */\n    requestJSON<ProjectSchema>(url)\n      .pipe(\n        catchError(() => EMPTY), // @todo refactor instant loading\n        map(({ star_count, forks_count }) => ({\n          stars: star_count,\n          forks: forks_count\n        })),\n        defaultIfEmpty({})\n      )\n  )\n    .pipe(\n      map(([release, info]) => ({ ...release, ...info }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { EMPTY, Observable } from \"rxjs\"\n\nimport { fetchSourceFactsFromGitHub } from \"../github\"\nimport { fetchSourceFactsFromGitLab } from \"../gitlab\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Repository facts for repositories\n */\nexport interface RepositoryFacts {\n  stars?: number                       /* Number of stars */\n  forks?: number                       /* Number of forks */\n  version?: string                     /* Latest version */\n}\n\n/**\n * Repository facts for organizations\n */\nexport interface OrganizationFacts {\n  repositories?: number                /* Number of repositories */\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Repository facts\n */\nexport type SourceFacts =\n  | RepositoryFacts\n  | OrganizationFacts\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch repository facts\n *\n * @param url - Repository URL\n *\n * @returns Repository facts observable\n */\nexport function fetchSourceFacts(\n  url: string\n): Observable<SourceFacts> {\n\n  /* Try to match GitHub repository */\n  let match = url.match(/^.+github\\.com\\/([^/]+)\\/?([^/]+)?/i)\n  if (match) {\n    const [, user, repo] = match\n    return fetchSourceFactsFromGitHub(user, repo)\n  }\n\n  /* Try to match GitLab repository */\n  match = url.match(/^.+?([^/]*gitlab[^/]+)\\/(.+?)\\/?$/i)\n  if (match) {\n    const [, base, slug] = match\n    return fetchSourceFactsFromGitLab(base, slug)\n  }\n\n  /* Fallback */\n  return EMPTY\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  catchError,\n  defer,\n  filter,\n  finalize,\n  map,\n  of,\n  shareReplay,\n  tap\n} from \"rxjs\"\n\nimport { getElement } from \"~/browser\"\nimport { ConsentDefaults } from \"~/components/consent\"\nimport { renderSourceFacts } from \"~/templates\"\n\nimport {\n  Component,\n  getComponentElements\n} from \"../../_\"\nimport {\n  SourceFacts,\n  fetchSourceFacts\n} from \"../facts\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Repository information\n */\nexport interface Source {\n  facts: SourceFacts                   /* Repository facts */\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Repository information observable\n */\nlet fetch$: Observable<Source>\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch repository information\n *\n * This function tries to read the repository facts from session storage, and\n * if unsuccessful, fetches them from the underlying provider.\n *\n * @param el - Repository information element\n *\n * @returns Repository information observable\n */\nexport function watchSource(\n  el: HTMLAnchorElement\n): Observable<Source> {\n  return fetch$ ||= defer(() => {\n    const cached = __md_get<SourceFacts>(\"__source\", sessionStorage)\n    if (cached) {\n      return of(cached)\n    } else {\n\n      /* Check if consent is configured and was given */\n      const els = getComponentElements(\"consent\")\n      if (els.length) {\n        const consent = __md_get<ConsentDefaults>(\"__consent\")\n        if (!(consent && consent.github))\n          return EMPTY\n      }\n\n      /* Fetch repository facts */\n      return fetchSourceFacts(el.href)\n        .pipe(\n          tap(facts => __md_set(\"__source\", facts, sessionStorage))\n        )\n    }\n  })\n    .pipe(\n      catchError(() => EMPTY),\n      filter(facts => Object.keys(facts).length > 0),\n      map(facts => ({ facts })),\n      shareReplay(1)\n    )\n}\n\n/**\n * Mount repository information\n *\n * @param el - Repository information element\n *\n * @returns Repository information component observable\n */\nexport function mountSource(\n  el: HTMLAnchorElement\n): Observable<Component<Source>> {\n  const inner = getElement(\":scope > :last-child\", el)\n  return defer(() => {\n    const push$ = new Subject<Source>()\n    push$.subscribe(({ facts }) => {\n      inner.appendChild(renderSourceFacts(facts))\n      inner.classList.add(\"md-source__repository--active\")\n    })\n\n    /* Create and return component */\n    return watchSource(el)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  defer,\n  distinctUntilKeyChanged,\n  finalize,\n  map,\n  of,\n  switchMap,\n  tap\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport {\n  Viewport,\n  watchElementSize,\n  watchViewportAt\n} from \"~/browser\"\n\nimport { Component } from \"../_\"\nimport { Header } from \"../header\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Navigation tabs\n */\nexport interface Tabs {\n  hidden: boolean                      /* Navigation tabs are hidden */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch navigation tabs\n *\n * @param el - Navigation tabs element\n * @param options - Options\n *\n * @returns Navigation tabs observable\n */\nexport function watchTabs(\n  el: HTMLElement, { viewport$, header$ }: WatchOptions\n): Observable<Tabs> {\n  return watchElementSize(document.body)\n    .pipe(\n      switchMap(() => watchViewportAt(el, { header$, viewport$ })),\n      map(({ offset: { y } }) => {\n        return {\n          hidden: y >= 10\n        }\n      }),\n      distinctUntilKeyChanged(\"hidden\")\n    )\n}\n\n/**\n * Mount navigation tabs\n *\n * This function hides the navigation tabs when scrolling past the threshold\n * and makes them reappear in a nice CSS animation when scrolling back up.\n *\n * @param el - Navigation tabs element\n * @param options - Options\n *\n * @returns Navigation tabs component observable\n */\nexport function mountTabs(\n  el: HTMLElement, options: MountOptions\n): Observable<Component<Tabs>> {\n  return defer(() => {\n    const push$ = new Subject<Tabs>()\n    push$.subscribe({\n\n      /* Handle emission */\n      next({ hidden }) {\n        el.hidden = hidden\n      },\n\n      /* Handle complete */\n      complete() {\n        el.hidden = false\n      }\n    })\n\n    /* Create and return component */\n    return (\n      feature(\"navigation.tabs.sticky\")\n        ? of({ hidden: false })\n        : watchTabs(el, options)\n    )\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  asyncScheduler,\n  bufferCount,\n  combineLatestWith,\n  debounceTime,\n  defer,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  endWith,\n  filter,\n  finalize,\n  ignoreElements,\n  map,\n  merge,\n  observeOn,\n  of,\n  repeat,\n  scan,\n  share,\n  skip,\n  startWith,\n  switchMap,\n  takeUntil,\n  tap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport {\n  Viewport,\n  getElement,\n  getElementContainer,\n  getElementSize,\n  getElements,\n  getLocation,\n  getOptionalElement,\n  watchElementSize\n} from \"~/browser\"\n\nimport {\n  Component,\n  getComponentElement\n} from \"../_\"\nimport { Header } from \"../header\"\nimport { Main } from \"../main\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Table of contents\n */\nexport interface TableOfContents {\n  prev: HTMLAnchorElement[][]          /* Anchors (previous) */\n  next: HTMLAnchorElement[][]          /* Anchors (next) */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n  main$: Observable<Main>              /* Main area observable */\n  target$: Observable<HTMLElement>     /* Location target observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch table of contents\n *\n * This is effectively a scroll spy implementation which will account for the\n * fixed header and automatically re-calculate anchor offsets when the viewport\n * is resized. The returned observable will only emit if the table of contents\n * needs to be repainted.\n *\n * This implementation tracks an anchor element's entire path starting from its\n * level up to the top-most anchor element, e.g. `[h3, h2, h1]`. Although the\n * Material theme currently doesn't make use of this information, it enables\n * the styling of the entire hierarchy through customization.\n *\n * Note that the current anchor is the last item of the `prev` anchor list.\n *\n * @param el - Table of contents element\n * @param options - Options\n *\n * @returns Table of contents observable\n */\nexport function watchTableOfContents(\n  el: HTMLElement, { viewport$, header$ }: WatchOptions\n): Observable<TableOfContents> {\n  const table = new Map<HTMLAnchorElement, HTMLElement>()\n\n  /* Compute anchor-to-target mapping */\n  const anchors = getElements<HTMLAnchorElement>(\".md-nav__link\", el)\n  for (const anchor of anchors) {\n    const id = decodeURIComponent(anchor.hash.substring(1))\n    const target = getOptionalElement(`[id=\"${id}\"]`)\n    if (typeof target !== \"undefined\")\n      table.set(anchor, target)\n  }\n\n  /* Compute necessary adjustment for header */\n  const adjust$ = header$\n    .pipe(\n      distinctUntilKeyChanged(\"height\"),\n      map(({ height }) => {\n        const main = getComponentElement(\"main\")\n        const grid = getElement(\":scope > :first-child\", main)\n        return height + 0.8 * (\n          grid.offsetTop -\n          main.offsetTop\n        )\n      }),\n      share()\n    )\n\n  /* Compute partition of previous and next anchors */\n  const partition$ = watchElementSize(document.body)\n    .pipe(\n      distinctUntilKeyChanged(\"height\"),\n\n      /* Build index to map anchor paths to vertical offsets */\n      switchMap(body => defer(() => {\n        let path: HTMLAnchorElement[] = []\n        return of([...table].reduce((index, [anchor, target]) => {\n          while (path.length) {\n            const last = table.get(path[path.length - 1])!\n            if (last.tagName >= target.tagName) {\n              path.pop()\n            } else {\n              break\n            }\n          }\n\n          /* If the current anchor is hidden, continue with its parent */\n          let offset = target.offsetTop\n          while (!offset && target.parentElement) {\n            target = target.parentElement\n            offset = target.offsetTop\n          }\n\n          /* Fix anchor offsets in tables - see https://bit.ly/3CUFOcn */\n          let parent = target.offsetParent as HTMLElement\n          for (; parent; parent = parent.offsetParent as HTMLElement)\n            offset += parent.offsetTop\n\n          /* Map reversed anchor path to vertical offset */\n          return index.set(\n            [...path = [...path, anchor]].reverse(),\n            offset\n          )\n        }, new Map<HTMLAnchorElement[], number>()))\n      })\n        .pipe(\n\n          /* Sort index by vertical offset (see https://bit.ly/30z6QSO) */\n          map(index => new Map([...index].sort(([, a], [, b]) => a - b))),\n          combineLatestWith(adjust$),\n\n          /* Re-compute partition when viewport offset changes */\n          switchMap(([index, adjust]) => viewport$\n            .pipe(\n              scan(([prev, next], { offset: { y }, size }) => {\n                const last = y + size.height >= Math.floor(body.height)\n\n                /* Look forward */\n                while (next.length) {\n                  const [, offset] = next[0]\n                  if (offset - adjust < y || last) {\n                    prev = [...prev, next.shift()!]\n                  } else {\n                    break\n                  }\n                }\n\n                /* Look backward */\n                while (prev.length) {\n                  const [, offset] = prev[prev.length - 1]\n                  if (offset - adjust >= y && !last) {\n                    next = [prev.pop()!, ...next]\n                  } else {\n                    break\n                  }\n                }\n\n                /* Return partition */\n                return [prev, next]\n              }, [[], [...index]]),\n              distinctUntilChanged((a, b) => (\n                a[0] === b[0] &&\n                a[1] === b[1]\n              ))\n            )\n          )\n        )\n      )\n    )\n\n  /* Compute and return anchor list migrations */\n  return partition$\n    .pipe(\n      map(([prev, next]) => ({\n        prev: prev.map(([path]) => path),\n        next: next.map(([path]) => path)\n      })),\n\n      /* Extract anchor list migrations */\n      startWith({ prev: [], next: [] }),\n      bufferCount(2, 1),\n      map(([a, b]) => {\n\n        /* Moving down */\n        if (a.prev.length < b.prev.length) {\n          return {\n            prev: b.prev.slice(Math.max(0, a.prev.length - 1), b.prev.length),\n            next: []\n          }\n\n        /* Moving up */\n        } else {\n          return {\n            prev: b.prev.slice(-1),\n            next: b.next.slice(0, b.next.length - a.next.length)\n          }\n        }\n      })\n    )\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Mount table of contents\n *\n * @param el - Table of contents element\n * @param options - Options\n *\n * @returns Table of contents component observable\n */\nexport function mountTableOfContents(\n  el: HTMLElement, { viewport$, header$, main$, target$ }: MountOptions\n): Observable<Component<TableOfContents>> {\n  return defer(() => {\n    const push$ = new Subject<TableOfContents>()\n    const done$ = push$.pipe(ignoreElements(), endWith(true))\n    push$.subscribe(({ prev, next }) => {\n\n      /* Look forward */\n      for (const [anchor] of next) {\n        anchor.classList.remove(\"md-nav__link--passed\")\n        anchor.classList.remove(\"md-nav__link--active\")\n      }\n\n      /* Look backward */\n      for (const [index, [anchor]] of prev.entries()) {\n        anchor.classList.add(\"md-nav__link--passed\")\n        anchor.classList.toggle(\n          \"md-nav__link--active\",\n          index === prev.length - 1\n        )\n      }\n    })\n\n    /* Set up following, if enabled */\n    if (feature(\"toc.follow\")) {\n\n      /* Toggle smooth scrolling only for anchor clicks */\n      const smooth$ = merge(\n        viewport$.pipe(debounceTime(1), map(() => undefined)),\n        viewport$.pipe(debounceTime(250), map(() => \"smooth\" as const))\n      )\n\n      /* Bring active anchor into view */ // @todo: refactor\n      push$\n        .pipe(\n          filter(({ prev }) => prev.length > 0),\n          combineLatestWith(main$.pipe(observeOn(asyncScheduler))),\n          withLatestFrom(smooth$)\n        )\n          .subscribe(([[{ prev }], behavior]) => {\n            const [anchor] = prev[prev.length - 1]\n            if (anchor.offsetHeight) {\n\n              /* Retrieve overflowing container and scroll */\n              const container = getElementContainer(anchor)\n              if (typeof container !== \"undefined\") {\n                const offset = anchor.offsetTop - container.offsetTop\n                const { height } = getElementSize(container)\n                container.scrollTo({\n                  top: offset - height / 2,\n                  behavior\n                })\n              }\n            }\n          })\n    }\n\n    /* Set up anchor tracking, if enabled */\n    if (feature(\"navigation.tracking\"))\n      viewport$\n        .pipe(\n          takeUntil(done$),\n          distinctUntilKeyChanged(\"offset\"),\n          debounceTime(250),\n          skip(1),\n          takeUntil(target$.pipe(skip(1))),\n          repeat({ delay: 250 }),\n          withLatestFrom(push$)\n        )\n          .subscribe(([, { prev }]) => {\n            const url = getLocation()\n\n            /* Set hash fragment to active anchor */\n            const anchor = prev[prev.length - 1]\n            if (anchor && anchor.length) {\n              const [active] = anchor\n              const { hash } = new URL(active.href)\n              if (url.hash !== hash) {\n                url.hash = hash\n                history.replaceState({}, \"\", `${url}`)\n              }\n\n            /* Reset anchor when at the top */\n            } else {\n              url.hash = \"\"\n              history.replaceState({}, \"\", `${url}`)\n            }\n          })\n\n    /* Create and return component */\n    return watchTableOfContents(el, { viewport$, header$ })\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  bufferCount,\n  combineLatest,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  endWith,\n  finalize,\n  fromEvent,\n  ignoreElements,\n  map,\n  repeat,\n  skip,\n  takeUntil,\n  tap\n} from \"rxjs\"\n\nimport { Viewport } from \"~/browser\"\n\nimport { Component } from \"../_\"\nimport { Header } from \"../header\"\nimport { Main } from \"../main\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Back-to-top button\n */\nexport interface BackToTop {\n  hidden: boolean                      /* Back-to-top button is hidden */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  main$: Observable<Main>              /* Main area observable */\n  target$: Observable<HTMLElement>     /* Location target observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n  main$: Observable<Main>              /* Main area observable */\n  target$: Observable<HTMLElement>     /* Location target observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch back-to-top\n *\n * @param _el - Back-to-top element\n * @param options - Options\n *\n * @returns Back-to-top observable\n */\nexport function watchBackToTop(\n  _el: HTMLElement, { viewport$, main$, target$ }: WatchOptions\n): Observable<BackToTop> {\n\n  /* Compute direction */\n  const direction$ = viewport$\n    .pipe(\n      map(({ offset: { y } }) => y),\n      bufferCount(2, 1),\n      map(([a, b]) => a > b && b > 0),\n      distinctUntilChanged()\n    )\n\n  /* Compute whether main area is active */\n  const active$ = main$\n    .pipe(\n      map(({ active }) => active)\n    )\n\n  /* Compute threshold for hiding */\n  return combineLatest([active$, direction$])\n    .pipe(\n      map(([active, direction]) => !(active && direction)),\n      distinctUntilChanged(),\n      takeUntil(target$.pipe(skip(1))),\n      endWith(true),\n      repeat({ delay: 250 }),\n      map(hidden => ({ hidden }))\n    )\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Mount back-to-top\n *\n * @param el - Back-to-top element\n * @param options - Options\n *\n * @returns Back-to-top component observable\n */\nexport function mountBackToTop(\n  el: HTMLElement, { viewport$, header$, main$, target$ }: MountOptions\n): Observable<Component<BackToTop>> {\n  const push$ = new Subject<BackToTop>()\n  const done$ = push$.pipe(ignoreElements(), endWith(true))\n  push$.subscribe({\n\n    /* Handle emission */\n    next({ hidden }) {\n      el.hidden = hidden\n      if (hidden) {\n        el.setAttribute(\"tabindex\", \"-1\")\n        el.blur()\n      } else {\n        el.removeAttribute(\"tabindex\")\n      }\n    },\n\n    /* Handle complete */\n    complete() {\n      el.style.top = \"\"\n      el.hidden = true\n      el.removeAttribute(\"tabindex\")\n    }\n  })\n\n  /* Watch header height */\n  header$\n    .pipe(\n      takeUntil(done$),\n      distinctUntilKeyChanged(\"height\")\n    )\n      .subscribe(({ height }) => {\n        el.style.top = `${height + 16}px`\n      })\n\n  /* Go back to top */\n  fromEvent(el, \"click\")\n    .subscribe(ev => {\n      ev.preventDefault()\n      window.scrollTo({ top: 0 })\n    })\n\n  /* Create and return component */\n  return watchBackToTop(el, { viewport$, main$, target$ })\n    .pipe(\n      tap(state => push$.next(state)),\n      finalize(() => push$.complete()),\n      map(state => ({ ref: el, ...state }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  filter,\n  finalize,\n  map,\n  mergeMap,\n  skip,\n  switchMap,\n  take,\n  takeUntil\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport {\n  Viewport,\n  getElements,\n  watchElementVisibility\n} from \"~/browser\"\nimport { mountInlineTooltip2 } from \"~/components/tooltip2\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch options\n */\ninterface PatchOptions {\n  document$: Observable<Document>      /* Document observable */\n  viewport$: Observable<Viewport>      /* Viewport observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch ellipsis\n *\n * This function will fetch all elements that are shortened with ellipsis, and\n * filter those which are visible. Once they become visible, they stay in that\n * state, even though they may be hidden again. This optimization is necessary\n * to reduce pressure on the browser, with elements fading in and out of view.\n *\n * @param options - Options\n */\nexport function patchEllipsis(\n  { document$, viewport$ }: PatchOptions\n): void {\n  document$\n    .pipe(\n      switchMap(() => getElements(\".md-ellipsis\")),\n      mergeMap(el => watchElementVisibility(el)\n        .pipe(\n          takeUntil(document$.pipe(skip(1))),\n          filter(visible => visible),\n          map(() => el),\n          take(1)\n        )\n      ),\n      filter(el => el.offsetWidth < el.scrollWidth),\n      mergeMap(el => {\n        const text = el.innerText\n        const host = el.closest(\"a\") || el\n        host.title = text\n\n        // Do not mount improved tooltip if feature is disabled\n        if (!feature(\"content.tooltips\"))\n          return EMPTY\n\n        /* Mount tooltip */\n        return mountInlineTooltip2(host, { viewport$ })\n          .pipe(\n            takeUntil(document$.pipe(skip(1))),\n            finalize(() => host.removeAttribute(\"title\"))\n          )\n      })\n    )\n      .subscribe()\n\n  // @todo move this outside of here and fix memleaks\n  if (feature(\"content.tooltips\"))\n    document$\n      .pipe(\n        switchMap(() => getElements(\".md-status\")),\n        mergeMap(el => mountInlineTooltip2(el, { viewport$ }))\n      )\n        .subscribe()\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  fromEvent,\n  map,\n  mergeMap,\n  switchMap,\n  takeWhile,\n  tap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport { getElements } from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch options\n */\ninterface PatchOptions {\n  document$: Observable<Document>      /* Document observable */\n  tablet$: Observable<boolean>         /* Media tablet observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch indeterminate checkboxes\n *\n * This function replaces the indeterminate \"pseudo state\" with the actual\n * indeterminate state, which is used to keep navigation always expanded.\n *\n * @param options - Options\n */\nexport function patchIndeterminate(\n  { document$, tablet$ }: PatchOptions\n): void {\n  document$\n    .pipe(\n      switchMap(() => getElements<HTMLInputElement>(\n        \".md-toggle--indeterminate\"\n      )),\n      tap(el => {\n        el.indeterminate = true\n        el.checked = false\n      }),\n      mergeMap(el => fromEvent(el, \"change\")\n        .pipe(\n          takeWhile(() => el.classList.contains(\"md-toggle--indeterminate\")),\n          map(() => el)\n        )\n      ),\n      withLatestFrom(tablet$)\n    )\n      .subscribe(([el, tablet]) => {\n        el.classList.remove(\"md-toggle--indeterminate\")\n        if (tablet)\n          el.checked = false\n      })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  filter,\n  fromEvent,\n  map,\n  mergeMap,\n  switchMap,\n  tap\n} from \"rxjs\"\n\nimport { getElements } from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch options\n */\ninterface PatchOptions {\n  document$: Observable<Document>      /* Document observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Check whether the given device is an Apple device\n *\n * @returns Test result\n */\nfunction isAppleDevice(): boolean {\n  return /(iPad|iPhone|iPod)/.test(navigator.userAgent)\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch all elements with `data-md-scrollfix` attributes\n *\n * This is a year-old patch which ensures that overflow scrolling works at the\n * top and bottom of containers on iOS by ensuring a `1px` scroll offset upon\n * the start of a touch event.\n *\n * @see https://bit.ly/2SCtAOO - Original source\n *\n * @param options - Options\n */\nexport function patchScrollfix(\n  { document$ }: PatchOptions\n): void {\n  document$\n    .pipe(\n      switchMap(() => getElements(\"[data-md-scrollfix]\")),\n      tap(el => el.removeAttribute(\"data-md-scrollfix\")),\n      filter(isAppleDevice),\n      mergeMap(el => fromEvent(el, \"touchstart\")\n        .pipe(\n          map(() => el)\n        )\n      )\n    )\n      .subscribe(el => {\n        const top = el.scrollTop\n\n        /* We're at the top of the container */\n        if (top === 0) {\n          el.scrollTop = 1\n\n        /* We're at the bottom of the container */\n        } else if (top + el.offsetHeight === el.scrollHeight) {\n          el.scrollTop = top - 1\n        }\n      })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  combineLatest,\n  delay,\n  map,\n  of,\n  switchMap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport {\n  Viewport,\n  watchToggle\n} from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch options\n */\ninterface PatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  tablet$: Observable<boolean>         /* Media tablet observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch the document body to lock when search is open\n *\n * For mobile and tablet viewports, the search is rendered full screen, which\n * leads to scroll leaking when at the top or bottom of the search result. This\n * function locks the body when the search is in full screen mode, and restores\n * the scroll position when leaving.\n *\n * @param options - Options\n */\nexport function patchScrolllock(\n  { viewport$, tablet$ }: PatchOptions\n): void {\n  combineLatest([watchToggle(\"search\"), tablet$])\n    .pipe(\n      map(([active, tablet]) => active && !tablet),\n      switchMap(active => of(active)\n        .pipe(\n          delay(active ? 400 : 100)\n        )\n      ),\n      withLatestFrom(viewport$)\n    )\n      .subscribe(([active, { offset: { y }}]) => {\n        if (active) {\n          document.body.setAttribute(\"data-md-scrolllock\", \"\")\n          document.body.style.top = `-${y}px`\n        } else {\n          const value = -1 * parseInt(document.body.style.top, 10)\n          document.body.removeAttribute(\"data-md-scrolllock\")\n          document.body.style.top = \"\"\n          if (value)\n            window.scrollTo(0, value)\n        }\n      })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Polyfills\n * ------------------------------------------------------------------------- */\n\n/* Polyfill `Object.entries` */\nif (!Object.entries)\n  Object.entries = function (obj: object) {\n    const data: [string, string][] = []\n    for (const key of Object.keys(obj))\n      // @ts-expect-error - ignore property access warning\n      data.push([key, obj[key]])\n\n    /* Return entries */\n    return data\n  }\n\n/* Polyfill `Object.values` */\nif (!Object.values)\n  Object.values = function (obj: object) {\n    const data: string[] = []\n    for (const key of Object.keys(obj))\n      // @ts-expect-error - ignore property access warning\n      data.push(obj[key])\n\n    /* Return values */\n    return data\n  }\n\n/* ------------------------------------------------------------------------- */\n\n/* Polyfills for `Element` */\nif (typeof Element !== \"undefined\") {\n\n  /* Polyfill `Element.scrollTo` */\n  if (!Element.prototype.scrollTo)\n    Element.prototype.scrollTo = function (\n      x?: ScrollToOptions | number, y?: number\n    ): void {\n      if (typeof x === \"object\") {\n        this.scrollLeft = x.left!\n        this.scrollTop = x.top!\n      } else {\n        this.scrollLeft = x!\n        this.scrollTop = y!\n      }\n    }\n\n  /* Polyfill `Element.replaceWith` */\n  if (!Element.prototype.replaceWith)\n    Element.prototype.replaceWith = function (\n      ...nodes: Array<string | Node>\n    ): void {\n      const parent = this.parentNode\n      if (parent) {\n        if (nodes.length === 0)\n          parent.removeChild(this)\n\n        /* Replace children and create text nodes */\n        for (let i = nodes.length - 1; i >= 0; i--) {\n          let node = nodes[i]\n          if (typeof node === \"string\")\n            node = document.createTextNode(node)\n          else if (node.parentNode)\n            node.parentNode.removeChild(node)\n\n          /* Replace child or insert before previous sibling */\n          if (!i)\n            parent.replaceChild(node, this)\n          else\n            parent.insertBefore(this.previousSibling!, node)\n        }\n      }\n    }\n}\n"],
+  "mappings": 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index cf778d42..00000000
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path{fill:var(--md-mermaid-sequence-message-line-color);stroke:none}.loopLine{fill:var(--md-mermaid-sequence-loop-bg-color);stroke:var(--md-mermaid-sequence-loop-border-color)}.labelBox{fill:var(--md-mermaid-sequence-label-bg-color);stroke:none}.labelText,.labelText>span{fill:var(--md-mermaid-sequence-label-fg-color);font-family:var(--md-mermaid-font-family)}.sequenceNumber{fill:var(--md-mermaid-sequence-number-fg-color)}rect.rect{fill:var(--md-mermaid-sequence-box-bg-color);stroke:none}rect.rect+text.text{fill:var(--md-mermaid-sequence-box-fg-color)}defs #sequencenumber{fill:var(--md-mermaid-sequence-number-bg-color)!important}";var Br,Da=0;function Va(){return typeof mermaid=="undefined"||mermaid instanceof Element?wt("https://unpkg.com/mermaid@10/dist/mermaid.min.js"):I(void 0)}function In(e){return e.classList.remove("mermaid"),Br||(Br=Va().pipe(E(()=>mermaid.initialize({startOnLoad:!1,themeCSS:Rn,sequence:{actorFontSize:"16px",messageFontSize:"16px",noteFontSize:"16px"}})),m(()=>{}),G(1))),Br.subscribe(()=>ao(this,null,function*(){e.classList.add("mermaid");let t=`__mermaid_${Da++}`,r=x("div",{class:"mermaid"}),o=e.textContent,{svg:n,fn:i}=yield mermaid.render(t,o),a=r.attachShadow({mode:"closed"});a.innerHTML=n,e.replaceWith(r),i==null||i(a)})),Br.pipe(m(()=>({ref:e})))}var Fn=x("table");function jn(e){return e.replaceWith(Fn),Fn.replaceWith(On(e)),I({ref:e})}function Na(e){let t=e.find(r=>r.checked)||e[0];return S(...e.map(r=>d(r,"change").pipe(m(()=>P(`label[for="${r.id}"]`))))).pipe(Q(P(`label[for="${t.id}"]`)),m(r=>({active:r})))}function Wn(e,{viewport$:t,target$:r}){let o=P(".tabbed-labels",e),n=$(":scope > input",e),i=Qr("prev");e.append(i);let a=Qr("next");return e.append(a),C(()=>{let s=new g,p=s.pipe(X(),ne(!0));z([s,ge(e),tt(e)]).pipe(U(p),Le(1,me)).subscribe({next([{active:c},l]){let f=Ue(c),{width:u}=ce(c);e.style.setProperty("--md-indicator-x",`${f.x}px`),e.style.setProperty("--md-indicator-width",`${u}px`);let h=pr(o);(f.x<h.x||f.x+u>h.x+l.width)&&o.scrollTo({left:Math.max(0,f.x-16),behavior:"smooth"})},complete(){e.style.removeProperty("--md-indicator-x"),e.style.removeProperty("--md-indicator-width")}}),z([De(o),ge(o)]).pipe(U(p)).subscribe(([c,l])=>{let f=Tt(o);i.hidden=c.x<16,a.hidden=c.x>f.width-l.width-16}),S(d(i,"click").pipe(m(()=>-1)),d(a,"click").pipe(m(()=>1))).pipe(U(p)).subscribe(c=>{let{width:l}=ce(o);o.scrollBy({left:l*c,behavior:"smooth"})}),r.pipe(U(p),b(c=>n.includes(c))).subscribe(c=>c.click()),o.classList.add("tabbed-labels--linked");for(let c of n){let l=P(`label[for="${c.id}"]`);l.replaceChildren(x("a",{href:`#${l.htmlFor}`,tabIndex:-1},...Array.from(l.childNodes))),d(l.firstElementChild,"click").pipe(U(p),b(f=>!(f.metaKey||f.ctrlKey)),E(f=>{f.preventDefault(),f.stopPropagation()})).subscribe(()=>{history.replaceState({},"",`#${l.htmlFor}`),l.click()})}return B("content.tabs.link")&&s.pipe(Ce(1),ee(t)).subscribe(([{active:c},{offset:l}])=>{let f=c.innerText.trim();if(c.hasAttribute("data-md-switching"))c.removeAttribute("data-md-switching");else{let u=e.offsetTop-l.y;for(let w of $("[data-tabs]"))for(let A of $(":scope > input",w)){let te=P(`label[for="${A.id}"]`);if(te!==c&&te.innerText.trim()===f){te.setAttribute("data-md-switching",""),A.click();break}}window.scrollTo({top:e.offsetTop-u});let h=__md_get("__tabs")||[];__md_set("__tabs",[...new Set([f,...h])])}}),s.pipe(U(p)).subscribe(()=>{for(let c of $("audio, video",e))c.pause()}),Na(n).pipe(E(c=>s.next(c)),L(()=>s.complete()),m(c=>R({ref:e},c)))}).pipe(Qe(se))}function Un(e,{viewport$:t,target$:r,print$:o}){return S(...$(".annotate:not(.highlight)",e).map(n=>Cn(n,{target$:r,print$:o})),...$("pre:not(.mermaid) > code",e).map(n=>$n(n,{target$:r,print$:o})),...$("pre.mermaid",e).map(n=>In(n)),...$("table:not([class])",e).map(n=>jn(n)),...$("details",e).map(n=>Pn(n,{target$:r,print$:o})),...$("[data-tabs]",e).map(n=>Wn(n,{viewport$:t,target$:r})),...$("[title]",e).filter(()=>B("content.tooltips")).map(n=>lt(n,{viewport$:t})))}function za(e,{alert$:t}){return t.pipe(v(r=>S(I(!0),I(!1).pipe(Ge(2e3))).pipe(m(o=>({message:r,active:o})))))}function Dn(e,t){let r=P(".md-typeset",e);return C(()=>{let o=new g;return o.subscribe(({message:n,active:i})=>{e.classList.toggle("md-dialog--active",i),r.textContent=n}),za(e,t).pipe(E(n=>o.next(n)),L(()=>o.complete()),m(n=>R({ref:e},n)))})}var qa=0;function Qa(e,t){document.body.append(e);let{width:r}=ce(e);e.style.setProperty("--md-tooltip-width",`${r}px`),e.remove();let o=cr(t),n=typeof o!="undefined"?De(o):I({x:0,y:0}),i=S(et(t),kt(t)).pipe(K());return z([i,n]).pipe(m(([a,s])=>{let{x:p,y:c}=Ue(t),l=ce(t),f=t.closest("table");return f&&t.parentElement&&(p+=f.offsetLeft+t.parentElement.offsetLeft,c+=f.offsetTop+t.parentElement.offsetTop),{active:a,offset:{x:p-s.x+l.width/2-r/2,y:c-s.y+l.height+8}}}))}function Vn(e){let t=e.title;if(!t.length)return O;let r=`__tooltip_${qa++}`,o=Pt(r,"inline"),n=P(".md-typeset",o);return n.innerHTML=t,C(()=>{let i=new g;return i.subscribe({next({offset:a}){o.style.setProperty("--md-tooltip-x",`${a.x}px`),o.style.setProperty("--md-tooltip-y",`${a.y}px`)},complete(){o.style.removeProperty("--md-tooltip-x"),o.style.removeProperty("--md-tooltip-y")}}),S(i.pipe(b(({active:a})=>a)),i.pipe(_e(250),b(({active:a})=>!a))).subscribe({next({active:a}){a?(e.insertAdjacentElement("afterend",o),e.setAttribute("aria-describedby",r),e.removeAttribute("title")):(o.remove(),e.removeAttribute("aria-describedby"),e.setAttribute("title",t))},complete(){o.remove(),e.removeAttribute("aria-describedby"),e.setAttribute("title",t)}}),i.pipe(Le(16,me)).subscribe(({active:a})=>{o.classList.toggle("md-tooltip--active",a)}),i.pipe(ct(125,me),b(()=>!!e.offsetParent),m(()=>e.offsetParent.getBoundingClientRect()),m(({x:a})=>a)).subscribe({next(a){a?o.style.setProperty("--md-tooltip-0",`${-a}px`):o.style.removeProperty("--md-tooltip-0")},complete(){o.style.removeProperty("--md-tooltip-0")}}),Qa(o,e).pipe(E(a=>i.next(a)),L(()=>i.complete()),m(a=>R({ref:e},a)))}).pipe(Qe(se))}function Ka({viewport$:e}){if(!B("header.autohide"))return I(!1);let t=e.pipe(m(({offset:{y:n}})=>n),Ye(2,1),m(([n,i])=>[n<i,i]),Z(0)),r=z([e,t]).pipe(b(([{offset:n},[,i]])=>Math.abs(i-n.y)>100),m(([,[n]])=>n),K()),o=Ve("search");return z([e,o]).pipe(m(([{offset:n},i])=>n.y>400&&!i),K(),v(n=>n?r:I(!1)),Q(!1))}function Nn(e,t){return C(()=>z([ge(e),Ka(t)])).pipe(m(([{height:r},o])=>({height:r,hidden:o})),K((r,o)=>r.height===o.height&&r.hidden===o.hidden),G(1))}function zn(e,{header$:t,main$:r}){return C(()=>{let o=new g,n=o.pipe(X(),ne(!0));o.pipe(Z("active"),We(t)).subscribe(([{active:a},{hidden:s}])=>{e.classList.toggle("md-header--shadow",a&&!s),e.hidden=s});let i=ue($("[title]",e)).pipe(b(()=>B("content.tooltips")),oe(a=>Vn(a)));return r.subscribe(o),t.pipe(U(n),m(a=>R({ref:e},a)),Pe(i.pipe(U(n))))})}function Ya(e,{viewport$:t,header$:r}){return mr(e,{viewport$:t,header$:r}).pipe(m(({offset:{y:o}})=>{let{height:n}=ce(e);return{active:o>=n}}),Z("active"))}function qn(e,t){return C(()=>{let r=new g;r.subscribe({next({active:n}){e.classList.toggle("md-header__title--active",n)},complete(){e.classList.remove("md-header__title--active")}});let o=fe(".md-content h1");return typeof o=="undefined"?O:Ya(o,t).pipe(E(n=>r.next(n)),L(()=>r.complete()),m(n=>R({ref:e},n)))})}function Qn(e,{viewport$:t,header$:r}){let o=r.pipe(m(({height:i})=>i),K()),n=o.pipe(v(()=>ge(e).pipe(m(({height:i})=>({top:e.offsetTop,bottom:e.offsetTop+i})),Z("bottom"))));return z([o,n,t]).pipe(m(([i,{top:a,bottom:s},{offset:{y:p},size:{height:c}}])=>(c=Math.max(0,c-Math.max(0,a-p,i)-Math.max(0,c+p-s)),{offset:a-i,height:c,active:a-i<=p})),K((i,a)=>i.offset===a.offset&&i.height===a.height&&i.active===a.active))}function Ba(e){let t=__md_get("__palette")||{index:e.findIndex(o=>matchMedia(o.getAttribute("data-md-color-media")).matches)},r=Math.max(0,Math.min(t.index,e.length-1));return I(...e).pipe(oe(o=>d(o,"change").pipe(m(()=>o))),Q(e[r]),m(o=>({index:e.indexOf(o),color:{media:o.getAttribute("data-md-color-media"),scheme:o.getAttribute("data-md-color-scheme"),primary:o.getAttribute("data-md-color-primary"),accent:o.getAttribute("data-md-color-accent")}})),G(1))}function Kn(e){let t=$("input",e),r=x("meta",{name:"theme-color"});document.head.appendChild(r);let o=x("meta",{name:"color-scheme"});document.head.appendChild(o);let n=$t("(prefers-color-scheme: light)");return C(()=>{let i=new g;return i.subscribe(a=>{if(document.body.setAttribute("data-md-color-switching",""),a.color.media==="(prefers-color-scheme)"){let s=matchMedia("(prefers-color-scheme: light)"),p=document.querySelector(s.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: 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t=Jn(document);for(let[o,n]of Jn(e))t.has(o)?t.delete(o):document.head.appendChild(n);for(let o of t.values()){let n=o.getAttribute("name");n!=="theme-color"&&n!=="color-scheme"&&o.remove()}let r=Se("container");return je($("script",r)).pipe(v(o=>{let n=e.createElement("script");if(o.src){for(let i of o.getAttributeNames())n.setAttribute(i,o.getAttribute(i));return o.replaceWith(n),new F(i=>{n.onload=()=>i.complete()})}else return n.textContent=o.textContent,o.replaceWith(n),O}),X(),ne(document))}function Zn({location$:e,viewport$:t,progress$:r}){let o=ye();if(location.protocol==="file:")return O;let n=ur(o.base);I(document).subscribe(Xn);let i=d(document.body,"click").pipe(We(n),v(([p,c])=>Xa(p,c)),pe()),a=d(window,"popstate").pipe(m(xe),pe());i.pipe(ee(t)).subscribe(([p,{offset:c}])=>{history.replaceState(c,""),history.pushState(null,"",p)}),S(i,a).subscribe(e);let s=e.pipe(Z("pathname"),v(p=>ln(p,{progress$:r}).pipe(ve(()=>(pt(p,!0),O)))),v(Xn),v(Za),pe());return 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g,o=r.pipe(X(),ne(!0));z([t.pipe(Ae(It)),r],(i,a)=>a).pipe(Z("value")).subscribe(({value:i})=>t.next({type:2,data:i})),r.pipe(Z("focus")).subscribe(({focus:i})=>{i&&Je("search",i)}),d(e.form,"reset").pipe(U(o)).subscribe(()=>e.focus());let n=P("header [for=__search]");return d(n,"click").subscribe(()=>e.focus()),ns(e,{worker$:t}).pipe(E(i=>r.next(i)),L(()=>r.complete()),m(i=>R({ref:e},i)),G(1))}function si(e,{worker$:t,query$:r}){let o=new g,n=tn(e.parentElement).pipe(b(Boolean)),i=e.parentElement,a=P(":scope > :first-child",e),s=P(":scope > :last-child",e);Ve("search").subscribe(l=>s.setAttribute("role",l?"list":"presentation")),o.pipe(ee(r),Ur(t.pipe(Ae(It)))).subscribe(([{items:l},{value:f}])=>{switch(l.length){case 0:a.textContent=f.length?Ee("search.result.none"):Ee("search.result.placeholder");break;case 1:a.textContent=Ee("search.result.one");break;default:let u=sr(l.length);a.textContent=Ee("search.result.other",u)}});let p=o.pipe(E(()=>s.innerHTML=""),v(({items:l})=>S(I(...l.slice(0,10)),I(...l.slice(10)).pipe(Ye(4),Vr(n),v(([f])=>f)))),m(Tn),pe());return p.subscribe(l=>s.appendChild(l)),p.pipe(oe(l=>{let f=fe("details",l);return typeof f=="undefined"?O:d(f,"toggle").pipe(U(o),m(()=>f))})).subscribe(l=>{l.open===!1&&l.offsetTop<=i.scrollTop&&i.scrollTo({top:l.offsetTop})}),t.pipe(b(dr),m(({data:l})=>l)).pipe(E(l=>o.next(l)),L(()=>o.complete()),m(l=>R({ref:e},l)))}function is(e,{query$:t}){return t.pipe(m(({value:r})=>{let o=xe();return o.hash="",r=r.replace(/\s+/g,"+").replace(/&/g,"%26").replace(/=/g,"%3D"),o.search=`q=${r}`,{url:o}}))}function ci(e,t){let r=new g,o=r.pipe(X(),ne(!0));return r.subscribe(({url:n})=>{e.setAttribute("data-clipboard-text",e.href),e.href=`${n}`}),d(e,"click").pipe(U(o)).subscribe(n=>n.preventDefault()),is(e,t).pipe(E(n=>r.next(n)),L(()=>r.complete()),m(n=>R({ref:e},n)))}function pi(e,{worker$:t,keyboard$:r}){let o=new g,n=Se("search-query"),i=S(d(n,"keydown"),d(n,"focus")).pipe(be(se),m(()=>n.value),K());return o.pipe(We(i),m(([{suggest:s},p])=>{let c=p.split(/([\s-]+)/);if(s!=null&&s.length&&c[c.length-1]){let l=s[s.length-1];l.startsWith(c[c.length-1])&&(c[c.length-1]=l)}else c.length=0;return c})).subscribe(s=>e.innerHTML=s.join("").replace(/\s/g,"&nbsp;")),r.pipe(b(({mode:s})=>s==="search")).subscribe(s=>{switch(s.type){case"ArrowRight":e.innerText.length&&n.selectionStart===n.value.length&&(n.value=e.innerText);break}}),t.pipe(b(dr),m(({data:s})=>s)).pipe(E(s=>o.next(s)),L(()=>o.complete()),m(()=>({ref:e})))}function li(e,{index$:t,keyboard$:r}){let o=ye();try{let n=ni(o.search,t),i=Se("search-query",e),a=Se("search-result",e);d(e,"click").pipe(b(({target:p})=>p instanceof Element&&!!p.closest("a"))).subscribe(()=>Je("search",!1)),r.pipe(b(({mode:p})=>p==="search")).subscribe(p=>{let c=Re();switch(p.type){case"Enter":if(c===i){let l=new Map;for(let f of $(":first-child [href]",a)){let 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z([t,r.pipe(Q(xe()),b(o=>!!o.searchParams.get("h")))]).pipe(m(([o,n])=>oi(o.config)(n.searchParams.get("h"))),m(o=>{var a;let n=new Map,i=document.createNodeIterator(e,NodeFilter.SHOW_TEXT);for(let s=i.nextNode();s;s=i.nextNode())if((a=s.parentElement)!=null&&a.offsetHeight){let p=s.textContent,c=o(p);c.length>p.length&&n.set(s,c)}for(let[s,p]of n){let{childNodes:c}=x("span",null,p);s.replaceWith(...Array.from(c))}return{ref:e,nodes:n}}))}function as(e,{viewport$:t,main$:r}){let o=e.closest(".md-grid"),n=o.offsetTop-o.parentElement.offsetTop;return z([r,t]).pipe(m(([{offset:i,height:a},{offset:{y:s}}])=>(a=a+Math.min(n,Math.max(0,s-i))-n,{height:a,locked:s>=i+n})),K((i,a)=>i.height===a.height&&i.locked===a.locked))}function Jr(e,o){var n=o,{header$:t}=n,r=io(n,["header$"]);let i=P(".md-sidebar__scrollwrap",e),{y:a}=Ue(i);return C(()=>{let s=new g,p=s.pipe(X(),ne(!0)),c=s.pipe(Le(0,me));return c.pipe(ee(t)).subscribe({next([{height:l},{height:f}]){i.style.height=`${l-2*a}px`,e.style.top=`${f}px`},complete(){i.style.height="",e.style.top=""}}),c.pipe(Ae()).subscribe(()=>{for(let l of $(".md-nav__link--active[href]",e)){if(!l.clientHeight)continue;let f=l.closest(".md-sidebar__scrollwrap");if(typeof f!="undefined"){let u=l.offsetTop-f.offsetTop,{height:h}=ce(f);f.scrollTo({top:u-h/2})}}}),ue($("label[tabindex]",e)).pipe(oe(l=>d(l,"click").pipe(be(se),m(()=>l),U(p)))).subscribe(l=>{let f=P(`[id="${l.htmlFor}"]`);P(`[aria-labelledby="${l.id}"]`).setAttribute("aria-expanded",`${f.checked}`)}),as(e,r).pipe(E(l=>s.next(l)),L(()=>s.complete()),m(l=>R({ref:e},l)))})}function fi(e,t){if(typeof t!="undefined"){let r=`https://api.github.com/repos/${e}/${t}`;return Ct(Ne(`${r}/releases/latest`).pipe(ve(()=>O),m(o=>({version:o.tag_name})),Be({})),Ne(r).pipe(ve(()=>O),m(o=>({stars:o.stargazers_count,forks:o.forks_count})),Be({}))).pipe(m(([o,n])=>R(R({},o),n)))}else{let r=`https://api.github.com/users/${e}`;return Ne(r).pipe(m(o=>({repositories:o.public_repos})),Be({}))}}function ui(e,t){let r=`https://${e}/api/v4/projects/${encodeURIComponent(t)}`;return Ne(r).pipe(ve(()=>O),m(({star_count:o,forks_count:n})=>({stars:o,forks:n})),Be({}))}function di(e){let t=e.match(/^.+github\.com\/([^/]+)\/?([^/]+)?/i);if(t){let[,r,o]=t;return fi(r,o)}if(t=e.match(/^.+?([^/]*gitlab[^/]+)\/(.+?)\/?$/i),t){let[,r,o]=t;return ui(r,o)}return O}var ss;function cs(e){return ss||(ss=C(()=>{let t=__md_get("__source",sessionStorage);if(t)return I(t);if(ae("consent").length){let o=__md_get("__consent");if(!(o&&o.github))return O}return di(e.href).pipe(E(o=>__md_set("__source",o,sessionStorage)))}).pipe(ve(()=>O),b(t=>Object.keys(t).length>0),m(t=>({facts:t})),G(1)))}function hi(e){let t=P(":scope > :last-child",e);return C(()=>{let r=new g;return r.subscribe(({facts:o})=>{t.appendChild(Sn(o)),t.classList.add("md-source__repository--active")}),cs(e).pipe(E(o=>r.next(o)),L(()=>r.complete()),m(o=>R({ref:e},o)))})}function ps(e,{viewport$:t,header$:r}){return ge(document.body).pipe(v(()=>mr(e,{header$:r,viewport$:t})),m(({offset:{y:o}})=>({hidden:o>=10})),Z("hidden"))}function bi(e,t){return C(()=>{let r=new g;return r.subscribe({next({hidden:o}){e.hidden=o},complete(){e.hidden=!1}}),(B("navigation.tabs.sticky")?I({hidden:!1}):ps(e,t)).pipe(E(o=>r.next(o)),L(()=>r.complete()),m(o=>R({ref:e},o)))})}function ls(e,{viewport$:t,header$:r}){let o=new Map,n=$(".md-nav__link",e);for(let s of n){let p=decodeURIComponent(s.hash.substring(1)),c=fe(`[id="${p}"]`);typeof c!="undefined"&&o.set(s,c)}let i=r.pipe(Z("height"),m(({height:s})=>{let p=Se("main"),c=P(":scope > :first-child",p);return s+.8*(c.offsetTop-p.offsetTop)}),pe());return ge(document.body).pipe(Z("height"),v(s=>C(()=>{let p=[];return 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i=new g,a=i.pipe(X(),ne(!0));if(i.subscribe(({prev:s,next:p})=>{for(let[c]of p)c.classList.remove("md-nav__link--passed"),c.classList.remove("md-nav__link--active");for(let[c,[l]]of s.entries())l.classList.add("md-nav__link--passed"),l.classList.toggle("md-nav__link--active",c===s.length-1)}),B("toc.follow")){let s=S(t.pipe(_e(1),m(()=>{})),t.pipe(_e(250),m(()=>"smooth")));i.pipe(b(({prev:p})=>p.length>0),We(o.pipe(be(se))),ee(s)).subscribe(([[{prev:p}],c])=>{let[l]=p[p.length-1];if(l.offsetHeight){let f=cr(l);if(typeof f!="undefined"){let u=l.offsetTop-f.offsetTop,{height:h}=ce(f);f.scrollTo({top:u-h/2,behavior:c})}}})}return B("navigation.tracking")&&t.pipe(U(a),Z("offset"),_e(250),Ce(1),U(n.pipe(Ce(1))),st({delay:250}),ee(i)).subscribe(([,{prev:s}])=>{let p=xe(),c=s[s.length-1];if(c&&c.length){let[l]=c,{hash:f}=new URL(l.href);p.hash!==f&&(p.hash=f,history.replaceState({},"",`${p}`))}else 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xi({document$:e,viewport$:t}){e.pipe(v(()=>$(".md-ellipsis")),oe(r=>tt(r).pipe(U(e.pipe(Ce(1))),b(o=>o),m(()=>r),Te(1))),b(r=>r.offsetWidth<r.scrollWidth),oe(r=>{let o=r.innerText,n=r.closest("a")||r;return n.title=o,B("content.tooltips")?lt(n,{viewport$:t}).pipe(U(e.pipe(Ce(1))),L(()=>n.removeAttribute("title"))):O})).subscribe(),B("content.tooltips")&&e.pipe(v(()=>$(".md-status")),oe(r=>lt(r,{viewport$:t}))).subscribe()}function yi({document$:e,tablet$:t}){e.pipe(v(()=>$(".md-toggle--indeterminate")),E(r=>{r.indeterminate=!0,r.checked=!1}),oe(r=>d(r,"change").pipe(Dr(()=>r.classList.contains("md-toggle--indeterminate")),m(()=>r))),ee(t)).subscribe(([r,o])=>{r.classList.remove("md-toggle--indeterminate"),o&&(r.checked=!1)})}function fs(){return/(iPad|iPhone|iPod)/.test(navigator.userAgent)}function Ei({document$:e}){e.pipe(v(()=>$("[data-md-scrollfix]")),E(t=>t.removeAttribute("data-md-scrollfix")),b(fs),oe(t=>d(t,"touchstart").pipe(m(()=>t)))).subscribe(t=>{let r=t.scrollTop;r===0?t.scrollTop=1:r+t.offsetHeight===t.scrollHeight&&(t.scrollTop=r-1)})}function wi({viewport$:e,tablet$:t}){z([Ve("search"),t]).pipe(m(([r,o])=>r&&!o),v(r=>I(r).pipe(Ge(r?400:100))),ee(e)).subscribe(([r,{offset:{y:o}}])=>{if(r)document.body.setAttribute("data-md-scrolllock",""),document.body.style.top=`-${o}px`;else{let n=-1*parseInt(document.body.style.top,10);document.body.removeAttribute("data-md-scrolllock"),document.body.style.top="",n&&window.scrollTo(0,n)}})}Object.entries||(Object.entries=function(e){let t=[];for(let r of Object.keys(e))t.push([r,e[r]]);return t});Object.values||(Object.values=function(e){let t=[];for(let r of Object.keys(e))t.push(e[r]);return t});typeof Element!="undefined"&&(Element.prototype.scrollTo||(Element.prototype.scrollTo=function(e,t){typeof e=="object"?(this.scrollLeft=e.left,this.scrollTop=e.top):(this.scrollLeft=e,this.scrollTop=t)}),Element.prototype.replaceWith||(Element.prototype.replaceWith=function(...e){let t=this.parentNode;if(t){e.length===0&&t.removeChild(this);for(let r=e.length-1;r>=0;r--){let o=e[r];typeof o=="string"?o=document.createTextNode(o):o.parentNode&&o.parentNode.removeChild(o),r?t.insertBefore(this.previousSibling,o):t.replaceChild(o,this)}}}));function us(){return location.protocol==="file:"?wt(`${new URL("search/search_index.js",Xr.base)}`).pipe(m(()=>__index),G(1)):Ne(new URL("search/search_index.json",Xr.base))}document.documentElement.classList.remove("no-js");document.documentElement.classList.add("js");var ot=Yo(),jt=nn(),Ot=cn(jt),Zr=on(),Oe=bn(),hr=$t("(min-width: 960px)"),Si=$t("(min-width: 1220px)"),Oi=pn(),Xr=ye(),Mi=document.forms.namedItem("search")?us():Ke,eo=new g;Bn({alert$:eo});var to=new g;B("navigation.instant")&&Zn({location$:jt,viewport$:Oe,progress$:to}).subscribe(ot);var Ti;((Ti=Xr.version)==null?void 0:Ti.provider)==="mike"&&ii({document$:ot});S(jt,Ot).pipe(Ge(125)).subscribe(()=>{Je("drawer",!1),Je("search",!1)});Zr.pipe(b(({mode:e})=>e==="global")).subscribe(e=>{switch(e.type){case"p":case",":let t=fe("link[rel=prev]");typeof t!="undefined"&&pt(t);break;case"n":case".":let r=fe("link[rel=next]");typeof r!="undefined"&&pt(r);break;case"Enter":let o=Re();o instanceof HTMLLabelElement&&o.click()}});xi({viewport$:Oe,document$:ot});yi({document$:ot,tablet$:hr});Ei({document$:ot});wi({viewport$:Oe,tablet$:hr});var rt=Nn(Se("header"),{viewport$:Oe}),Ft=ot.pipe(m(()=>Se("main")),v(e=>Qn(e,{viewport$:Oe,header$:rt})),G(1)),ds=S(...ae("consent").map(e=>xn(e,{target$:Ot})),...ae("dialog").map(e=>Dn(e,{alert$:eo})),...ae("header").map(e=>zn(e,{viewport$:Oe,header$:rt,main$:Ft})),...ae("palette").map(e=>Kn(e)),...ae("progress").map(e=>Yn(e,{progress$:to})),...ae("search").map(e=>li(e,{index$:Mi,keyboard$:Zr})),...ae("source").map(e=>hi(e))),hs=C(()=>S(...ae("announce").map(e=>gn(e)),...ae("content").map(e=>Un(e,{viewport$:Oe,target$:Ot,print$:Oi})),...ae("content").map(e=>B("search.highlight")?mi(e,{index$:Mi,location$:jt}):O),...ae("header-title").map(e=>qn(e,{viewport$:Oe,header$:rt})),...ae("sidebar").map(e=>e.getAttribute("data-md-type")==="navigation"?Nr(Si,()=>Jr(e,{viewport$:Oe,header$:rt,main$:Ft})):Nr(hr,()=>Jr(e,{viewport$:Oe,header$:rt,main$:Ft}))),...ae("tabs").map(e=>bi(e,{viewport$:Oe,header$:rt})),...ae("toc").map(e=>vi(e,{viewport$:Oe,header$:rt,main$:Ft,target$:Ot})),...ae("top").map(e=>gi(e,{viewport$:Oe,header$:rt,main$:Ft,target$:Ot})))),Li=ot.pipe(v(()=>hs),Pe(ds),G(1));Li.subscribe();window.document$=ot;window.location$=jt;window.target$=Ot;window.keyboard$=Zr;window.viewport$=Oe;window.tablet$=hr;window.screen$=Si;window.print$=Oi;window.alert$=eo;window.progress$=to;window.component$=Li;})();
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diff --git a/docs/assets/javascripts/bundle.fe8b6f2b.min.js.map b/docs/assets/javascripts/bundle.fe8b6f2b.min.js.map
deleted file mode 100644
index 82635852..00000000
--- a/docs/assets/javascripts/bundle.fe8b6f2b.min.js.map
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "version": 3,
-  "sources": ["node_modules/focus-visible/dist/focus-visible.js", "node_modules/clipboard/dist/clipboard.js", "node_modules/escape-html/index.js", "src/templates/assets/javascripts/bundle.ts", "node_modules/rxjs/node_modules/tslib/tslib.es6.js", "node_modules/rxjs/src/internal/util/isFunction.ts", "node_modules/rxjs/src/internal/util/createErrorClass.ts", "node_modules/rxjs/src/internal/util/UnsubscriptionError.ts", "node_modules/rxjs/src/internal/util/arrRemove.ts", "node_modules/rxjs/src/internal/Subscription.ts", "node_modules/rxjs/src/internal/config.ts", "node_modules/rxjs/src/internal/scheduler/timeoutProvider.ts", "node_modules/rxjs/src/internal/util/reportUnhandledError.ts", "node_modules/rxjs/src/internal/util/noop.ts", "node_modules/rxjs/src/internal/NotificationFactories.ts", "node_modules/rxjs/src/internal/util/errorContext.ts", "node_modules/rxjs/src/internal/Subscriber.ts", "node_modules/rxjs/src/internal/symbol/observable.ts", 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-  "sourcesContent": ["(function (global, factory) {\n  typeof exports === 'object' && typeof module !== 'undefined' ? factory() :\n  typeof define === 'function' && define.amd ? define(factory) :\n  (factory());\n}(this, (function () { 'use strict';\n\n  /**\n   * Applies the :focus-visible polyfill at the given scope.\n   * A scope in this case is either the top-level Document or a Shadow Root.\n   *\n   * @param {(Document|ShadowRoot)} scope\n   * @see https://github.com/WICG/focus-visible\n   */\n  function applyFocusVisiblePolyfill(scope) {\n    var hadKeyboardEvent = true;\n    var hadFocusVisibleRecently = false;\n    var hadFocusVisibleRecentlyTimeout = null;\n\n    var inputTypesAllowlist = {\n      text: true,\n      search: true,\n      url: true,\n      tel: true,\n      email: true,\n      password: true,\n      number: true,\n      date: true,\n      month: true,\n      week: true,\n      time: true,\n      datetime: true,\n      'datetime-local': true\n    };\n\n    /**\n     * Helper function for legacy browsers and iframes which sometimes focus\n     * elements like document, body, and non-interactive SVG.\n     * @param {Element} el\n     */\n    function isValidFocusTarget(el) {\n      if (\n        el &&\n        el !== document &&\n        el.nodeName !== 'HTML' &&\n        el.nodeName !== 'BODY' &&\n        'classList' in el &&\n        'contains' in el.classList\n      ) {\n        return true;\n      }\n      return false;\n    }\n\n    /**\n     * Computes whether the given element should automatically trigger the\n     * `focus-visible` class being added, i.e. whether it should always match\n     * `:focus-visible` when focused.\n     * @param {Element} el\n     * @return {boolean}\n     */\n    function focusTriggersKeyboardModality(el) {\n      var type = el.type;\n      var tagName = el.tagName;\n\n      if (tagName === 'INPUT' && inputTypesAllowlist[type] && !el.readOnly) {\n        return true;\n      }\n\n      if (tagName === 'TEXTAREA' && !el.readOnly) {\n        return true;\n      }\n\n      if (el.isContentEditable) {\n        return true;\n      }\n\n      return false;\n    }\n\n    /**\n     * Add the `focus-visible` class to the given element if it was not added by\n     * the author.\n     * @param {Element} el\n     */\n    function addFocusVisibleClass(el) {\n      if (el.classList.contains('focus-visible')) {\n        return;\n      }\n      el.classList.add('focus-visible');\n      el.setAttribute('data-focus-visible-added', '');\n    }\n\n    /**\n     * Remove the `focus-visible` class from the given element if it was not\n     * originally added by the author.\n     * @param {Element} el\n     */\n    function removeFocusVisibleClass(el) {\n      if (!el.hasAttribute('data-focus-visible-added')) {\n        return;\n      }\n      el.classList.remove('focus-visible');\n      el.removeAttribute('data-focus-visible-added');\n    }\n\n    /**\n     * If the most recent user interaction was via the keyboard;\n     * and the key press did not include a meta, alt/option, or control key;\n     * then the modality is keyboard. Otherwise, the modality is not keyboard.\n     * Apply `focus-visible` to any current active element and keep track\n     * of our keyboard modality state with `hadKeyboardEvent`.\n     * @param {KeyboardEvent} e\n     */\n    function onKeyDown(e) {\n      if (e.metaKey || e.altKey || e.ctrlKey) {\n        return;\n      }\n\n      if (isValidFocusTarget(scope.activeElement)) {\n        addFocusVisibleClass(scope.activeElement);\n      }\n\n      hadKeyboardEvent = true;\n    }\n\n    /**\n     * If at any point a user clicks with a pointing device, ensure that we change\n     * the modality away from keyboard.\n     * This avoids the situation where a user presses a key on an already focused\n     * element, and then clicks on a different element, focusing it with a\n     * pointing device, while we still think we're in keyboard modality.\n     * @param {Event} e\n     */\n    function onPointerDown(e) {\n      hadKeyboardEvent = false;\n    }\n\n    /**\n     * On `focus`, add the `focus-visible` class to the target if:\n     * - the target received focus as a result of keyboard navigation, or\n     * - the event target is an element that will likely require interaction\n     *   via the keyboard (e.g. a text box)\n     * @param {Event} e\n     */\n    function onFocus(e) {\n      // Prevent IE from focusing the document or HTML element.\n      if (!isValidFocusTarget(e.target)) {\n        return;\n      }\n\n      if (hadKeyboardEvent || focusTriggersKeyboardModality(e.target)) {\n        addFocusVisibleClass(e.target);\n      }\n    }\n\n    /**\n     * On `blur`, remove the `focus-visible` class from the target.\n     * @param {Event} e\n     */\n    function onBlur(e) {\n      if (!isValidFocusTarget(e.target)) {\n        return;\n      }\n\n      if (\n        e.target.classList.contains('focus-visible') ||\n        e.target.hasAttribute('data-focus-visible-added')\n      ) {\n        // To detect a tab/window switch, we look for a blur event followed\n        // rapidly by a visibility change.\n        // If we don't see a visibility change within 100ms, it's probably a\n        // regular focus change.\n        hadFocusVisibleRecently = true;\n        window.clearTimeout(hadFocusVisibleRecentlyTimeout);\n        hadFocusVisibleRecentlyTimeout = window.setTimeout(function() {\n          hadFocusVisibleRecently = false;\n        }, 100);\n        removeFocusVisibleClass(e.target);\n      }\n    }\n\n    /**\n     * If the user changes tabs, keep track of whether or not the previously\n     * focused element had .focus-visible.\n     * @param {Event} e\n     */\n    function onVisibilityChange(e) {\n      if (document.visibilityState === 'hidden') {\n        // If the tab becomes active again, the browser will handle calling focus\n        // on the element (Safari actually calls it twice).\n        // If this tab change caused a blur on an element with focus-visible,\n        // re-apply the class when the user switches back to the tab.\n        if (hadFocusVisibleRecently) {\n          hadKeyboardEvent = true;\n        }\n        addInitialPointerMoveListeners();\n      }\n    }\n\n    /**\n     * Add a group of listeners to detect usage of any pointing devices.\n     * These listeners will be added when the polyfill first loads, and anytime\n     * the window is blurred, so that they are active when the window regains\n     * focus.\n     */\n    function addInitialPointerMoveListeners() {\n      document.addEventListener('mousemove', onInitialPointerMove);\n      document.addEventListener('mousedown', onInitialPointerMove);\n      document.addEventListener('mouseup', onInitialPointerMove);\n      document.addEventListener('pointermove', onInitialPointerMove);\n      document.addEventListener('pointerdown', onInitialPointerMove);\n      document.addEventListener('pointerup', onInitialPointerMove);\n      document.addEventListener('touchmove', onInitialPointerMove);\n      document.addEventListener('touchstart', onInitialPointerMove);\n      document.addEventListener('touchend', onInitialPointerMove);\n    }\n\n    function removeInitialPointerMoveListeners() {\n      document.removeEventListener('mousemove', onInitialPointerMove);\n      document.removeEventListener('mousedown', onInitialPointerMove);\n      document.removeEventListener('mouseup', onInitialPointerMove);\n      document.removeEventListener('pointermove', onInitialPointerMove);\n      document.removeEventListener('pointerdown', onInitialPointerMove);\n      document.removeEventListener('pointerup', onInitialPointerMove);\n      document.removeEventListener('touchmove', onInitialPointerMove);\n      document.removeEventListener('touchstart', onInitialPointerMove);\n      document.removeEventListener('touchend', onInitialPointerMove);\n    }\n\n    /**\n     * When the polfyill first loads, assume the user is in keyboard modality.\n     * If any event is received from a pointing device (e.g. mouse, pointer,\n     * touch), turn off keyboard modality.\n     * This accounts for situations where focus enters the page from the URL bar.\n     * @param {Event} e\n     */\n    function onInitialPointerMove(e) {\n      // Work around a Safari quirk that fires a mousemove on <html> whenever the\n      // window blurs, even if you're tabbing out of the page. \u00AF\\_(\u30C4)_/\u00AF\n      if (e.target.nodeName && e.target.nodeName.toLowerCase() === 'html') {\n        return;\n      }\n\n      hadKeyboardEvent = false;\n      removeInitialPointerMoveListeners();\n    }\n\n    // For some kinds of state, we are interested in changes at the global scope\n    // only. For example, global pointer input, global key presses and global\n    // visibility change should affect the state at every scope:\n    document.addEventListener('keydown', onKeyDown, true);\n    document.addEventListener('mousedown', onPointerDown, true);\n    document.addEventListener('pointerdown', onPointerDown, true);\n    document.addEventListener('touchstart', onPointerDown, true);\n    document.addEventListener('visibilitychange', onVisibilityChange, true);\n\n    addInitialPointerMoveListeners();\n\n    // For focus and blur, we specifically care about state changes in the local\n    // scope. This is because focus / blur events that originate from within a\n    // shadow root are not re-dispatched from the host element if it was already\n    // the active element in its own scope:\n    scope.addEventListener('focus', onFocus, true);\n    scope.addEventListener('blur', onBlur, true);\n\n    // We detect that a node is a ShadowRoot by ensuring that it is a\n    // DocumentFragment and also has a host property. This check covers native\n    // implementation and polyfill implementation transparently. If we only cared\n    // about the native implementation, we could just check if the scope was\n    // an instance of a ShadowRoot.\n    if (scope.nodeType === Node.DOCUMENT_FRAGMENT_NODE && scope.host) {\n      // Since a ShadowRoot is a special kind of DocumentFragment, it does not\n      // have a root element to add a class to. So, we add this attribute to the\n      // host element instead:\n      scope.host.setAttribute('data-js-focus-visible', '');\n    } else if (scope.nodeType === Node.DOCUMENT_NODE) {\n      document.documentElement.classList.add('js-focus-visible');\n      document.documentElement.setAttribute('data-js-focus-visible', '');\n    }\n  }\n\n  // It is important to wrap all references to global window and document in\n  // these checks to support server-side rendering use cases\n  // @see https://github.com/WICG/focus-visible/issues/199\n  if (typeof window !== 'undefined' && typeof document !== 'undefined') {\n    // Make the polyfill helper globally available. This can be used as a signal\n    // to interested libraries that wish to coordinate with the polyfill for e.g.,\n    // applying the polyfill to a shadow root:\n    window.applyFocusVisiblePolyfill = applyFocusVisiblePolyfill;\n\n    // Notify interested libraries of the polyfill's presence, in case the\n    // polyfill was loaded lazily:\n    var event;\n\n    try {\n      event = new CustomEvent('focus-visible-polyfill-ready');\n    } catch (error) {\n      // IE11 does not support using CustomEvent as a constructor directly:\n      event = document.createEvent('CustomEvent');\n      event.initCustomEvent('focus-visible-polyfill-ready', false, false, {});\n    }\n\n    window.dispatchEvent(event);\n  }\n\n  if (typeof document !== 'undefined') {\n    // Apply the polyfill to the global document, so that no JavaScript\n    // coordination is required to use the polyfill in the top-level document:\n    applyFocusVisiblePolyfill(document);\n  }\n\n})));\n", "/*!\n * clipboard.js v2.0.11\n * https://clipboardjs.com/\n *\n * Licensed MIT \u00A9 Zeno Rocha\n */\n(function webpackUniversalModuleDefinition(root, factory) {\n\tif(typeof exports === 'object' && typeof module === 'object')\n\t\tmodule.exports = factory();\n\telse if(typeof define === 'function' && define.amd)\n\t\tdefine([], factory);\n\telse if(typeof exports === 'object')\n\t\texports[\"ClipboardJS\"] = factory();\n\telse\n\t\troot[\"ClipboardJS\"] = factory();\n})(this, function() {\nreturn /******/ (function() { // webpackBootstrap\n/******/ \tvar __webpack_modules__ = ({\n\n/***/ 686:\n/***/ (function(__unused_webpack_module, __webpack_exports__, __webpack_require__) {\n\n\"use strict\";\n\n// EXPORTS\n__webpack_require__.d(__webpack_exports__, {\n  \"default\": function() { return /* binding */ clipboard; }\n});\n\n// EXTERNAL MODULE: ./node_modules/tiny-emitter/index.js\nvar tiny_emitter = __webpack_require__(279);\nvar tiny_emitter_default = /*#__PURE__*/__webpack_require__.n(tiny_emitter);\n// EXTERNAL MODULE: ./node_modules/good-listener/src/listen.js\nvar listen = __webpack_require__(370);\nvar listen_default = /*#__PURE__*/__webpack_require__.n(listen);\n// EXTERNAL MODULE: ./node_modules/select/src/select.js\nvar src_select = __webpack_require__(817);\nvar select_default = /*#__PURE__*/__webpack_require__.n(src_select);\n;// CONCATENATED MODULE: ./src/common/command.js\n/**\n * Executes a given operation type.\n * @param {String} type\n * @return {Boolean}\n */\nfunction command(type) {\n  try {\n    return document.execCommand(type);\n  } catch (err) {\n    return false;\n  }\n}\n;// CONCATENATED MODULE: ./src/actions/cut.js\n\n\n/**\n * Cut action wrapper.\n * @param {String|HTMLElement} target\n * @return {String}\n */\n\nvar ClipboardActionCut = function ClipboardActionCut(target) {\n  var selectedText = select_default()(target);\n  command('cut');\n  return selectedText;\n};\n\n/* harmony default export */ var actions_cut = (ClipboardActionCut);\n;// CONCATENATED MODULE: ./src/common/create-fake-element.js\n/**\n * Creates a fake textarea element with a value.\n * @param {String} value\n * @return {HTMLElement}\n */\nfunction createFakeElement(value) {\n  var isRTL = document.documentElement.getAttribute('dir') === 'rtl';\n  var fakeElement = document.createElement('textarea'); // Prevent zooming on iOS\n\n  fakeElement.style.fontSize = '12pt'; // Reset box model\n\n  fakeElement.style.border = '0';\n  fakeElement.style.padding = '0';\n  fakeElement.style.margin = '0'; // Move element out of screen horizontally\n\n  fakeElement.style.position = 'absolute';\n  fakeElement.style[isRTL ? 'right' : 'left'] = '-9999px'; // Move element to the same position vertically\n\n  var yPosition = window.pageYOffset || document.documentElement.scrollTop;\n  fakeElement.style.top = \"\".concat(yPosition, \"px\");\n  fakeElement.setAttribute('readonly', '');\n  fakeElement.value = value;\n  return fakeElement;\n}\n;// CONCATENATED MODULE: ./src/actions/copy.js\n\n\n\n/**\n * Create fake copy action wrapper using a fake element.\n * @param {String} target\n * @param {Object} options\n * @return {String}\n */\n\nvar fakeCopyAction = function fakeCopyAction(value, options) {\n  var fakeElement = createFakeElement(value);\n  options.container.appendChild(fakeElement);\n  var selectedText = select_default()(fakeElement);\n  command('copy');\n  fakeElement.remove();\n  return selectedText;\n};\n/**\n * Copy action wrapper.\n * @param {String|HTMLElement} target\n * @param {Object} options\n * @return {String}\n */\n\n\nvar ClipboardActionCopy = function ClipboardActionCopy(target) {\n  var options = arguments.length > 1 && arguments[1] !== undefined ? arguments[1] : {\n    container: document.body\n  };\n  var selectedText = '';\n\n  if (typeof target === 'string') {\n    selectedText = fakeCopyAction(target, options);\n  } else if (target instanceof HTMLInputElement && !['text', 'search', 'url', 'tel', 'password'].includes(target === null || target === void 0 ? void 0 : target.type)) {\n    // If input type doesn't support `setSelectionRange`. Simulate it. https://developer.mozilla.org/en-US/docs/Web/API/HTMLInputElement/setSelectionRange\n    selectedText = fakeCopyAction(target.value, options);\n  } else {\n    selectedText = select_default()(target);\n    command('copy');\n  }\n\n  return selectedText;\n};\n\n/* harmony default export */ var actions_copy = (ClipboardActionCopy);\n;// CONCATENATED MODULE: ./src/actions/default.js\nfunction _typeof(obj) { \"@babel/helpers - typeof\"; if (typeof Symbol === \"function\" && typeof Symbol.iterator === \"symbol\") { _typeof = function _typeof(obj) { return typeof obj; }; } else { _typeof = function _typeof(obj) { return obj && typeof Symbol === \"function\" && obj.constructor === Symbol && obj !== Symbol.prototype ? \"symbol\" : typeof obj; }; } return _typeof(obj); }\n\n\n\n/**\n * Inner function which performs selection from either `text` or `target`\n * properties and then executes copy or cut operations.\n * @param {Object} options\n */\n\nvar ClipboardActionDefault = function ClipboardActionDefault() {\n  var options = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : {};\n  // Defines base properties passed from constructor.\n  var _options$action = options.action,\n      action = _options$action === void 0 ? 'copy' : _options$action,\n      container = options.container,\n      target = options.target,\n      text = options.text; // Sets the `action` to be performed which can be either 'copy' or 'cut'.\n\n  if (action !== 'copy' && action !== 'cut') {\n    throw new Error('Invalid \"action\" value, use either \"copy\" or \"cut\"');\n  } // Sets the `target` property using an element that will be have its content copied.\n\n\n  if (target !== undefined) {\n    if (target && _typeof(target) === 'object' && target.nodeType === 1) {\n      if (action === 'copy' && target.hasAttribute('disabled')) {\n        throw new Error('Invalid \"target\" attribute. Please use \"readonly\" instead of \"disabled\" attribute');\n      }\n\n      if (action === 'cut' && (target.hasAttribute('readonly') || target.hasAttribute('disabled'))) {\n        throw new Error('Invalid \"target\" attribute. You can\\'t cut text from elements with \"readonly\" or \"disabled\" attributes');\n      }\n    } else {\n      throw new Error('Invalid \"target\" value, use a valid Element');\n    }\n  } // Define selection strategy based on `text` property.\n\n\n  if (text) {\n    return actions_copy(text, {\n      container: container\n    });\n  } // Defines which selection strategy based on `target` property.\n\n\n  if (target) {\n    return action === 'cut' ? actions_cut(target) : actions_copy(target, {\n      container: container\n    });\n  }\n};\n\n/* harmony default export */ var actions_default = (ClipboardActionDefault);\n;// CONCATENATED MODULE: ./src/clipboard.js\nfunction clipboard_typeof(obj) { \"@babel/helpers - typeof\"; if (typeof Symbol === \"function\" && typeof Symbol.iterator === \"symbol\") { clipboard_typeof = function _typeof(obj) { return typeof obj; }; } else { clipboard_typeof = function _typeof(obj) { return obj && typeof Symbol === \"function\" && obj.constructor === Symbol && obj !== Symbol.prototype ? \"symbol\" : typeof obj; }; } return clipboard_typeof(obj); }\n\nfunction _classCallCheck(instance, Constructor) { if (!(instance instanceof Constructor)) { throw new TypeError(\"Cannot call a class as a function\"); } }\n\nfunction _defineProperties(target, props) { for (var i = 0; i < props.length; i++) { var descriptor = props[i]; descriptor.enumerable = descriptor.enumerable || false; descriptor.configurable = true; if (\"value\" in descriptor) descriptor.writable = true; Object.defineProperty(target, descriptor.key, descriptor); } }\n\nfunction _createClass(Constructor, protoProps, staticProps) { if (protoProps) _defineProperties(Constructor.prototype, protoProps); if (staticProps) _defineProperties(Constructor, staticProps); return Constructor; }\n\nfunction _inherits(subClass, superClass) { if (typeof superClass !== \"function\" && superClass !== null) { throw new TypeError(\"Super expression must either be null or a function\"); } subClass.prototype = Object.create(superClass && superClass.prototype, { constructor: { value: subClass, writable: true, configurable: true } }); if (superClass) _setPrototypeOf(subClass, superClass); }\n\nfunction _setPrototypeOf(o, p) { _setPrototypeOf = Object.setPrototypeOf || function _setPrototypeOf(o, p) { o.__proto__ = p; return o; }; return _setPrototypeOf(o, p); }\n\nfunction _createSuper(Derived) { var hasNativeReflectConstruct = _isNativeReflectConstruct(); return function _createSuperInternal() { var Super = _getPrototypeOf(Derived), result; if (hasNativeReflectConstruct) { var NewTarget = _getPrototypeOf(this).constructor; result = Reflect.construct(Super, arguments, NewTarget); } else { result = Super.apply(this, arguments); } return _possibleConstructorReturn(this, result); }; }\n\nfunction _possibleConstructorReturn(self, call) { if (call && (clipboard_typeof(call) === \"object\" || typeof call === \"function\")) { return call; } return _assertThisInitialized(self); }\n\nfunction _assertThisInitialized(self) { if (self === void 0) { throw new ReferenceError(\"this hasn't been initialised - super() hasn't been called\"); } return self; }\n\nfunction _isNativeReflectConstruct() { if (typeof Reflect === \"undefined\" || !Reflect.construct) return false; if (Reflect.construct.sham) return false; if (typeof Proxy === \"function\") return true; try { Date.prototype.toString.call(Reflect.construct(Date, [], function () {})); return true; } catch (e) { return false; } }\n\nfunction _getPrototypeOf(o) { _getPrototypeOf = Object.setPrototypeOf ? Object.getPrototypeOf : function _getPrototypeOf(o) { return o.__proto__ || Object.getPrototypeOf(o); }; return _getPrototypeOf(o); }\n\n\n\n\n\n\n/**\n * Helper function to retrieve attribute value.\n * @param {String} suffix\n * @param {Element} element\n */\n\nfunction getAttributeValue(suffix, element) {\n  var attribute = \"data-clipboard-\".concat(suffix);\n\n  if (!element.hasAttribute(attribute)) {\n    return;\n  }\n\n  return element.getAttribute(attribute);\n}\n/**\n * Base class which takes one or more elements, adds event listeners to them,\n * and instantiates a new `ClipboardAction` on each click.\n */\n\n\nvar Clipboard = /*#__PURE__*/function (_Emitter) {\n  _inherits(Clipboard, _Emitter);\n\n  var _super = _createSuper(Clipboard);\n\n  /**\n   * @param {String|HTMLElement|HTMLCollection|NodeList} trigger\n   * @param {Object} options\n   */\n  function Clipboard(trigger, options) {\n    var _this;\n\n    _classCallCheck(this, Clipboard);\n\n    _this = _super.call(this);\n\n    _this.resolveOptions(options);\n\n    _this.listenClick(trigger);\n\n    return _this;\n  }\n  /**\n   * Defines if attributes would be resolved using internal setter functions\n   * or custom functions that were passed in the constructor.\n   * @param {Object} options\n   */\n\n\n  _createClass(Clipboard, [{\n    key: \"resolveOptions\",\n    value: function resolveOptions() {\n      var options = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : {};\n      this.action = typeof options.action === 'function' ? options.action : this.defaultAction;\n      this.target = typeof options.target === 'function' ? options.target : this.defaultTarget;\n      this.text = typeof options.text === 'function' ? options.text : this.defaultText;\n      this.container = clipboard_typeof(options.container) === 'object' ? options.container : document.body;\n    }\n    /**\n     * Adds a click event listener to the passed trigger.\n     * @param {String|HTMLElement|HTMLCollection|NodeList} trigger\n     */\n\n  }, {\n    key: \"listenClick\",\n    value: function listenClick(trigger) {\n      var _this2 = this;\n\n      this.listener = listen_default()(trigger, 'click', function (e) {\n        return _this2.onClick(e);\n      });\n    }\n    /**\n     * Defines a new `ClipboardAction` on each click event.\n     * @param {Event} e\n     */\n\n  }, {\n    key: \"onClick\",\n    value: function onClick(e) {\n      var trigger = e.delegateTarget || e.currentTarget;\n      var action = this.action(trigger) || 'copy';\n      var text = actions_default({\n        action: action,\n        container: this.container,\n        target: this.target(trigger),\n        text: this.text(trigger)\n      }); // Fires an event based on the copy operation result.\n\n      this.emit(text ? 'success' : 'error', {\n        action: action,\n        text: text,\n        trigger: trigger,\n        clearSelection: function clearSelection() {\n          if (trigger) {\n            trigger.focus();\n          }\n\n          window.getSelection().removeAllRanges();\n        }\n      });\n    }\n    /**\n     * Default `action` lookup function.\n     * @param {Element} trigger\n     */\n\n  }, {\n    key: \"defaultAction\",\n    value: function defaultAction(trigger) {\n      return getAttributeValue('action', trigger);\n    }\n    /**\n     * Default `target` lookup function.\n     * @param {Element} trigger\n     */\n\n  }, {\n    key: \"defaultTarget\",\n    value: function defaultTarget(trigger) {\n      var selector = getAttributeValue('target', trigger);\n\n      if (selector) {\n        return document.querySelector(selector);\n      }\n    }\n    /**\n     * Allow fire programmatically a copy action\n     * @param {String|HTMLElement} target\n     * @param {Object} options\n     * @returns Text copied.\n     */\n\n  }, {\n    key: \"defaultText\",\n\n    /**\n     * Default `text` lookup function.\n     * @param {Element} trigger\n     */\n    value: function defaultText(trigger) {\n      return getAttributeValue('text', trigger);\n    }\n    /**\n     * Destroy lifecycle.\n     */\n\n  }, {\n    key: \"destroy\",\n    value: function destroy() {\n      this.listener.destroy();\n    }\n  }], [{\n    key: \"copy\",\n    value: function copy(target) {\n      var options = arguments.length > 1 && arguments[1] !== undefined ? arguments[1] : {\n        container: document.body\n      };\n      return actions_copy(target, options);\n    }\n    /**\n     * Allow fire programmatically a cut action\n     * @param {String|HTMLElement} target\n     * @returns Text cutted.\n     */\n\n  }, {\n    key: \"cut\",\n    value: function cut(target) {\n      return actions_cut(target);\n    }\n    /**\n     * Returns the support of the given action, or all actions if no action is\n     * given.\n     * @param {String} [action]\n     */\n\n  }, {\n    key: \"isSupported\",\n    value: function isSupported() {\n      var action = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : ['copy', 'cut'];\n      var actions = typeof action === 'string' ? [action] : action;\n      var support = !!document.queryCommandSupported;\n      actions.forEach(function (action) {\n        support = support && !!document.queryCommandSupported(action);\n      });\n      return support;\n    }\n  }]);\n\n  return Clipboard;\n}((tiny_emitter_default()));\n\n/* harmony default export */ var clipboard = (Clipboard);\n\n/***/ }),\n\n/***/ 828:\n/***/ (function(module) {\n\nvar DOCUMENT_NODE_TYPE = 9;\n\n/**\n * A polyfill for Element.matches()\n */\nif (typeof Element !== 'undefined' && !Element.prototype.matches) {\n    var proto = Element.prototype;\n\n    proto.matches = proto.matchesSelector ||\n                    proto.mozMatchesSelector ||\n                    proto.msMatchesSelector ||\n                    proto.oMatchesSelector ||\n                    proto.webkitMatchesSelector;\n}\n\n/**\n * Finds the closest parent that matches a selector.\n *\n * @param {Element} element\n * @param {String} selector\n * @return {Function}\n */\nfunction closest (element, selector) {\n    while (element && element.nodeType !== DOCUMENT_NODE_TYPE) {\n        if (typeof element.matches === 'function' &&\n            element.matches(selector)) {\n          return element;\n        }\n        element = element.parentNode;\n    }\n}\n\nmodule.exports = closest;\n\n\n/***/ }),\n\n/***/ 438:\n/***/ (function(module, __unused_webpack_exports, __webpack_require__) {\n\nvar closest = __webpack_require__(828);\n\n/**\n * Delegates event to a selector.\n *\n * @param {Element} element\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @param {Boolean} useCapture\n * @return {Object}\n */\nfunction _delegate(element, selector, type, callback, useCapture) {\n    var listenerFn = listener.apply(this, arguments);\n\n    element.addEventListener(type, listenerFn, useCapture);\n\n    return {\n        destroy: function() {\n            element.removeEventListener(type, listenerFn, useCapture);\n        }\n    }\n}\n\n/**\n * Delegates event to a selector.\n *\n * @param {Element|String|Array} [elements]\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @param {Boolean} useCapture\n * @return {Object}\n */\nfunction delegate(elements, selector, type, callback, useCapture) {\n    // Handle the regular Element usage\n    if (typeof elements.addEventListener === 'function') {\n        return _delegate.apply(null, arguments);\n    }\n\n    // Handle Element-less usage, it defaults to global delegation\n    if (typeof type === 'function') {\n        // Use `document` as the first parameter, then apply arguments\n        // This is a short way to .unshift `arguments` without running into deoptimizations\n        return _delegate.bind(null, document).apply(null, arguments);\n    }\n\n    // Handle Selector-based usage\n    if (typeof elements === 'string') {\n        elements = document.querySelectorAll(elements);\n    }\n\n    // Handle Array-like based usage\n    return Array.prototype.map.call(elements, function (element) {\n        return _delegate(element, selector, type, callback, useCapture);\n    });\n}\n\n/**\n * Finds closest match and invokes callback.\n *\n * @param {Element} element\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @return {Function}\n */\nfunction listener(element, selector, type, callback) {\n    return function(e) {\n        e.delegateTarget = closest(e.target, selector);\n\n        if (e.delegateTarget) {\n            callback.call(element, e);\n        }\n    }\n}\n\nmodule.exports = delegate;\n\n\n/***/ }),\n\n/***/ 879:\n/***/ (function(__unused_webpack_module, exports) {\n\n/**\n * Check if argument is a HTML element.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.node = function(value) {\n    return value !== undefined\n        && value instanceof HTMLElement\n        && value.nodeType === 1;\n};\n\n/**\n * Check if argument is a list of HTML elements.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.nodeList = function(value) {\n    var type = Object.prototype.toString.call(value);\n\n    return value !== undefined\n        && (type === '[object NodeList]' || type === '[object HTMLCollection]')\n        && ('length' in value)\n        && (value.length === 0 || exports.node(value[0]));\n};\n\n/**\n * Check if argument is a string.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.string = function(value) {\n    return typeof value === 'string'\n        || value instanceof String;\n};\n\n/**\n * Check if argument is a function.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.fn = function(value) {\n    var type = Object.prototype.toString.call(value);\n\n    return type === '[object Function]';\n};\n\n\n/***/ }),\n\n/***/ 370:\n/***/ (function(module, __unused_webpack_exports, __webpack_require__) {\n\nvar is = __webpack_require__(879);\nvar delegate = __webpack_require__(438);\n\n/**\n * Validates all params and calls the right\n * listener function based on its target type.\n *\n * @param {String|HTMLElement|HTMLCollection|NodeList} target\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listen(target, type, callback) {\n    if (!target && !type && !callback) {\n        throw new Error('Missing required arguments');\n    }\n\n    if (!is.string(type)) {\n        throw new TypeError('Second argument must be a String');\n    }\n\n    if (!is.fn(callback)) {\n        throw new TypeError('Third argument must be a Function');\n    }\n\n    if (is.node(target)) {\n        return listenNode(target, type, callback);\n    }\n    else if (is.nodeList(target)) {\n        return listenNodeList(target, type, callback);\n    }\n    else if (is.string(target)) {\n        return listenSelector(target, type, callback);\n    }\n    else {\n        throw new TypeError('First argument must be a String, HTMLElement, HTMLCollection, or NodeList');\n    }\n}\n\n/**\n * Adds an event listener to a HTML element\n * and returns a remove listener function.\n *\n * @param {HTMLElement} node\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listenNode(node, type, callback) {\n    node.addEventListener(type, callback);\n\n    return {\n        destroy: function() {\n            node.removeEventListener(type, callback);\n        }\n    }\n}\n\n/**\n * Add an event listener to a list of HTML elements\n * and returns a remove listener function.\n *\n * @param {NodeList|HTMLCollection} nodeList\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listenNodeList(nodeList, type, callback) {\n    Array.prototype.forEach.call(nodeList, function(node) {\n        node.addEventListener(type, callback);\n    });\n\n    return {\n        destroy: function() {\n            Array.prototype.forEach.call(nodeList, function(node) {\n                node.removeEventListener(type, callback);\n            });\n        }\n    }\n}\n\n/**\n * Add an event listener to a selector\n * and returns a remove listener function.\n *\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listenSelector(selector, type, callback) {\n    return delegate(document.body, selector, type, callback);\n}\n\nmodule.exports = listen;\n\n\n/***/ }),\n\n/***/ 817:\n/***/ (function(module) {\n\nfunction select(element) {\n    var selectedText;\n\n    if (element.nodeName === 'SELECT') {\n        element.focus();\n\n        selectedText = element.value;\n    }\n    else if (element.nodeName === 'INPUT' || element.nodeName === 'TEXTAREA') {\n        var isReadOnly = element.hasAttribute('readonly');\n\n        if (!isReadOnly) {\n            element.setAttribute('readonly', '');\n        }\n\n        element.select();\n        element.setSelectionRange(0, element.value.length);\n\n        if (!isReadOnly) {\n            element.removeAttribute('readonly');\n        }\n\n        selectedText = element.value;\n    }\n    else {\n        if (element.hasAttribute('contenteditable')) {\n            element.focus();\n        }\n\n        var selection = window.getSelection();\n        var range = document.createRange();\n\n        range.selectNodeContents(element);\n        selection.removeAllRanges();\n        selection.addRange(range);\n\n        selectedText = selection.toString();\n    }\n\n    return selectedText;\n}\n\nmodule.exports = select;\n\n\n/***/ }),\n\n/***/ 279:\n/***/ (function(module) {\n\nfunction E () {\n  // Keep this empty so it's easier to inherit from\n  // (via https://github.com/lipsmack from https://github.com/scottcorgan/tiny-emitter/issues/3)\n}\n\nE.prototype = {\n  on: function (name, callback, ctx) {\n    var e = this.e || (this.e = {});\n\n    (e[name] || (e[name] = [])).push({\n      fn: callback,\n      ctx: ctx\n    });\n\n    return this;\n  },\n\n  once: function (name, callback, ctx) {\n    var self = this;\n    function listener () {\n      self.off(name, listener);\n      callback.apply(ctx, arguments);\n    };\n\n    listener._ = callback\n    return this.on(name, listener, ctx);\n  },\n\n  emit: function (name) {\n    var data = [].slice.call(arguments, 1);\n    var evtArr = ((this.e || (this.e = {}))[name] || []).slice();\n    var i = 0;\n    var len = evtArr.length;\n\n    for (i; i < len; i++) {\n      evtArr[i].fn.apply(evtArr[i].ctx, data);\n    }\n\n    return this;\n  },\n\n  off: function (name, callback) {\n    var e = this.e || (this.e = {});\n    var evts = e[name];\n    var liveEvents = [];\n\n    if (evts && callback) {\n      for (var i = 0, len = evts.length; i < len; i++) {\n        if (evts[i].fn !== callback && evts[i].fn._ !== callback)\n          liveEvents.push(evts[i]);\n      }\n    }\n\n    // Remove event from queue to prevent memory leak\n    // Suggested by https://github.com/lazd\n    // Ref: https://github.com/scottcorgan/tiny-emitter/commit/c6ebfaa9bc973b33d110a84a307742b7cf94c953#commitcomment-5024910\n\n    (liveEvents.length)\n      ? e[name] = liveEvents\n      : delete e[name];\n\n    return this;\n  }\n};\n\nmodule.exports = E;\nmodule.exports.TinyEmitter = E;\n\n\n/***/ })\n\n/******/ \t});\n/************************************************************************/\n/******/ \t// The module cache\n/******/ \tvar __webpack_module_cache__ = {};\n/******/ \t\n/******/ \t// The require function\n/******/ \tfunction __webpack_require__(moduleId) {\n/******/ \t\t// Check if module is in cache\n/******/ \t\tif(__webpack_module_cache__[moduleId]) {\n/******/ \t\t\treturn __webpack_module_cache__[moduleId].exports;\n/******/ \t\t}\n/******/ \t\t// Create a new module (and put it into the cache)\n/******/ \t\tvar module = __webpack_module_cache__[moduleId] = {\n/******/ \t\t\t// no module.id needed\n/******/ \t\t\t// no module.loaded needed\n/******/ \t\t\texports: {}\n/******/ \t\t};\n/******/ \t\n/******/ \t\t// Execute the module function\n/******/ \t\t__webpack_modules__[moduleId](module, module.exports, __webpack_require__);\n/******/ \t\n/******/ \t\t// Return the exports of the module\n/******/ \t\treturn module.exports;\n/******/ \t}\n/******/ \t\n/************************************************************************/\n/******/ \t/* webpack/runtime/compat get default export */\n/******/ \t!function() {\n/******/ \t\t// getDefaultExport function for compatibility with non-harmony modules\n/******/ \t\t__webpack_require__.n = function(module) {\n/******/ \t\t\tvar getter = module && module.__esModule ?\n/******/ \t\t\t\tfunction() { return module['default']; } :\n/******/ \t\t\t\tfunction() { return module; };\n/******/ \t\t\t__webpack_require__.d(getter, { a: getter });\n/******/ \t\t\treturn getter;\n/******/ \t\t};\n/******/ \t}();\n/******/ \t\n/******/ \t/* webpack/runtime/define property getters */\n/******/ \t!function() {\n/******/ \t\t// define getter functions for harmony exports\n/******/ \t\t__webpack_require__.d = function(exports, definition) {\n/******/ \t\t\tfor(var key in definition) {\n/******/ \t\t\t\tif(__webpack_require__.o(definition, key) && !__webpack_require__.o(exports, key)) {\n/******/ \t\t\t\t\tObject.defineProperty(exports, key, { enumerable: true, get: definition[key] });\n/******/ \t\t\t\t}\n/******/ \t\t\t}\n/******/ \t\t};\n/******/ \t}();\n/******/ \t\n/******/ \t/* webpack/runtime/hasOwnProperty shorthand */\n/******/ \t!function() {\n/******/ \t\t__webpack_require__.o = function(obj, prop) { return Object.prototype.hasOwnProperty.call(obj, prop); }\n/******/ \t}();\n/******/ \t\n/************************************************************************/\n/******/ \t// module exports must be returned from runtime so entry inlining is disabled\n/******/ \t// startup\n/******/ \t// Load entry module and return exports\n/******/ \treturn __webpack_require__(686);\n/******/ })()\n.default;\n});", "/*!\n * escape-html\n * Copyright(c) 2012-2013 TJ Holowaychuk\n * Copyright(c) 2015 Andreas Lubbe\n * Copyright(c) 2015 Tiancheng \"Timothy\" Gu\n * MIT Licensed\n */\n\n'use strict';\n\n/**\n * Module variables.\n * @private\n */\n\nvar matchHtmlRegExp = /[\"'&<>]/;\n\n/**\n * Module exports.\n * @public\n */\n\nmodule.exports = escapeHtml;\n\n/**\n * Escape special characters in the given string of html.\n *\n * @param  {string} string The string to escape for inserting into HTML\n * @return {string}\n * @public\n */\n\nfunction escapeHtml(string) {\n  var str = '' + string;\n  var match = matchHtmlRegExp.exec(str);\n\n  if (!match) {\n    return str;\n  }\n\n  var escape;\n  var html = '';\n  var index = 0;\n  var lastIndex = 0;\n\n  for (index = match.index; index < str.length; index++) {\n    switch (str.charCodeAt(index)) {\n      case 34: // \"\n        escape = '&quot;';\n        break;\n      case 38: // &\n        escape = '&amp;';\n        break;\n      case 39: // '\n        escape = '&#39;';\n        break;\n      case 60: // <\n        escape = '&lt;';\n        break;\n      case 62: // >\n        escape = '&gt;';\n        break;\n      default:\n        continue;\n    }\n\n    if (lastIndex !== index) {\n      html += str.substring(lastIndex, index);\n    }\n\n    lastIndex = index + 1;\n    html += escape;\n  }\n\n  return lastIndex !== index\n    ? html + str.substring(lastIndex, index)\n    : html;\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport \"focus-visible\"\n\nimport {\n  EMPTY,\n  NEVER,\n  Observable,\n  Subject,\n  defer,\n  delay,\n  filter,\n  map,\n  merge,\n  mergeWith,\n  shareReplay,\n  switchMap\n} from \"rxjs\"\n\nimport { configuration, feature } from \"./_\"\nimport {\n  at,\n  getActiveElement,\n  getOptionalElement,\n  requestJSON,\n  setLocation,\n  setToggle,\n  watchDocument,\n  watchKeyboard,\n  watchLocation,\n  watchLocationTarget,\n  watchMedia,\n  watchPrint,\n  watchScript,\n  watchViewport\n} from \"./browser\"\nimport {\n  getComponentElement,\n  getComponentElements,\n  mountAnnounce,\n  mountBackToTop,\n  mountConsent,\n  mountContent,\n  mountDialog,\n  mountHeader,\n  mountHeaderTitle,\n  mountPalette,\n  mountProgress,\n  mountSearch,\n  mountSearchHiglight,\n  mountSidebar,\n  mountSource,\n  mountTableOfContents,\n  mountTabs,\n  watchHeader,\n  watchMain\n} from \"./components\"\nimport {\n  SearchIndex,\n  setupClipboardJS,\n  setupInstantNavigation,\n  setupVersionSelector\n} from \"./integrations\"\nimport {\n  patchEllipsis,\n  patchIndeterminate,\n  patchScrollfix,\n  patchScrolllock\n} from \"./patches\"\nimport \"./polyfills\"\n\n/* ----------------------------------------------------------------------------\n * Functions - @todo refactor\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch search index\n *\n * @returns Search index observable\n */\nfunction fetchSearchIndex(): Observable<SearchIndex> {\n  if (location.protocol === \"file:\") {\n    return watchScript(\n      `${new URL(\"search/search_index.js\", config.base)}`\n    )\n      .pipe(\n        // @ts-ignore - @todo fix typings\n        map(() => __index),\n        shareReplay(1)\n      )\n  } else {\n    return requestJSON<SearchIndex>(\n      new URL(\"search/search_index.json\", config.base)\n    )\n  }\n}\n\n/* ----------------------------------------------------------------------------\n * Application\n * ------------------------------------------------------------------------- */\n\n/* Yay, JavaScript is available */\ndocument.documentElement.classList.remove(\"no-js\")\ndocument.documentElement.classList.add(\"js\")\n\n/* Set up navigation observables and subjects */\nconst document$ = watchDocument()\nconst location$ = watchLocation()\nconst target$   = watchLocationTarget(location$)\nconst keyboard$ = watchKeyboard()\n\n/* Set up media observables */\nconst viewport$ = watchViewport()\nconst tablet$   = watchMedia(\"(min-width: 960px)\")\nconst screen$   = watchMedia(\"(min-width: 1220px)\")\nconst print$    = watchPrint()\n\n/* Retrieve search index, if search is enabled */\nconst config = configuration()\nconst index$ = document.forms.namedItem(\"search\")\n  ? fetchSearchIndex()\n  : NEVER\n\n/* Set up Clipboard.js integration */\nconst alert$ = new Subject<string>()\nsetupClipboardJS({ alert$ })\n\n/* Set up progress indicator */\nconst progress$ = new Subject<number>()\n\n/* Set up instant navigation, if enabled */\nif (feature(\"navigation.instant\"))\n  setupInstantNavigation({ location$, viewport$, progress$ })\n    .subscribe(document$)\n\n/* Set up version selector */\nif (config.version?.provider === \"mike\")\n  setupVersionSelector({ document$ })\n\n/* Always close drawer and search on navigation */\nmerge(location$, target$)\n  .pipe(\n    delay(125)\n  )\n    .subscribe(() => {\n      setToggle(\"drawer\", false)\n      setToggle(\"search\", false)\n    })\n\n/* Set up global keyboard handlers */\nkeyboard$\n  .pipe(\n    filter(({ mode }) => mode === \"global\")\n  )\n    .subscribe(key => {\n      switch (key.type) {\n\n        /* Go to previous page */\n        case \"p\":\n        case \",\":\n          const prev = getOptionalElement<HTMLLinkElement>(\"link[rel=prev]\")\n          if (typeof prev !== \"undefined\")\n            setLocation(prev)\n          break\n\n        /* Go to next page */\n        case \"n\":\n        case \".\":\n          const next = getOptionalElement<HTMLLinkElement>(\"link[rel=next]\")\n          if (typeof next !== \"undefined\")\n            setLocation(next)\n          break\n\n        /* Expand navigation, see https://bit.ly/3ZjG5io */\n        case \"Enter\":\n          const active = getActiveElement()\n          if (active instanceof HTMLLabelElement)\n            active.click()\n      }\n    })\n\n/* Set up patches */\npatchEllipsis({ viewport$, document$ })\npatchIndeterminate({ document$, tablet$ })\npatchScrollfix({ document$ })\npatchScrolllock({ viewport$, tablet$ })\n\n/* Set up header and main area observable */\nconst header$ = watchHeader(getComponentElement(\"header\"), { viewport$ })\nconst main$ = document$\n  .pipe(\n    map(() => getComponentElement(\"main\")),\n    switchMap(el => watchMain(el, { viewport$, header$ })),\n    shareReplay(1)\n  )\n\n/* Set up control component observables */\nconst control$ = merge(\n\n  /* Consent */\n  ...getComponentElements(\"consent\")\n    .map(el => mountConsent(el, { target$ })),\n\n  /* Dialog */\n  ...getComponentElements(\"dialog\")\n    .map(el => mountDialog(el, { alert$ })),\n\n  /* Header */\n  ...getComponentElements(\"header\")\n    .map(el => mountHeader(el, { viewport$, header$, main$ })),\n\n  /* Color palette */\n  ...getComponentElements(\"palette\")\n    .map(el => mountPalette(el)),\n\n  /* Progress bar */\n  ...getComponentElements(\"progress\")\n    .map(el => mountProgress(el, { progress$ })),\n\n  /* Search */\n  ...getComponentElements(\"search\")\n    .map(el => mountSearch(el, { index$, keyboard$ })),\n\n  /* Repository information */\n  ...getComponentElements(\"source\")\n    .map(el => mountSource(el))\n)\n\n/* Set up content component observables */\nconst content$ = defer(() => merge(\n\n  /* Announcement bar */\n  ...getComponentElements(\"announce\")\n    .map(el => mountAnnounce(el)),\n\n  /* Content */\n  ...getComponentElements(\"content\")\n    .map(el => mountContent(el, { viewport$, target$, print$ })),\n\n  /* Search highlighting */\n  ...getComponentElements(\"content\")\n    .map(el => feature(\"search.highlight\")\n      ? mountSearchHiglight(el, { index$, location$ })\n      : EMPTY\n    ),\n\n  /* Header title */\n  ...getComponentElements(\"header-title\")\n    .map(el => mountHeaderTitle(el, { viewport$, header$ })),\n\n  /* Sidebar */\n  ...getComponentElements(\"sidebar\")\n    .map(el => el.getAttribute(\"data-md-type\") === \"navigation\"\n      ? at(screen$, () => mountSidebar(el, { viewport$, header$, main$ }))\n      : at(tablet$, () => mountSidebar(el, { viewport$, header$, main$ }))\n    ),\n\n  /* Navigation tabs */\n  ...getComponentElements(\"tabs\")\n    .map(el => mountTabs(el, { viewport$, header$ })),\n\n  /* Table of contents */\n  ...getComponentElements(\"toc\")\n    .map(el => mountTableOfContents(el, {\n      viewport$, header$, main$, target$\n    })),\n\n  /* Back-to-top button */\n  ...getComponentElements(\"top\")\n    .map(el => mountBackToTop(el, { viewport$, header$, main$, target$ }))\n))\n\n/* Set up component observables */\nconst component$ = document$\n  .pipe(\n    switchMap(() => content$),\n    mergeWith(control$),\n    shareReplay(1)\n  )\n\n/* Subscribe to all components */\ncomponent$.subscribe()\n\n/* ----------------------------------------------------------------------------\n * Exports\n * ------------------------------------------------------------------------- */\n\nwindow.document$  = document$          /* Document observable */\nwindow.location$  = location$          /* Location subject */\nwindow.target$    = target$            /* Location target observable */\nwindow.keyboard$  = keyboard$          /* Keyboard observable */\nwindow.viewport$  = viewport$          /* Viewport observable */\nwindow.tablet$    = tablet$            /* Media tablet observable */\nwindow.screen$    = screen$            /* Media screen observable */\nwindow.print$     = print$             /* Media print observable */\nwindow.alert$     = alert$             /* Alert subject */\nwindow.progress$  = progress$          /* Progress indicator subject */\nwindow.component$ = component$         /* Component observable */\n", "/*! *****************************************************************************\r\nCopyright (c) Microsoft Corporation.\r\n\r\nPermission to use, copy, modify, and/or distribute this software for any\r\npurpose with or without fee is hereby granted.\r\n\r\nTHE SOFTWARE IS PROVIDED \"AS IS\" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH\r\nREGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY\r\nAND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT,\r\nINDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM\r\nLOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR\r\nOTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR\r\nPERFORMANCE OF THIS SOFTWARE.\r\n***************************************************************************** */\r\n/* global Reflect, Promise */\r\n\r\nvar extendStatics = function(d, b) {\r\n    extendStatics = Object.setPrototypeOf ||\r\n        ({ __proto__: [] } instanceof Array && function (d, b) { d.__proto__ = b; }) ||\r\n        function (d, b) { for (var p in b) if (Object.prototype.hasOwnProperty.call(b, p)) d[p] = b[p]; };\r\n    return extendStatics(d, b);\r\n};\r\n\r\nexport function __extends(d, b) {\r\n    if (typeof b !== \"function\" && b !== null)\r\n        throw new TypeError(\"Class extends value \" + String(b) + \" is not a constructor or null\");\r\n    extendStatics(d, b);\r\n    function __() { this.constructor = d; }\r\n    d.prototype = b === null ? Object.create(b) : (__.prototype = b.prototype, new __());\r\n}\r\n\r\nexport var __assign = function() {\r\n    __assign = Object.assign || function __assign(t) {\r\n        for (var s, i = 1, n = arguments.length; i < n; i++) {\r\n            s = arguments[i];\r\n            for (var p in s) if (Object.prototype.hasOwnProperty.call(s, p)) t[p] = s[p];\r\n        }\r\n        return t;\r\n    }\r\n    return __assign.apply(this, arguments);\r\n}\r\n\r\nexport function __rest(s, e) {\r\n    var t = {};\r\n    for (var p in s) if (Object.prototype.hasOwnProperty.call(s, p) && e.indexOf(p) < 0)\r\n        t[p] = s[p];\r\n    if (s != null && typeof Object.getOwnPropertySymbols === \"function\")\r\n        for (var i = 0, p = Object.getOwnPropertySymbols(s); i < p.length; i++) {\r\n            if (e.indexOf(p[i]) < 0 && Object.prototype.propertyIsEnumerable.call(s, p[i]))\r\n                t[p[i]] = s[p[i]];\r\n        }\r\n    return t;\r\n}\r\n\r\nexport function __decorate(decorators, target, key, desc) {\r\n    var c = arguments.length, r = c < 3 ? target : desc === null ? desc = Object.getOwnPropertyDescriptor(target, key) : desc, d;\r\n    if (typeof Reflect === \"object\" && typeof Reflect.decorate === \"function\") r = Reflect.decorate(decorators, target, key, desc);\r\n    else for (var i = decorators.length - 1; i >= 0; i--) if (d = decorators[i]) r = (c < 3 ? d(r) : c > 3 ? d(target, key, r) : d(target, key)) || r;\r\n    return c > 3 && r && Object.defineProperty(target, key, r), r;\r\n}\r\n\r\nexport function __param(paramIndex, decorator) {\r\n    return function (target, key) { decorator(target, key, paramIndex); }\r\n}\r\n\r\nexport function __metadata(metadataKey, metadataValue) {\r\n    if (typeof Reflect === \"object\" && typeof Reflect.metadata === \"function\") return Reflect.metadata(metadataKey, metadataValue);\r\n}\r\n\r\nexport function __awaiter(thisArg, _arguments, P, generator) {\r\n    function adopt(value) { return value instanceof P ? value : new P(function (resolve) { resolve(value); }); }\r\n    return new (P || (P = Promise))(function (resolve, reject) {\r\n        function fulfilled(value) { try { step(generator.next(value)); } catch (e) { reject(e); } }\r\n        function rejected(value) { try { step(generator[\"throw\"](value)); } catch (e) { reject(e); } }\r\n        function step(result) { result.done ? resolve(result.value) : adopt(result.value).then(fulfilled, rejected); }\r\n        step((generator = generator.apply(thisArg, _arguments || [])).next());\r\n    });\r\n}\r\n\r\nexport function __generator(thisArg, body) {\r\n    var _ = { label: 0, sent: function() { if (t[0] & 1) throw t[1]; return t[1]; }, trys: [], ops: [] }, f, y, t, g;\r\n    return g = { next: verb(0), \"throw\": verb(1), \"return\": verb(2) }, typeof Symbol === \"function\" && (g[Symbol.iterator] = function() { return this; }), g;\r\n    function verb(n) { return function (v) { return step([n, v]); }; }\r\n    function step(op) {\r\n        if (f) throw new TypeError(\"Generator is already executing.\");\r\n        while (_) try {\r\n            if (f = 1, y && (t = op[0] & 2 ? y[\"return\"] : op[0] ? y[\"throw\"] || ((t = y[\"return\"]) && t.call(y), 0) : y.next) && !(t = t.call(y, op[1])).done) return t;\r\n            if (y = 0, t) op = [op[0] & 2, t.value];\r\n            switch (op[0]) {\r\n                case 0: case 1: t = op; break;\r\n                case 4: _.label++; return { value: op[1], done: false };\r\n                case 5: _.label++; y = op[1]; op = [0]; continue;\r\n                case 7: op = _.ops.pop(); _.trys.pop(); continue;\r\n                default:\r\n                    if (!(t = _.trys, t = t.length > 0 && t[t.length - 1]) && (op[0] === 6 || op[0] === 2)) { _ = 0; continue; }\r\n                    if (op[0] === 3 && (!t || (op[1] > t[0] && op[1] < t[3]))) { _.label = op[1]; break; }\r\n                    if (op[0] === 6 && _.label < t[1]) { _.label = t[1]; t = op; break; }\r\n                    if (t && _.label < t[2]) { _.label = t[2]; _.ops.push(op); break; }\r\n                    if (t[2]) _.ops.pop();\r\n                    _.trys.pop(); continue;\r\n            }\r\n            op = body.call(thisArg, _);\r\n        } catch (e) { op = [6, e]; y = 0; } finally { f = t = 0; }\r\n        if (op[0] & 5) throw op[1]; return { value: op[0] ? op[1] : void 0, done: true };\r\n    }\r\n}\r\n\r\nexport var __createBinding = Object.create ? (function(o, m, k, k2) {\r\n    if (k2 === undefined) k2 = k;\r\n    Object.defineProperty(o, k2, { enumerable: true, get: function() { return m[k]; } });\r\n}) : (function(o, m, k, k2) {\r\n    if (k2 === undefined) k2 = k;\r\n    o[k2] = m[k];\r\n});\r\n\r\nexport function __exportStar(m, o) {\r\n    for (var p in m) if (p !== \"default\" && !Object.prototype.hasOwnProperty.call(o, p)) __createBinding(o, m, p);\r\n}\r\n\r\nexport function __values(o) {\r\n    var s = typeof Symbol === \"function\" && Symbol.iterator, m = s && o[s], i = 0;\r\n    if (m) return m.call(o);\r\n    if (o && typeof o.length === \"number\") return {\r\n        next: function () {\r\n            if (o && i >= o.length) o = void 0;\r\n            return { value: o && o[i++], done: !o };\r\n        }\r\n    };\r\n    throw new TypeError(s ? \"Object is not iterable.\" : \"Symbol.iterator is not defined.\");\r\n}\r\n\r\nexport function __read(o, n) {\r\n    var m = typeof Symbol === \"function\" && o[Symbol.iterator];\r\n    if (!m) return o;\r\n    var i = m.call(o), r, ar = [], e;\r\n    try {\r\n        while ((n === void 0 || n-- > 0) && !(r = i.next()).done) ar.push(r.value);\r\n    }\r\n    catch (error) { e = { error: error }; }\r\n    finally {\r\n        try {\r\n            if (r && !r.done && (m = i[\"return\"])) m.call(i);\r\n        }\r\n        finally { if (e) throw e.error; }\r\n    }\r\n    return ar;\r\n}\r\n\r\n/** @deprecated */\r\nexport function __spread() {\r\n    for (var ar = [], i = 0; i < arguments.length; i++)\r\n        ar = ar.concat(__read(arguments[i]));\r\n    return ar;\r\n}\r\n\r\n/** @deprecated */\r\nexport function __spreadArrays() {\r\n    for (var s = 0, i = 0, il = arguments.length; i < il; i++) s += arguments[i].length;\r\n    for (var r = Array(s), k = 0, i = 0; i < il; i++)\r\n        for (var a = arguments[i], j = 0, jl = a.length; j < jl; j++, k++)\r\n            r[k] = a[j];\r\n    return r;\r\n}\r\n\r\nexport function __spreadArray(to, from, pack) {\r\n    if (pack || arguments.length === 2) for (var i = 0, l = from.length, ar; i < l; i++) {\r\n        if (ar || !(i in from)) {\r\n            if (!ar) ar = Array.prototype.slice.call(from, 0, i);\r\n            ar[i] = from[i];\r\n        }\r\n    }\r\n    return to.concat(ar || Array.prototype.slice.call(from));\r\n}\r\n\r\nexport function __await(v) {\r\n    return this instanceof __await ? (this.v = v, this) : new __await(v);\r\n}\r\n\r\nexport function __asyncGenerator(thisArg, _arguments, generator) {\r\n    if (!Symbol.asyncIterator) throw new TypeError(\"Symbol.asyncIterator is not defined.\");\r\n    var g = generator.apply(thisArg, _arguments || []), i, q = [];\r\n    return i = {}, verb(\"next\"), verb(\"throw\"), verb(\"return\"), i[Symbol.asyncIterator] = function () { return this; }, i;\r\n    function verb(n) { if (g[n]) i[n] = function (v) { return new Promise(function (a, b) { q.push([n, v, a, b]) > 1 || resume(n, v); }); }; }\r\n    function resume(n, v) { try { step(g[n](v)); } catch (e) { settle(q[0][3], e); } }\r\n    function step(r) { r.value instanceof __await ? Promise.resolve(r.value.v).then(fulfill, reject) : settle(q[0][2], r); }\r\n    function fulfill(value) { resume(\"next\", value); }\r\n    function reject(value) { resume(\"throw\", value); }\r\n    function settle(f, v) { if (f(v), q.shift(), q.length) resume(q[0][0], q[0][1]); }\r\n}\r\n\r\nexport function __asyncDelegator(o) {\r\n    var i, p;\r\n    return i = {}, verb(\"next\"), verb(\"throw\", function (e) { throw e; }), verb(\"return\"), i[Symbol.iterator] = function () { return this; }, i;\r\n    function verb(n, f) { i[n] = o[n] ? function (v) { return (p = !p) ? { value: __await(o[n](v)), done: n === \"return\" } : f ? f(v) : v; } : f; }\r\n}\r\n\r\nexport function __asyncValues(o) {\r\n    if (!Symbol.asyncIterator) throw new TypeError(\"Symbol.asyncIterator is not defined.\");\r\n    var m = o[Symbol.asyncIterator], i;\r\n    return m ? m.call(o) : (o = typeof __values === \"function\" ? __values(o) : o[Symbol.iterator](), i = {}, verb(\"next\"), verb(\"throw\"), verb(\"return\"), i[Symbol.asyncIterator] = function () { return this; }, i);\r\n    function verb(n) { i[n] = o[n] && function (v) { return new Promise(function (resolve, reject) { v = o[n](v), settle(resolve, reject, v.done, v.value); }); }; }\r\n    function settle(resolve, reject, d, v) { Promise.resolve(v).then(function(v) { resolve({ value: v, done: d }); }, reject); }\r\n}\r\n\r\nexport function __makeTemplateObject(cooked, raw) {\r\n    if (Object.defineProperty) { Object.defineProperty(cooked, \"raw\", { value: raw }); } else { cooked.raw = raw; }\r\n    return cooked;\r\n};\r\n\r\nvar __setModuleDefault = Object.create ? (function(o, v) {\r\n    Object.defineProperty(o, \"default\", { enumerable: true, value: v });\r\n}) : function(o, v) {\r\n    o[\"default\"] = v;\r\n};\r\n\r\nexport function __importStar(mod) {\r\n    if (mod && mod.__esModule) return mod;\r\n    var result = {};\r\n    if (mod != null) for (var k in mod) if (k !== \"default\" && Object.prototype.hasOwnProperty.call(mod, k)) __createBinding(result, mod, k);\r\n    __setModuleDefault(result, mod);\r\n    return result;\r\n}\r\n\r\nexport function __importDefault(mod) {\r\n    return (mod && mod.__esModule) ? mod : { default: mod };\r\n}\r\n\r\nexport function __classPrivateFieldGet(receiver, state, kind, f) {\r\n    if (kind === \"a\" && !f) throw new TypeError(\"Private accessor was defined without a getter\");\r\n    if (typeof state === \"function\" ? receiver !== state || !f : !state.has(receiver)) throw new TypeError(\"Cannot read private member from an object whose class did not declare it\");\r\n    return kind === \"m\" ? f : kind === \"a\" ? f.call(receiver) : f ? f.value : state.get(receiver);\r\n}\r\n\r\nexport function __classPrivateFieldSet(receiver, state, value, kind, f) {\r\n    if (kind === \"m\") throw new TypeError(\"Private method is not writable\");\r\n    if (kind === \"a\" && !f) throw new TypeError(\"Private accessor was defined without a setter\");\r\n    if (typeof state === \"function\" ? receiver !== state || !f : !state.has(receiver)) throw new TypeError(\"Cannot write private member to an object whose class did not declare it\");\r\n    return (kind === \"a\" ? f.call(receiver, value) : f ? f.value = value : state.set(receiver, value)), value;\r\n}\r\n", "/**\n * Returns true if the object is a function.\n * @param value The value to check\n */\nexport function isFunction(value: any): value is (...args: any[]) => any {\n  return typeof value === 'function';\n}\n", "/**\n * Used to create Error subclasses until the community moves away from ES5.\n *\n * This is because compiling from TypeScript down to ES5 has issues with subclassing Errors\n * as well as other built-in types: https://github.com/Microsoft/TypeScript/issues/12123\n *\n * @param createImpl A factory function to create the actual constructor implementation. The returned\n * function should be a named function that calls `_super` internally.\n */\nexport function createErrorClass<T>(createImpl: (_super: any) => any): T {\n  const _super = (instance: any) => {\n    Error.call(instance);\n    instance.stack = new Error().stack;\n  };\n\n  const ctorFunc = createImpl(_super);\n  ctorFunc.prototype = Object.create(Error.prototype);\n  ctorFunc.prototype.constructor = ctorFunc;\n  return ctorFunc;\n}\n", "import { createErrorClass } from './createErrorClass';\n\nexport interface UnsubscriptionError extends Error {\n  readonly errors: any[];\n}\n\nexport interface UnsubscriptionErrorCtor {\n  /**\n   * @deprecated Internal implementation detail. Do not construct error instances.\n   * Cannot be tagged as internal: https://github.com/ReactiveX/rxjs/issues/6269\n   */\n  new (errors: any[]): UnsubscriptionError;\n}\n\n/**\n * An error thrown when one or more errors have occurred during the\n * `unsubscribe` of a {@link Subscription}.\n */\nexport const UnsubscriptionError: UnsubscriptionErrorCtor = createErrorClass(\n  (_super) =>\n    function UnsubscriptionErrorImpl(this: any, errors: (Error | string)[]) {\n      _super(this);\n      this.message = errors\n        ? `${errors.length} errors occurred during unsubscription:\n${errors.map((err, i) => `${i + 1}) ${err.toString()}`).join('\\n  ')}`\n        : '';\n      this.name = 'UnsubscriptionError';\n      this.errors = errors;\n    }\n);\n", "/**\n * Removes an item from an array, mutating it.\n * @param arr The array to remove the item from\n * @param item The item to remove\n */\nexport function arrRemove<T>(arr: T[] | undefined | null, item: T) {\n  if (arr) {\n    const index = arr.indexOf(item);\n    0 <= index && arr.splice(index, 1);\n  }\n}\n", "import { isFunction } from './util/isFunction';\nimport { UnsubscriptionError } from './util/UnsubscriptionError';\nimport { SubscriptionLike, TeardownLogic, Unsubscribable } from './types';\nimport { arrRemove } from './util/arrRemove';\n\n/**\n * Represents a disposable resource, such as the execution of an Observable. A\n * Subscription has one important method, `unsubscribe`, that takes no argument\n * and just disposes the resource held by the subscription.\n *\n * Additionally, subscriptions may be grouped together through the `add()`\n * method, which will attach a child Subscription to the current Subscription.\n * When a Subscription is unsubscribed, all its children (and its grandchildren)\n * will be unsubscribed as well.\n *\n * @class Subscription\n */\nexport class Subscription implements SubscriptionLike {\n  /** @nocollapse */\n  public static EMPTY = (() => {\n    const empty = new Subscription();\n    empty.closed = true;\n    return empty;\n  })();\n\n  /**\n   * A flag to indicate whether this Subscription has already been unsubscribed.\n   */\n  public closed = false;\n\n  private _parentage: Subscription[] | Subscription | null = null;\n\n  /**\n   * The list of registered finalizers to execute upon unsubscription. Adding and removing from this\n   * list occurs in the {@link #add} and {@link #remove} methods.\n   */\n  private _finalizers: Exclude<TeardownLogic, void>[] | null = null;\n\n  /**\n   * @param initialTeardown A function executed first as part of the finalization\n   * process that is kicked off when {@link #unsubscribe} is called.\n   */\n  constructor(private initialTeardown?: () => void) {}\n\n  /**\n   * Disposes the resources held by the subscription. May, for instance, cancel\n   * an ongoing Observable execution or cancel any other type of work that\n   * started when the Subscription was created.\n   * @return {void}\n   */\n  unsubscribe(): void {\n    let errors: any[] | undefined;\n\n    if (!this.closed) {\n      this.closed = true;\n\n      // Remove this from it's parents.\n      const { _parentage } = this;\n      if (_parentage) {\n        this._parentage = null;\n        if (Array.isArray(_parentage)) {\n          for (const parent of _parentage) {\n            parent.remove(this);\n          }\n        } else {\n          _parentage.remove(this);\n        }\n      }\n\n      const { initialTeardown: initialFinalizer } = this;\n      if (isFunction(initialFinalizer)) {\n        try {\n          initialFinalizer();\n        } catch (e) {\n          errors = e instanceof UnsubscriptionError ? e.errors : [e];\n        }\n      }\n\n      const { _finalizers } = this;\n      if (_finalizers) {\n        this._finalizers = null;\n        for (const finalizer of _finalizers) {\n          try {\n            execFinalizer(finalizer);\n          } catch (err) {\n            errors = errors ?? [];\n            if (err instanceof UnsubscriptionError) {\n              errors = [...errors, ...err.errors];\n            } else {\n              errors.push(err);\n            }\n          }\n        }\n      }\n\n      if (errors) {\n        throw new UnsubscriptionError(errors);\n      }\n    }\n  }\n\n  /**\n   * Adds a finalizer to this subscription, so that finalization will be unsubscribed/called\n   * when this subscription is unsubscribed. If this subscription is already {@link #closed},\n   * because it has already been unsubscribed, then whatever finalizer is passed to it\n   * will automatically be executed (unless the finalizer itself is also a closed subscription).\n   *\n   * Closed Subscriptions cannot be added as finalizers to any subscription. Adding a closed\n   * subscription to a any subscription will result in no operation. (A noop).\n   *\n   * Adding a subscription to itself, or adding `null` or `undefined` will not perform any\n   * operation at all. (A noop).\n   *\n   * `Subscription` instances that are added to this instance will automatically remove themselves\n   * if they are unsubscribed. Functions and {@link Unsubscribable} objects that you wish to remove\n   * will need to be removed manually with {@link #remove}\n   *\n   * @param teardown The finalization logic to add to this subscription.\n   */\n  add(teardown: TeardownLogic): void {\n    // Only add the finalizer if it's not undefined\n    // and don't add a subscription to itself.\n    if (teardown && teardown !== this) {\n      if (this.closed) {\n        // If this subscription is already closed,\n        // execute whatever finalizer is handed to it automatically.\n        execFinalizer(teardown);\n      } else {\n        if (teardown instanceof Subscription) {\n          // We don't add closed subscriptions, and we don't add the same subscription\n          // twice. Subscription unsubscribe is idempotent.\n          if (teardown.closed || teardown._hasParent(this)) {\n            return;\n          }\n          teardown._addParent(this);\n        }\n        (this._finalizers = this._finalizers ?? []).push(teardown);\n      }\n    }\n  }\n\n  /**\n   * Checks to see if a this subscription already has a particular parent.\n   * This will signal that this subscription has already been added to the parent in question.\n   * @param parent the parent to check for\n   */\n  private _hasParent(parent: Subscription) {\n    const { _parentage } = this;\n    return _parentage === parent || (Array.isArray(_parentage) && _parentage.includes(parent));\n  }\n\n  /**\n   * Adds a parent to this subscription so it can be removed from the parent if it\n   * unsubscribes on it's own.\n   *\n   * NOTE: THIS ASSUMES THAT {@link _hasParent} HAS ALREADY BEEN CHECKED.\n   * @param parent The parent subscription to add\n   */\n  private _addParent(parent: Subscription) {\n    const { _parentage } = this;\n    this._parentage = Array.isArray(_parentage) ? (_parentage.push(parent), _parentage) : _parentage ? [_parentage, parent] : parent;\n  }\n\n  /**\n   * Called on a child when it is removed via {@link #remove}.\n   * @param parent The parent to remove\n   */\n  private _removeParent(parent: Subscription) {\n    const { _parentage } = this;\n    if (_parentage === parent) {\n      this._parentage = null;\n    } else if (Array.isArray(_parentage)) {\n      arrRemove(_parentage, parent);\n    }\n  }\n\n  /**\n   * Removes a finalizer from this subscription that was previously added with the {@link #add} method.\n   *\n   * Note that `Subscription` instances, when unsubscribed, will automatically remove themselves\n   * from every other `Subscription` they have been added to. This means that using the `remove` method\n   * is not a common thing and should be used thoughtfully.\n   *\n   * If you add the same finalizer instance of a function or an unsubscribable object to a `Subscription` instance\n   * more than once, you will need to call `remove` the same number of times to remove all instances.\n   *\n   * All finalizer instances are removed to free up memory upon unsubscription.\n   *\n   * @param teardown The finalizer to remove from this subscription\n   */\n  remove(teardown: Exclude<TeardownLogic, void>): void {\n    const { _finalizers } = this;\n    _finalizers && arrRemove(_finalizers, teardown);\n\n    if (teardown instanceof Subscription) {\n      teardown._removeParent(this);\n    }\n  }\n}\n\nexport const EMPTY_SUBSCRIPTION = Subscription.EMPTY;\n\nexport function isSubscription(value: any): value is Subscription {\n  return (\n    value instanceof Subscription ||\n    (value && 'closed' in value && isFunction(value.remove) && isFunction(value.add) && isFunction(value.unsubscribe))\n  );\n}\n\nfunction execFinalizer(finalizer: Unsubscribable | (() => void)) {\n  if (isFunction(finalizer)) {\n    finalizer();\n  } else {\n    finalizer.unsubscribe();\n  }\n}\n", "import { Subscriber } from './Subscriber';\nimport { ObservableNotification } from './types';\n\n/**\n * The {@link GlobalConfig} object for RxJS. It is used to configure things\n * like how to react on unhandled errors.\n */\nexport const config: GlobalConfig = {\n  onUnhandledError: null,\n  onStoppedNotification: null,\n  Promise: undefined,\n  useDeprecatedSynchronousErrorHandling: false,\n  useDeprecatedNextContext: false,\n};\n\n/**\n * The global configuration object for RxJS, used to configure things\n * like how to react on unhandled errors. Accessible via {@link config}\n * object.\n */\nexport interface GlobalConfig {\n  /**\n   * A registration point for unhandled errors from RxJS. These are errors that\n   * cannot were not handled by consuming code in the usual subscription path. For\n   * example, if you have this configured, and you subscribe to an observable without\n   * providing an error handler, errors from that subscription will end up here. This\n   * will _always_ be called asynchronously on another job in the runtime. This is because\n   * we do not want errors thrown in this user-configured handler to interfere with the\n   * behavior of the library.\n   */\n  onUnhandledError: ((err: any) => void) | null;\n\n  /**\n   * A registration point for notifications that cannot be sent to subscribers because they\n   * have completed, errored or have been explicitly unsubscribed. By default, next, complete\n   * and error notifications sent to stopped subscribers are noops. However, sometimes callers\n   * might want a different behavior. For example, with sources that attempt to report errors\n   * to stopped subscribers, a caller can configure RxJS to throw an unhandled error instead.\n   * This will _always_ be called asynchronously on another job in the runtime. This is because\n   * we do not want errors thrown in this user-configured handler to interfere with the\n   * behavior of the library.\n   */\n  onStoppedNotification: ((notification: ObservableNotification<any>, subscriber: Subscriber<any>) => void) | null;\n\n  /**\n   * The promise constructor used by default for {@link Observable#toPromise toPromise} and {@link Observable#forEach forEach}\n   * methods.\n   *\n   * @deprecated As of version 8, RxJS will no longer support this sort of injection of a\n   * Promise constructor. If you need a Promise implementation other than native promises,\n   * please polyfill/patch Promise as you see appropriate. Will be removed in v8.\n   */\n  Promise?: PromiseConstructorLike;\n\n  /**\n   * If true, turns on synchronous error rethrowing, which is a deprecated behavior\n   * in v6 and higher. This behavior enables bad patterns like wrapping a subscribe\n   * call in a try/catch block. It also enables producer interference, a nasty bug\n   * where a multicast can be broken for all observers by a downstream consumer with\n   * an unhandled error. DO NOT USE THIS FLAG UNLESS IT'S NEEDED TO BUY TIME\n   * FOR MIGRATION REASONS.\n   *\n   * @deprecated As of version 8, RxJS will no longer support synchronous throwing\n   * of unhandled errors. All errors will be thrown on a separate call stack to prevent bad\n   * behaviors described above. Will be removed in v8.\n   */\n  useDeprecatedSynchronousErrorHandling: boolean;\n\n  /**\n   * If true, enables an as-of-yet undocumented feature from v5: The ability to access\n   * `unsubscribe()` via `this` context in `next` functions created in observers passed\n   * to `subscribe`.\n   *\n   * This is being removed because the performance was severely problematic, and it could also cause\n   * issues when types other than POJOs are passed to subscribe as subscribers, as they will likely have\n   * their `this` context overwritten.\n   *\n   * @deprecated As of version 8, RxJS will no longer support altering the\n   * context of next functions provided as part of an observer to Subscribe. Instead,\n   * you will have access to a subscription or a signal or token that will allow you to do things like\n   * unsubscribe and test closed status. Will be removed in v8.\n   */\n  useDeprecatedNextContext: boolean;\n}\n", "import type { TimerHandle } from './timerHandle';\ntype SetTimeoutFunction = (handler: () => void, timeout?: number, ...args: any[]) => TimerHandle;\ntype ClearTimeoutFunction = (handle: TimerHandle) => void;\n\ninterface TimeoutProvider {\n  setTimeout: SetTimeoutFunction;\n  clearTimeout: ClearTimeoutFunction;\n  delegate:\n    | {\n        setTimeout: SetTimeoutFunction;\n        clearTimeout: ClearTimeoutFunction;\n      }\n    | undefined;\n}\n\nexport const timeoutProvider: TimeoutProvider = {\n  // When accessing the delegate, use the variable rather than `this` so that\n  // the functions can be called without being bound to the provider.\n  setTimeout(handler: () => void, timeout?: number, ...args) {\n    const { delegate } = timeoutProvider;\n    if (delegate?.setTimeout) {\n      return delegate.setTimeout(handler, timeout, ...args);\n    }\n    return setTimeout(handler, timeout, ...args);\n  },\n  clearTimeout(handle) {\n    const { delegate } = timeoutProvider;\n    return (delegate?.clearTimeout || clearTimeout)(handle as any);\n  },\n  delegate: undefined,\n};\n", "import { config } from '../config';\nimport { timeoutProvider } from '../scheduler/timeoutProvider';\n\n/**\n * Handles an error on another job either with the user-configured {@link onUnhandledError},\n * or by throwing it on that new job so it can be picked up by `window.onerror`, `process.on('error')`, etc.\n *\n * This should be called whenever there is an error that is out-of-band with the subscription\n * or when an error hits a terminal boundary of the subscription and no error handler was provided.\n *\n * @param err the error to report\n */\nexport function reportUnhandledError(err: any) {\n  timeoutProvider.setTimeout(() => {\n    const { onUnhandledError } = config;\n    if (onUnhandledError) {\n      // Execute the user-configured error handler.\n      onUnhandledError(err);\n    } else {\n      // Throw so it is picked up by the runtime's uncaught error mechanism.\n      throw err;\n    }\n  });\n}\n", "/* tslint:disable:no-empty */\nexport function noop() { }\n", "import { CompleteNotification, NextNotification, ErrorNotification } from './types';\n\n/**\n * A completion object optimized for memory use and created to be the\n * same \"shape\" as other notifications in v8.\n * @internal\n */\nexport const COMPLETE_NOTIFICATION = (() => createNotification('C', undefined, undefined) as CompleteNotification)();\n\n/**\n * Internal use only. Creates an optimized error notification that is the same \"shape\"\n * as other notifications.\n * @internal\n */\nexport function errorNotification(error: any): ErrorNotification {\n  return createNotification('E', undefined, error) as any;\n}\n\n/**\n * Internal use only. Creates an optimized next notification that is the same \"shape\"\n * as other notifications.\n * @internal\n */\nexport function nextNotification<T>(value: T) {\n  return createNotification('N', value, undefined) as NextNotification<T>;\n}\n\n/**\n * Ensures that all notifications created internally have the same \"shape\" in v8.\n *\n * TODO: This is only exported to support a crazy legacy test in `groupBy`.\n * @internal\n */\nexport function createNotification(kind: 'N' | 'E' | 'C', value: any, error: any) {\n  return {\n    kind,\n    value,\n    error,\n  };\n}\n", "import { config } from '../config';\n\nlet context: { errorThrown: boolean; error: any } | null = null;\n\n/**\n * Handles dealing with errors for super-gross mode. Creates a context, in which\n * any synchronously thrown errors will be passed to {@link captureError}. Which\n * will record the error such that it will be rethrown after the call back is complete.\n * TODO: Remove in v8\n * @param cb An immediately executed function.\n */\nexport function errorContext(cb: () => void) {\n  if (config.useDeprecatedSynchronousErrorHandling) {\n    const isRoot = !context;\n    if (isRoot) {\n      context = { errorThrown: false, error: null };\n    }\n    cb();\n    if (isRoot) {\n      const { errorThrown, error } = context!;\n      context = null;\n      if (errorThrown) {\n        throw error;\n      }\n    }\n  } else {\n    // This is the general non-deprecated path for everyone that\n    // isn't crazy enough to use super-gross mode (useDeprecatedSynchronousErrorHandling)\n    cb();\n  }\n}\n\n/**\n * Captures errors only in super-gross mode.\n * @param err the error to capture\n */\nexport function captureError(err: any) {\n  if (config.useDeprecatedSynchronousErrorHandling && context) {\n    context.errorThrown = true;\n    context.error = err;\n  }\n}\n", "import { isFunction } from './util/isFunction';\nimport { Observer, ObservableNotification } from './types';\nimport { isSubscription, Subscription } from './Subscription';\nimport { config } from './config';\nimport { reportUnhandledError } from './util/reportUnhandledError';\nimport { noop } from './util/noop';\nimport { nextNotification, errorNotification, COMPLETE_NOTIFICATION } from './NotificationFactories';\nimport { timeoutProvider } from './scheduler/timeoutProvider';\nimport { captureError } from './util/errorContext';\n\n/**\n * Implements the {@link Observer} interface and extends the\n * {@link Subscription} class. While the {@link Observer} is the public API for\n * consuming the values of an {@link Observable}, all Observers get converted to\n * a Subscriber, in order to provide Subscription-like capabilities such as\n * `unsubscribe`. Subscriber is a common type in RxJS, and crucial for\n * implementing operators, but it is rarely used as a public API.\n *\n * @class Subscriber<T>\n */\nexport class Subscriber<T> extends Subscription implements Observer<T> {\n  /**\n   * A static factory for a Subscriber, given a (potentially partial) definition\n   * of an Observer.\n   * @param next The `next` callback of an Observer.\n   * @param error The `error` callback of an\n   * Observer.\n   * @param complete The `complete` callback of an\n   * Observer.\n   * @return A Subscriber wrapping the (partially defined)\n   * Observer represented by the given arguments.\n   * @nocollapse\n   * @deprecated Do not use. Will be removed in v8. There is no replacement for this\n   * method, and there is no reason to be creating instances of `Subscriber` directly.\n   * If you have a specific use case, please file an issue.\n   */\n  static create<T>(next?: (x?: T) => void, error?: (e?: any) => void, complete?: () => void): Subscriber<T> {\n    return new SafeSubscriber(next, error, complete);\n  }\n\n  /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n  protected isStopped: boolean = false;\n  /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n  protected destination: Subscriber<any> | Observer<any>; // this `any` is the escape hatch to erase extra type param (e.g. R)\n\n  /**\n   * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n   * There is no reason to directly create an instance of Subscriber. This type is exported for typings reasons.\n   */\n  constructor(destination?: Subscriber<any> | Observer<any>) {\n    super();\n    if (destination) {\n      this.destination = destination;\n      // Automatically chain subscriptions together here.\n      // if destination is a Subscription, then it is a Subscriber.\n      if (isSubscription(destination)) {\n        destination.add(this);\n      }\n    } else {\n      this.destination = EMPTY_OBSERVER;\n    }\n  }\n\n  /**\n   * The {@link Observer} callback to receive notifications of type `next` from\n   * the Observable, with a value. The Observable may call this method 0 or more\n   * times.\n   * @param {T} [value] The `next` value.\n   * @return {void}\n   */\n  next(value?: T): void {\n    if (this.isStopped) {\n      handleStoppedNotification(nextNotification(value), this);\n    } else {\n      this._next(value!);\n    }\n  }\n\n  /**\n   * The {@link Observer} callback to receive notifications of type `error` from\n   * the Observable, with an attached `Error`. Notifies the Observer that\n   * the Observable has experienced an error condition.\n   * @param {any} [err] The `error` exception.\n   * @return {void}\n   */\n  error(err?: any): void {\n    if (this.isStopped) {\n      handleStoppedNotification(errorNotification(err), this);\n    } else {\n      this.isStopped = true;\n      this._error(err);\n    }\n  }\n\n  /**\n   * The {@link Observer} callback to receive a valueless notification of type\n   * `complete` from the Observable. Notifies the Observer that the Observable\n   * has finished sending push-based notifications.\n   * @return {void}\n   */\n  complete(): void {\n    if (this.isStopped) {\n      handleStoppedNotification(COMPLETE_NOTIFICATION, this);\n    } else {\n      this.isStopped = true;\n      this._complete();\n    }\n  }\n\n  unsubscribe(): void {\n    if (!this.closed) {\n      this.isStopped = true;\n      super.unsubscribe();\n      this.destination = null!;\n    }\n  }\n\n  protected _next(value: T): void {\n    this.destination.next(value);\n  }\n\n  protected _error(err: any): void {\n    try {\n      this.destination.error(err);\n    } finally {\n      this.unsubscribe();\n    }\n  }\n\n  protected _complete(): void {\n    try {\n      this.destination.complete();\n    } finally {\n      this.unsubscribe();\n    }\n  }\n}\n\n/**\n * This bind is captured here because we want to be able to have\n * compatibility with monoid libraries that tend to use a method named\n * `bind`. In particular, a library called Monio requires this.\n */\nconst _bind = Function.prototype.bind;\n\nfunction bind<Fn extends (...args: any[]) => any>(fn: Fn, thisArg: any): Fn {\n  return _bind.call(fn, thisArg);\n}\n\n/**\n * Internal optimization only, DO NOT EXPOSE.\n * @internal\n */\nclass ConsumerObserver<T> implements Observer<T> {\n  constructor(private partialObserver: Partial<Observer<T>>) {}\n\n  next(value: T): void {\n    const { partialObserver } = this;\n    if (partialObserver.next) {\n      try {\n        partialObserver.next(value);\n      } catch (error) {\n        handleUnhandledError(error);\n      }\n    }\n  }\n\n  error(err: any): void {\n    const { partialObserver } = this;\n    if (partialObserver.error) {\n      try {\n        partialObserver.error(err);\n      } catch (error) {\n        handleUnhandledError(error);\n      }\n    } else {\n      handleUnhandledError(err);\n    }\n  }\n\n  complete(): void {\n    const { partialObserver } = this;\n    if (partialObserver.complete) {\n      try {\n        partialObserver.complete();\n      } catch (error) {\n        handleUnhandledError(error);\n      }\n    }\n  }\n}\n\nexport class SafeSubscriber<T> extends Subscriber<T> {\n  constructor(\n    observerOrNext?: Partial<Observer<T>> | ((value: T) => void) | null,\n    error?: ((e?: any) => void) | null,\n    complete?: (() => void) | null\n  ) {\n    super();\n\n    let partialObserver: Partial<Observer<T>>;\n    if (isFunction(observerOrNext) || !observerOrNext) {\n      // The first argument is a function, not an observer. The next\n      // two arguments *could* be observers, or they could be empty.\n      partialObserver = {\n        next: (observerOrNext ?? undefined) as (((value: T) => void) | undefined),\n        error: error ?? undefined,\n        complete: complete ?? undefined,\n      };\n    } else {\n      // The first argument is a partial observer.\n      let context: any;\n      if (this && config.useDeprecatedNextContext) {\n        // This is a deprecated path that made `this.unsubscribe()` available in\n        // next handler functions passed to subscribe. This only exists behind a flag\n        // now, as it is *very* slow.\n        context = Object.create(observerOrNext);\n        context.unsubscribe = () => this.unsubscribe();\n        partialObserver = {\n          next: observerOrNext.next && bind(observerOrNext.next, context),\n          error: observerOrNext.error && bind(observerOrNext.error, context),\n          complete: observerOrNext.complete && bind(observerOrNext.complete, context),\n        };\n      } else {\n        // The \"normal\" path. Just use the partial observer directly.\n        partialObserver = observerOrNext;\n      }\n    }\n\n    // Wrap the partial observer to ensure it's a full observer, and\n    // make sure proper error handling is accounted for.\n    this.destination = new ConsumerObserver(partialObserver);\n  }\n}\n\nfunction handleUnhandledError(error: any) {\n  if (config.useDeprecatedSynchronousErrorHandling) {\n    captureError(error);\n  } else {\n    // Ideal path, we report this as an unhandled error,\n    // which is thrown on a new call stack.\n    reportUnhandledError(error);\n  }\n}\n\n/**\n * An error handler used when no error handler was supplied\n * to the SafeSubscriber -- meaning no error handler was supplied\n * do the `subscribe` call on our observable.\n * @param err The error to handle\n */\nfunction defaultErrorHandler(err: any) {\n  throw err;\n}\n\n/**\n * A handler for notifications that cannot be sent to a stopped subscriber.\n * @param notification The notification being sent\n * @param subscriber The stopped subscriber\n */\nfunction handleStoppedNotification(notification: ObservableNotification<any>, subscriber: Subscriber<any>) {\n  const { onStoppedNotification } = config;\n  onStoppedNotification && timeoutProvider.setTimeout(() => onStoppedNotification(notification, subscriber));\n}\n\n/**\n * The observer used as a stub for subscriptions where the user did not\n * pass any arguments to `subscribe`. Comes with the default error handling\n * behavior.\n */\nexport const EMPTY_OBSERVER: Readonly<Observer<any>> & { closed: true } = {\n  closed: true,\n  next: noop,\n  error: defaultErrorHandler,\n  complete: noop,\n};\n", "/**\n * Symbol.observable or a string \"@@observable\". Used for interop\n *\n * @deprecated We will no longer be exporting this symbol in upcoming versions of RxJS.\n * Instead polyfill and use Symbol.observable directly *or* use https://www.npmjs.com/package/symbol-observable\n */\nexport const observable: string | symbol = (() => (typeof Symbol === 'function' && Symbol.observable) || '@@observable')();\n", "/**\n * This function takes one parameter and just returns it. Simply put,\n * this is like `<T>(x: T): T => x`.\n *\n * ## Examples\n *\n * This is useful in some cases when using things like `mergeMap`\n *\n * ```ts\n * import { interval, take, map, range, mergeMap, identity } from 'rxjs';\n *\n * const source$ = interval(1000).pipe(take(5));\n *\n * const result$ = source$.pipe(\n *   map(i => range(i)),\n *   mergeMap(identity) // same as mergeMap(x => x)\n * );\n *\n * result$.subscribe({\n *   next: console.log\n * });\n * ```\n *\n * Or when you want to selectively apply an operator\n *\n * ```ts\n * import { interval, take, identity } from 'rxjs';\n *\n * const shouldLimit = () => Math.random() < 0.5;\n *\n * const source$ = interval(1000);\n *\n * const result$ = source$.pipe(shouldLimit() ? take(5) : identity);\n *\n * result$.subscribe({\n *   next: console.log\n * });\n * ```\n *\n * @param x Any value that is returned by this function\n * @returns The value passed as the first parameter to this function\n */\nexport function identity<T>(x: T): T {\n  return x;\n}\n", "import { identity } from './identity';\nimport { UnaryFunction } from '../types';\n\nexport function pipe(): typeof identity;\nexport function pipe<T, A>(fn1: UnaryFunction<T, A>): UnaryFunction<T, A>;\nexport function pipe<T, A, B>(fn1: UnaryFunction<T, A>, fn2: UnaryFunction<A, B>): UnaryFunction<T, B>;\nexport function pipe<T, A, B, C>(fn1: UnaryFunction<T, A>, fn2: UnaryFunction<A, B>, fn3: UnaryFunction<B, C>): UnaryFunction<T, C>;\nexport function pipe<T, A, B, C, D>(\n  fn1: UnaryFunction<T, A>,\n  fn2: UnaryFunction<A, B>,\n  fn3: UnaryFunction<B, C>,\n  fn4: UnaryFunction<C, D>\n): UnaryFunction<T, D>;\nexport function pipe<T, A, B, C, D, E>(\n  fn1: UnaryFunction<T, A>,\n  fn2: UnaryFunction<A, B>,\n  fn3: UnaryFunction<B, C>,\n  fn4: UnaryFunction<C, D>,\n  fn5: UnaryFunction<D, E>\n): UnaryFunction<T, E>;\nexport function pipe<T, A, B, C, D, E, F>(\n  fn1: UnaryFunction<T, A>,\n  fn2: UnaryFunction<A, B>,\n  fn3: UnaryFunction<B, C>,\n  fn4: UnaryFunction<C, D>,\n  fn5: UnaryFunction<D, E>,\n  fn6: UnaryFunction<E, F>\n): UnaryFunction<T, F>;\nexport function pipe<T, A, B, C, D, E, F, G>(\n  fn1: UnaryFunction<T, A>,\n  fn2: UnaryFunction<A, B>,\n  fn3: UnaryFunction<B, C>,\n  fn4: UnaryFunction<C, D>,\n  fn5: UnaryFunction<D, E>,\n  fn6: UnaryFunction<E, F>,\n  fn7: UnaryFunction<F, G>\n): UnaryFunction<T, G>;\nexport function pipe<T, A, B, C, D, E, F, G, H>(\n  fn1: UnaryFunction<T, A>,\n  fn2: UnaryFunction<A, B>,\n  fn3: UnaryFunction<B, C>,\n  fn4: UnaryFunction<C, D>,\n  fn5: UnaryFunction<D, E>,\n  fn6: UnaryFunction<E, F>,\n  fn7: UnaryFunction<F, G>,\n  fn8: UnaryFunction<G, H>\n): UnaryFunction<T, H>;\nexport function pipe<T, A, B, C, D, E, F, G, H, I>(\n  fn1: UnaryFunction<T, A>,\n  fn2: UnaryFunction<A, B>,\n  fn3: UnaryFunction<B, C>,\n  fn4: UnaryFunction<C, D>,\n  fn5: UnaryFunction<D, E>,\n  fn6: UnaryFunction<E, F>,\n  fn7: UnaryFunction<F, G>,\n  fn8: UnaryFunction<G, H>,\n  fn9: UnaryFunction<H, I>\n): UnaryFunction<T, I>;\nexport function pipe<T, A, B, C, D, E, F, G, H, I>(\n  fn1: UnaryFunction<T, A>,\n  fn2: UnaryFunction<A, B>,\n  fn3: UnaryFunction<B, C>,\n  fn4: UnaryFunction<C, D>,\n  fn5: UnaryFunction<D, E>,\n  fn6: UnaryFunction<E, F>,\n  fn7: UnaryFunction<F, G>,\n  fn8: UnaryFunction<G, H>,\n  fn9: UnaryFunction<H, I>,\n  ...fns: UnaryFunction<any, any>[]\n): UnaryFunction<T, unknown>;\n\n/**\n * pipe() can be called on one or more functions, each of which can take one argument (\"UnaryFunction\")\n * and uses it to return a value.\n * It returns a function that takes one argument, passes it to the first UnaryFunction, and then\n * passes the result to the next one, passes that result to the next one, and so on.  \n */\nexport function pipe(...fns: Array<UnaryFunction<any, any>>): UnaryFunction<any, any> {\n  return pipeFromArray(fns);\n}\n\n/** @internal */\nexport function pipeFromArray<T, R>(fns: Array<UnaryFunction<T, R>>): UnaryFunction<T, R> {\n  if (fns.length === 0) {\n    return identity as UnaryFunction<any, any>;\n  }\n\n  if (fns.length === 1) {\n    return fns[0];\n  }\n\n  return function piped(input: T): R {\n    return fns.reduce((prev: any, fn: UnaryFunction<T, R>) => fn(prev), input as any);\n  };\n}\n", "import { Operator } from './Operator';\nimport { SafeSubscriber, Subscriber } from './Subscriber';\nimport { isSubscription, Subscription } from './Subscription';\nimport { TeardownLogic, OperatorFunction, Subscribable, Observer } from './types';\nimport { observable as Symbol_observable } from './symbol/observable';\nimport { pipeFromArray } from './util/pipe';\nimport { config } from './config';\nimport { isFunction } from './util/isFunction';\nimport { errorContext } from './util/errorContext';\n\n/**\n * A representation of any set of values over any amount of time. This is the most basic building block\n * of RxJS.\n *\n * @class Observable<T>\n */\nexport class Observable<T> implements Subscribable<T> {\n  /**\n   * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n   */\n  source: Observable<any> | undefined;\n\n  /**\n   * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n   */\n  operator: Operator<any, T> | undefined;\n\n  /**\n   * @constructor\n   * @param {Function} subscribe the function that is called when the Observable is\n   * initially subscribed to. This function is given a Subscriber, to which new values\n   * can be `next`ed, or an `error` method can be called to raise an error, or\n   * `complete` can be called to notify of a successful completion.\n   */\n  constructor(subscribe?: (this: Observable<T>, subscriber: Subscriber<T>) => TeardownLogic) {\n    if (subscribe) {\n      this._subscribe = subscribe;\n    }\n  }\n\n  // HACK: Since TypeScript inherits static properties too, we have to\n  // fight against TypeScript here so Subject can have a different static create signature\n  /**\n   * Creates a new Observable by calling the Observable constructor\n   * @owner Observable\n   * @method create\n   * @param {Function} subscribe? the subscriber function to be passed to the Observable constructor\n   * @return {Observable} a new observable\n   * @nocollapse\n   * @deprecated Use `new Observable()` instead. Will be removed in v8.\n   */\n  static create: (...args: any[]) => any = <T>(subscribe?: (subscriber: Subscriber<T>) => TeardownLogic) => {\n    return new Observable<T>(subscribe);\n  };\n\n  /**\n   * Creates a new Observable, with this Observable instance as the source, and the passed\n   * operator defined as the new observable's operator.\n   * @method lift\n   * @param operator the operator defining the operation to take on the observable\n   * @return a new observable with the Operator applied\n   * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n   * If you have implemented an operator using `lift`, it is recommended that you create an\n   * operator by simply returning `new Observable()` directly. See \"Creating new operators from\n   * scratch\" section here: https://rxjs.dev/guide/operators\n   */\n  lift<R>(operator?: Operator<T, R>): Observable<R> {\n    const observable = new Observable<R>();\n    observable.source = this;\n    observable.operator = operator;\n    return observable;\n  }\n\n  subscribe(observerOrNext?: Partial<Observer<T>> | ((value: T) => void)): Subscription;\n  /** @deprecated Instead of passing separate callback arguments, use an observer argument. Signatures taking separate callback arguments will be removed in v8. Details: https://rxjs.dev/deprecations/subscribe-arguments */\n  subscribe(next?: ((value: T) => void) | null, error?: ((error: any) => void) | null, complete?: (() => void) | null): Subscription;\n  /**\n   * Invokes an execution of an Observable and registers Observer handlers for notifications it will emit.\n   *\n   * <span class=\"informal\">Use it when you have all these Observables, but still nothing is happening.</span>\n   *\n   * `subscribe` is not a regular operator, but a method that calls Observable's internal `subscribe` function. It\n   * might be for example a function that you passed to Observable's constructor, but most of the time it is\n   * a library implementation, which defines what will be emitted by an Observable, and when it be will emitted. This means\n   * that calling `subscribe` is actually the moment when Observable starts its work, not when it is created, as it is often\n   * the thought.\n   *\n   * Apart from starting the execution of an Observable, this method allows you to listen for values\n   * that an Observable emits, as well as for when it completes or errors. You can achieve this in two\n   * of the following ways.\n   *\n   * The first way is creating an object that implements {@link Observer} interface. It should have methods\n   * defined by that interface, but note that it should be just a regular JavaScript object, which you can create\n   * yourself in any way you want (ES6 class, classic function constructor, object literal etc.). In particular, do\n   * not attempt to use any RxJS implementation details to create Observers - you don't need them. Remember also\n   * that your object does not have to implement all methods. If you find yourself creating a method that doesn't\n   * do anything, you can simply omit it. Note however, if the `error` method is not provided and an error happens,\n   * it will be thrown asynchronously. Errors thrown asynchronously cannot be caught using `try`/`catch`. Instead,\n   * use the {@link onUnhandledError} configuration option or use a runtime handler (like `window.onerror` or\n   * `process.on('error)`) to be notified of unhandled errors. Because of this, it's recommended that you provide\n   * an `error` method to avoid missing thrown errors.\n   *\n   * The second way is to give up on Observer object altogether and simply provide callback functions in place of its methods.\n   * This means you can provide three functions as arguments to `subscribe`, where the first function is equivalent\n   * of a `next` method, the second of an `error` method and the third of a `complete` method. Just as in case of an Observer,\n   * if you do not need to listen for something, you can omit a function by passing `undefined` or `null`,\n   * since `subscribe` recognizes these functions by where they were placed in function call. When it comes\n   * to the `error` function, as with an Observer, if not provided, errors emitted by an Observable will be thrown asynchronously.\n   *\n   * You can, however, subscribe with no parameters at all. This may be the case where you're not interested in terminal events\n   * and you also handled emissions internally by using operators (e.g. using `tap`).\n   *\n   * Whichever style of calling `subscribe` you use, in both cases it returns a Subscription object.\n   * This object allows you to call `unsubscribe` on it, which in turn will stop the work that an Observable does and will clean\n   * up all resources that an Observable used. Note that cancelling a subscription will not call `complete` callback\n   * provided to `subscribe` function, which is reserved for a regular completion signal that comes from an Observable.\n   *\n   * Remember that callbacks provided to `subscribe` are not guaranteed to be called asynchronously.\n   * It is an Observable itself that decides when these functions will be called. For example {@link of}\n   * by default emits all its values synchronously. Always check documentation for how given Observable\n   * will behave when subscribed and if its default behavior can be modified with a `scheduler`.\n   *\n   * #### Examples\n   *\n   * Subscribe with an {@link guide/observer Observer}\n   *\n   * ```ts\n   * import { of } from 'rxjs';\n   *\n   * const sumObserver = {\n   *   sum: 0,\n   *   next(value) {\n   *     console.log('Adding: ' + value);\n   *     this.sum = this.sum + value;\n   *   },\n   *   error() {\n   *     // We actually could just remove this method,\n   *     // since we do not really care about errors right now.\n   *   },\n   *   complete() {\n   *     console.log('Sum equals: ' + this.sum);\n   *   }\n   * };\n   *\n   * of(1, 2, 3) // Synchronously emits 1, 2, 3 and then completes.\n   *   .subscribe(sumObserver);\n   *\n   * // Logs:\n   * // 'Adding: 1'\n   * // 'Adding: 2'\n   * // 'Adding: 3'\n   * // 'Sum equals: 6'\n   * ```\n   *\n   * Subscribe with functions ({@link deprecations/subscribe-arguments deprecated})\n   *\n   * ```ts\n   * import { of } from 'rxjs'\n   *\n   * let sum = 0;\n   *\n   * of(1, 2, 3).subscribe(\n   *   value => {\n   *     console.log('Adding: ' + value);\n   *     sum = sum + value;\n   *   },\n   *   undefined,\n   *   () => console.log('Sum equals: ' + sum)\n   * );\n   *\n   * // Logs:\n   * // 'Adding: 1'\n   * // 'Adding: 2'\n   * // 'Adding: 3'\n   * // 'Sum equals: 6'\n   * ```\n   *\n   * Cancel a subscription\n   *\n   * ```ts\n   * import { interval } from 'rxjs';\n   *\n   * const subscription = interval(1000).subscribe({\n   *   next(num) {\n   *     console.log(num)\n   *   },\n   *   complete() {\n   *     // Will not be called, even when cancelling subscription.\n   *     console.log('completed!');\n   *   }\n   * });\n   *\n   * setTimeout(() => {\n   *   subscription.unsubscribe();\n   *   console.log('unsubscribed!');\n   * }, 2500);\n   *\n   * // Logs:\n   * // 0 after 1s\n   * // 1 after 2s\n   * // 'unsubscribed!' after 2.5s\n   * ```\n   *\n   * @param {Observer|Function} observerOrNext (optional) Either an observer with methods to be called,\n   * or the first of three possible handlers, which is the handler for each value emitted from the subscribed\n   * Observable.\n   * @param {Function} error (optional) A handler for a terminal event resulting from an error. If no error handler is provided,\n   * the error will be thrown asynchronously as unhandled.\n   * @param {Function} complete (optional) A handler for a terminal event resulting from successful completion.\n   * @return {Subscription} a subscription reference to the registered handlers\n   * @method subscribe\n   */\n  subscribe(\n    observerOrNext?: Partial<Observer<T>> | ((value: T) => void) | null,\n    error?: ((error: any) => void) | null,\n    complete?: (() => void) | null\n  ): Subscription {\n    const subscriber = isSubscriber(observerOrNext) ? observerOrNext : new SafeSubscriber(observerOrNext, error, complete);\n\n    errorContext(() => {\n      const { operator, source } = this;\n      subscriber.add(\n        operator\n          ? // We're dealing with a subscription in the\n            // operator chain to one of our lifted operators.\n            operator.call(subscriber, source)\n          : source\n          ? // If `source` has a value, but `operator` does not, something that\n            // had intimate knowledge of our API, like our `Subject`, must have\n            // set it. We're going to just call `_subscribe` directly.\n            this._subscribe(subscriber)\n          : // In all other cases, we're likely wrapping a user-provided initializer\n            // function, so we need to catch errors and handle them appropriately.\n            this._trySubscribe(subscriber)\n      );\n    });\n\n    return subscriber;\n  }\n\n  /** @internal */\n  protected _trySubscribe(sink: Subscriber<T>): TeardownLogic {\n    try {\n      return this._subscribe(sink);\n    } catch (err) {\n      // We don't need to return anything in this case,\n      // because it's just going to try to `add()` to a subscription\n      // above.\n      sink.error(err);\n    }\n  }\n\n  /**\n   * Used as a NON-CANCELLABLE means of subscribing to an observable, for use with\n   * APIs that expect promises, like `async/await`. You cannot unsubscribe from this.\n   *\n   * **WARNING**: Only use this with observables you *know* will complete. If the source\n   * observable does not complete, you will end up with a promise that is hung up, and\n   * potentially all of the state of an async function hanging out in memory. To avoid\n   * this situation, look into adding something like {@link timeout}, {@link take},\n   * {@link takeWhile}, or {@link takeUntil} amongst others.\n   *\n   * #### Example\n   *\n   * ```ts\n   * import { interval, take } from 'rxjs';\n   *\n   * const source$ = interval(1000).pipe(take(4));\n   *\n   * async function getTotal() {\n   *   let total = 0;\n   *\n   *   await source$.forEach(value => {\n   *     total += value;\n   *     console.log('observable -> ' + value);\n   *   });\n   *\n   *   return total;\n   * }\n   *\n   * getTotal().then(\n   *   total => console.log('Total: ' + total)\n   * );\n   *\n   * // Expected:\n   * // 'observable -> 0'\n   * // 'observable -> 1'\n   * // 'observable -> 2'\n   * // 'observable -> 3'\n   * // 'Total: 6'\n   * ```\n   *\n   * @param next a handler for each value emitted by the observable\n   * @return a promise that either resolves on observable completion or\n   *  rejects with the handled error\n   */\n  forEach(next: (value: T) => void): Promise<void>;\n\n  /**\n   * @param next a handler for each value emitted by the observable\n   * @param promiseCtor a constructor function used to instantiate the Promise\n   * @return a promise that either resolves on observable completion or\n   *  rejects with the handled error\n   * @deprecated Passing a Promise constructor will no longer be available\n   * in upcoming versions of RxJS. This is because it adds weight to the library, for very\n   * little benefit. If you need this functionality, it is recommended that you either\n   * polyfill Promise, or you create an adapter to convert the returned native promise\n   * to whatever promise implementation you wanted. Will be removed in v8.\n   */\n  forEach(next: (value: T) => void, promiseCtor: PromiseConstructorLike): Promise<void>;\n\n  forEach(next: (value: T) => void, promiseCtor?: PromiseConstructorLike): Promise<void> {\n    promiseCtor = getPromiseCtor(promiseCtor);\n\n    return new promiseCtor<void>((resolve, reject) => {\n      const subscriber = new SafeSubscriber<T>({\n        next: (value) => {\n          try {\n            next(value);\n          } catch (err) {\n            reject(err);\n            subscriber.unsubscribe();\n          }\n        },\n        error: reject,\n        complete: resolve,\n      });\n      this.subscribe(subscriber);\n    }) as Promise<void>;\n  }\n\n  /** @internal */\n  protected _subscribe(subscriber: Subscriber<any>): TeardownLogic {\n    return this.source?.subscribe(subscriber);\n  }\n\n  /**\n   * An interop point defined by the es7-observable spec https://github.com/zenparsing/es-observable\n   * @method Symbol.observable\n   * @return {Observable} this instance of the observable\n   */\n  [Symbol_observable]() {\n    return this;\n  }\n\n  /* tslint:disable:max-line-length */\n  pipe(): Observable<T>;\n  pipe<A>(op1: OperatorFunction<T, A>): Observable<A>;\n  pipe<A, B>(op1: OperatorFunction<T, A>, op2: OperatorFunction<A, B>): Observable<B>;\n  pipe<A, B, C>(op1: OperatorFunction<T, A>, op2: OperatorFunction<A, B>, op3: OperatorFunction<B, C>): Observable<C>;\n  pipe<A, B, C, D>(\n    op1: OperatorFunction<T, A>,\n    op2: OperatorFunction<A, B>,\n    op3: OperatorFunction<B, C>,\n    op4: OperatorFunction<C, D>\n  ): Observable<D>;\n  pipe<A, B, C, D, E>(\n    op1: OperatorFunction<T, A>,\n    op2: OperatorFunction<A, B>,\n    op3: OperatorFunction<B, C>,\n    op4: OperatorFunction<C, D>,\n    op5: OperatorFunction<D, E>\n  ): Observable<E>;\n  pipe<A, B, C, D, E, F>(\n    op1: OperatorFunction<T, A>,\n    op2: OperatorFunction<A, B>,\n    op3: OperatorFunction<B, C>,\n    op4: OperatorFunction<C, D>,\n    op5: OperatorFunction<D, E>,\n    op6: OperatorFunction<E, F>\n  ): Observable<F>;\n  pipe<A, B, C, D, E, F, G>(\n    op1: OperatorFunction<T, A>,\n    op2: OperatorFunction<A, B>,\n    op3: OperatorFunction<B, C>,\n    op4: OperatorFunction<C, D>,\n    op5: OperatorFunction<D, E>,\n    op6: OperatorFunction<E, F>,\n    op7: OperatorFunction<F, G>\n  ): Observable<G>;\n  pipe<A, B, C, D, E, F, G, H>(\n    op1: OperatorFunction<T, A>,\n    op2: OperatorFunction<A, B>,\n    op3: OperatorFunction<B, C>,\n    op4: OperatorFunction<C, D>,\n    op5: OperatorFunction<D, E>,\n    op6: OperatorFunction<E, F>,\n    op7: OperatorFunction<F, G>,\n    op8: OperatorFunction<G, H>\n  ): Observable<H>;\n  pipe<A, B, C, D, E, F, G, H, I>(\n    op1: OperatorFunction<T, A>,\n    op2: OperatorFunction<A, B>,\n    op3: OperatorFunction<B, C>,\n    op4: OperatorFunction<C, D>,\n    op5: OperatorFunction<D, E>,\n    op6: OperatorFunction<E, F>,\n    op7: OperatorFunction<F, G>,\n    op8: OperatorFunction<G, H>,\n    op9: OperatorFunction<H, I>\n  ): Observable<I>;\n  pipe<A, B, C, D, E, F, G, H, I>(\n    op1: OperatorFunction<T, A>,\n    op2: OperatorFunction<A, B>,\n    op3: OperatorFunction<B, C>,\n    op4: OperatorFunction<C, D>,\n    op5: OperatorFunction<D, E>,\n    op6: OperatorFunction<E, F>,\n    op7: OperatorFunction<F, G>,\n    op8: OperatorFunction<G, H>,\n    op9: OperatorFunction<H, I>,\n    ...operations: OperatorFunction<any, any>[]\n  ): Observable<unknown>;\n  /* tslint:enable:max-line-length */\n\n  /**\n   * Used to stitch together functional operators into a chain.\n   * @method pipe\n   * @return {Observable} the Observable result of all of the operators having\n   * been called in the order they were passed in.\n   *\n   * ## Example\n   *\n   * ```ts\n   * import { interval, filter, map, scan } from 'rxjs';\n   *\n   * interval(1000)\n   *   .pipe(\n   *     filter(x => x % 2 === 0),\n   *     map(x => x + x),\n   *     scan((acc, x) => acc + x)\n   *   )\n   *   .subscribe(x => console.log(x));\n   * ```\n   */\n  pipe(...operations: OperatorFunction<any, any>[]): Observable<any> {\n    return pipeFromArray(operations)(this);\n  }\n\n  /* tslint:disable:max-line-length */\n  /** @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise */\n  toPromise(): Promise<T | undefined>;\n  /** @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise */\n  toPromise(PromiseCtor: typeof Promise): Promise<T | undefined>;\n  /** @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise */\n  toPromise(PromiseCtor: PromiseConstructorLike): Promise<T | undefined>;\n  /* tslint:enable:max-line-length */\n\n  /**\n   * Subscribe to this Observable and get a Promise resolving on\n   * `complete` with the last emission (if any).\n   *\n   * **WARNING**: Only use this with observables you *know* will complete. If the source\n   * observable does not complete, you will end up with a promise that is hung up, and\n   * potentially all of the state of an async function hanging out in memory. To avoid\n   * this situation, look into adding something like {@link timeout}, {@link take},\n   * {@link takeWhile}, or {@link takeUntil} amongst others.\n   *\n   * @method toPromise\n   * @param [promiseCtor] a constructor function used to instantiate\n   * the Promise\n   * @return A Promise that resolves with the last value emit, or\n   * rejects on an error. If there were no emissions, Promise\n   * resolves with undefined.\n   * @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise\n   */\n  toPromise(promiseCtor?: PromiseConstructorLike): Promise<T | undefined> {\n    promiseCtor = getPromiseCtor(promiseCtor);\n\n    return new promiseCtor((resolve, reject) => {\n      let value: T | undefined;\n      this.subscribe(\n        (x: T) => (value = x),\n        (err: any) => reject(err),\n        () => resolve(value)\n      );\n    }) as Promise<T | undefined>;\n  }\n}\n\n/**\n * Decides between a passed promise constructor from consuming code,\n * A default configured promise constructor, and the native promise\n * constructor and returns it. If nothing can be found, it will throw\n * an error.\n * @param promiseCtor The optional promise constructor to passed by consuming code\n */\nfunction getPromiseCtor(promiseCtor: PromiseConstructorLike | undefined) {\n  return promiseCtor ?? config.Promise ?? Promise;\n}\n\nfunction isObserver<T>(value: any): value is Observer<T> {\n  return value && isFunction(value.next) && isFunction(value.error) && isFunction(value.complete);\n}\n\nfunction isSubscriber<T>(value: any): value is Subscriber<T> {\n  return (value && value instanceof Subscriber) || (isObserver(value) && isSubscription(value));\n}\n", "import { Observable } from '../Observable';\nimport { Subscriber } from '../Subscriber';\nimport { OperatorFunction } from '../types';\nimport { isFunction } from './isFunction';\n\n/**\n * Used to determine if an object is an Observable with a lift function.\n */\nexport function hasLift(source: any): source is { lift: InstanceType<typeof Observable>['lift'] } {\n  return isFunction(source?.lift);\n}\n\n/**\n * Creates an `OperatorFunction`. Used to define operators throughout the library in a concise way.\n * @param init The logic to connect the liftedSource to the subscriber at the moment of subscription.\n */\nexport function operate<T, R>(\n  init: (liftedSource: Observable<T>, subscriber: Subscriber<R>) => (() => void) | void\n): OperatorFunction<T, R> {\n  return (source: Observable<T>) => {\n    if (hasLift(source)) {\n      return source.lift(function (this: Subscriber<R>, liftedSource: Observable<T>) {\n        try {\n          return init(liftedSource, this);\n        } catch (err) {\n          this.error(err);\n        }\n      });\n    }\n    throw new TypeError('Unable to lift unknown Observable type');\n  };\n}\n", "import { Subscriber } from '../Subscriber';\n\n/**\n * Creates an instance of an `OperatorSubscriber`.\n * @param destination The downstream subscriber.\n * @param onNext Handles next values, only called if this subscriber is not stopped or closed. Any\n * error that occurs in this function is caught and sent to the `error` method of this subscriber.\n * @param onError Handles errors from the subscription, any errors that occur in this handler are caught\n * and send to the `destination` error handler.\n * @param onComplete Handles completion notification from the subscription. Any errors that occur in\n * this handler are sent to the `destination` error handler.\n * @param onFinalize Additional teardown logic here. This will only be called on teardown if the\n * subscriber itself is not already closed. This is called after all other teardown logic is executed.\n */\nexport function createOperatorSubscriber<T>(\n  destination: Subscriber<any>,\n  onNext?: (value: T) => void,\n  onComplete?: () => void,\n  onError?: (err: any) => void,\n  onFinalize?: () => void\n): Subscriber<T> {\n  return new OperatorSubscriber(destination, onNext, onComplete, onError, onFinalize);\n}\n\n/**\n * A generic helper for allowing operators to be created with a Subscriber and\n * use closures to capture necessary state from the operator function itself.\n */\nexport class OperatorSubscriber<T> extends Subscriber<T> {\n  /**\n   * Creates an instance of an `OperatorSubscriber`.\n   * @param destination The downstream subscriber.\n   * @param onNext Handles next values, only called if this subscriber is not stopped or closed. Any\n   * error that occurs in this function is caught and sent to the `error` method of this subscriber.\n   * @param onError Handles errors from the subscription, any errors that occur in this handler are caught\n   * and send to the `destination` error handler.\n   * @param onComplete Handles completion notification from the subscription. Any errors that occur in\n   * this handler are sent to the `destination` error handler.\n   * @param onFinalize Additional finalization logic here. This will only be called on finalization if the\n   * subscriber itself is not already closed. This is called after all other finalization logic is executed.\n   * @param shouldUnsubscribe An optional check to see if an unsubscribe call should truly unsubscribe.\n   * NOTE: This currently **ONLY** exists to support the strange behavior of {@link groupBy}, where unsubscription\n   * to the resulting observable does not actually disconnect from the source if there are active subscriptions\n   * to any grouped observable. (DO NOT EXPOSE OR USE EXTERNALLY!!!)\n   */\n  constructor(\n    destination: Subscriber<any>,\n    onNext?: (value: T) => void,\n    onComplete?: () => void,\n    onError?: (err: any) => void,\n    private onFinalize?: () => void,\n    private shouldUnsubscribe?: () => boolean\n  ) {\n    // It's important - for performance reasons - that all of this class's\n    // members are initialized and that they are always initialized in the same\n    // order. This will ensure that all OperatorSubscriber instances have the\n    // same hidden class in V8. This, in turn, will help keep the number of\n    // hidden classes involved in property accesses within the base class as\n    // low as possible. If the number of hidden classes involved exceeds four,\n    // the property accesses will become megamorphic and performance penalties\n    // will be incurred - i.e. inline caches won't be used.\n    //\n    // The reasons for ensuring all instances have the same hidden class are\n    // further discussed in this blog post from Benedikt Meurer:\n    // https://benediktmeurer.de/2018/03/23/impact-of-polymorphism-on-component-based-frameworks-like-react/\n    super(destination);\n    this._next = onNext\n      ? function (this: OperatorSubscriber<T>, value: T) {\n          try {\n            onNext(value);\n          } catch (err) {\n            destination.error(err);\n          }\n        }\n      : super._next;\n    this._error = onError\n      ? function (this: OperatorSubscriber<T>, err: any) {\n          try {\n            onError(err);\n          } catch (err) {\n            // Send any errors that occur down stream.\n            destination.error(err);\n          } finally {\n            // Ensure finalization.\n            this.unsubscribe();\n          }\n        }\n      : super._error;\n    this._complete = onComplete\n      ? function (this: OperatorSubscriber<T>) {\n          try {\n            onComplete();\n          } catch (err) {\n            // Send any errors that occur down stream.\n            destination.error(err);\n          } finally {\n            // Ensure finalization.\n            this.unsubscribe();\n          }\n        }\n      : super._complete;\n  }\n\n  unsubscribe() {\n    if (!this.shouldUnsubscribe || this.shouldUnsubscribe()) {\n      const { closed } = this;\n      super.unsubscribe();\n      // Execute additional teardown if we have any and we didn't already do so.\n      !closed && this.onFinalize?.();\n    }\n  }\n}\n", "import { Subscription } from '../Subscription';\n\ninterface AnimationFrameProvider {\n  schedule(callback: FrameRequestCallback): Subscription;\n  requestAnimationFrame: typeof requestAnimationFrame;\n  cancelAnimationFrame: typeof cancelAnimationFrame;\n  delegate:\n    | {\n        requestAnimationFrame: typeof requestAnimationFrame;\n        cancelAnimationFrame: typeof cancelAnimationFrame;\n      }\n    | undefined;\n}\n\nexport const animationFrameProvider: AnimationFrameProvider = {\n  // When accessing the delegate, use the variable rather than `this` so that\n  // the functions can be called without being bound to the provider.\n  schedule(callback) {\n    let request = requestAnimationFrame;\n    let cancel: typeof cancelAnimationFrame | undefined = cancelAnimationFrame;\n    const { delegate } = animationFrameProvider;\n    if (delegate) {\n      request = delegate.requestAnimationFrame;\n      cancel = delegate.cancelAnimationFrame;\n    }\n    const handle = request((timestamp) => {\n      // Clear the cancel function. The request has been fulfilled, so\n      // attempting to cancel the request upon unsubscription would be\n      // pointless.\n      cancel = undefined;\n      callback(timestamp);\n    });\n    return new Subscription(() => cancel?.(handle));\n  },\n  requestAnimationFrame(...args) {\n    const { delegate } = animationFrameProvider;\n    return (delegate?.requestAnimationFrame || requestAnimationFrame)(...args);\n  },\n  cancelAnimationFrame(...args) {\n    const { delegate } = animationFrameProvider;\n    return (delegate?.cancelAnimationFrame || cancelAnimationFrame)(...args);\n  },\n  delegate: undefined,\n};\n", "import { createErrorClass } from './createErrorClass';\n\nexport interface ObjectUnsubscribedError extends Error {}\n\nexport interface ObjectUnsubscribedErrorCtor {\n  /**\n   * @deprecated Internal implementation detail. Do not construct error instances.\n   * Cannot be tagged as internal: https://github.com/ReactiveX/rxjs/issues/6269\n   */\n  new (): ObjectUnsubscribedError;\n}\n\n/**\n * An error thrown when an action is invalid because the object has been\n * unsubscribed.\n *\n * @see {@link Subject}\n * @see {@link BehaviorSubject}\n *\n * @class ObjectUnsubscribedError\n */\nexport const ObjectUnsubscribedError: ObjectUnsubscribedErrorCtor = createErrorClass(\n  (_super) =>\n    function ObjectUnsubscribedErrorImpl(this: any) {\n      _super(this);\n      this.name = 'ObjectUnsubscribedError';\n      this.message = 'object unsubscribed';\n    }\n);\n", "import { Operator } from './Operator';\nimport { Observable } from './Observable';\nimport { Subscriber } from './Subscriber';\nimport { Subscription, EMPTY_SUBSCRIPTION } from './Subscription';\nimport { Observer, SubscriptionLike, TeardownLogic } from './types';\nimport { ObjectUnsubscribedError } from './util/ObjectUnsubscribedError';\nimport { arrRemove } from './util/arrRemove';\nimport { errorContext } from './util/errorContext';\n\n/**\n * A Subject is a special type of Observable that allows values to be\n * multicasted to many Observers. Subjects are like EventEmitters.\n *\n * Every Subject is an Observable and an Observer. You can subscribe to a\n * Subject, and you can call next to feed values as well as error and complete.\n */\nexport class Subject<T> extends Observable<T> implements SubscriptionLike {\n  closed = false;\n\n  private currentObservers: Observer<T>[] | null = null;\n\n  /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n  observers: Observer<T>[] = [];\n  /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n  isStopped = false;\n  /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n  hasError = false;\n  /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n  thrownError: any = null;\n\n  /**\n   * Creates a \"subject\" by basically gluing an observer to an observable.\n   *\n   * @nocollapse\n   * @deprecated Recommended you do not use. Will be removed at some point in the future. Plans for replacement still under discussion.\n   */\n  static create: (...args: any[]) => any = <T>(destination: Observer<T>, source: Observable<T>): AnonymousSubject<T> => {\n    return new AnonymousSubject<T>(destination, source);\n  };\n\n  constructor() {\n    // NOTE: This must be here to obscure Observable's constructor.\n    super();\n  }\n\n  /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n  lift<R>(operator: Operator<T, R>): Observable<R> {\n    const subject = new AnonymousSubject(this, this);\n    subject.operator = operator as any;\n    return subject as any;\n  }\n\n  /** @internal */\n  protected _throwIfClosed() {\n    if (this.closed) {\n      throw new ObjectUnsubscribedError();\n    }\n  }\n\n  next(value: T) {\n    errorContext(() => {\n      this._throwIfClosed();\n      if (!this.isStopped) {\n        if (!this.currentObservers) {\n          this.currentObservers = Array.from(this.observers);\n        }\n        for (const observer of this.currentObservers) {\n          observer.next(value);\n        }\n      }\n    });\n  }\n\n  error(err: any) {\n    errorContext(() => {\n      this._throwIfClosed();\n      if (!this.isStopped) {\n        this.hasError = this.isStopped = true;\n        this.thrownError = err;\n        const { observers } = this;\n        while (observers.length) {\n          observers.shift()!.error(err);\n        }\n      }\n    });\n  }\n\n  complete() {\n    errorContext(() => {\n      this._throwIfClosed();\n      if (!this.isStopped) {\n        this.isStopped = true;\n        const { observers } = this;\n        while (observers.length) {\n          observers.shift()!.complete();\n        }\n      }\n    });\n  }\n\n  unsubscribe() {\n    this.isStopped = this.closed = true;\n    this.observers = this.currentObservers = null!;\n  }\n\n  get observed() {\n    return this.observers?.length > 0;\n  }\n\n  /** @internal */\n  protected _trySubscribe(subscriber: Subscriber<T>): TeardownLogic {\n    this._throwIfClosed();\n    return super._trySubscribe(subscriber);\n  }\n\n  /** @internal */\n  protected _subscribe(subscriber: Subscriber<T>): Subscription {\n    this._throwIfClosed();\n    this._checkFinalizedStatuses(subscriber);\n    return this._innerSubscribe(subscriber);\n  }\n\n  /** @internal */\n  protected _innerSubscribe(subscriber: Subscriber<any>) {\n    const { hasError, isStopped, observers } = this;\n    if (hasError || isStopped) {\n      return EMPTY_SUBSCRIPTION;\n    }\n    this.currentObservers = null;\n    observers.push(subscriber);\n    return new Subscription(() => {\n      this.currentObservers = null;\n      arrRemove(observers, subscriber);\n    });\n  }\n\n  /** @internal */\n  protected _checkFinalizedStatuses(subscriber: Subscriber<any>) {\n    const { hasError, thrownError, isStopped } = this;\n    if (hasError) {\n      subscriber.error(thrownError);\n    } else if (isStopped) {\n      subscriber.complete();\n    }\n  }\n\n  /**\n   * Creates a new Observable with this Subject as the source. You can do this\n   * to create custom Observer-side logic of the Subject and conceal it from\n   * code that uses the Observable.\n   * @return {Observable} Observable that the Subject casts to\n   */\n  asObservable(): Observable<T> {\n    const observable: any = new Observable<T>();\n    observable.source = this;\n    return observable;\n  }\n}\n\n/**\n * @class AnonymousSubject<T>\n */\nexport class AnonymousSubject<T> extends Subject<T> {\n  constructor(\n    /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n    public destination?: Observer<T>,\n    source?: Observable<T>\n  ) {\n    super();\n    this.source = source;\n  }\n\n  next(value: T) {\n    this.destination?.next?.(value);\n  }\n\n  error(err: any) {\n    this.destination?.error?.(err);\n  }\n\n  complete() {\n    this.destination?.complete?.();\n  }\n\n  /** @internal */\n  protected _subscribe(subscriber: Subscriber<T>): Subscription {\n    return this.source?.subscribe(subscriber) ?? EMPTY_SUBSCRIPTION;\n  }\n}\n", "import { Subject } from './Subject';\nimport { Subscriber } from './Subscriber';\nimport { Subscription } from './Subscription';\n\n/**\n * A variant of Subject that requires an initial value and emits its current\n * value whenever it is subscribed to.\n *\n * @class BehaviorSubject<T>\n */\nexport class BehaviorSubject<T> extends Subject<T> {\n  constructor(private _value: T) {\n    super();\n  }\n\n  get value(): T {\n    return this.getValue();\n  }\n\n  /** @internal */\n  protected _subscribe(subscriber: Subscriber<T>): Subscription {\n    const subscription = super._subscribe(subscriber);\n    !subscription.closed && subscriber.next(this._value);\n    return subscription;\n  }\n\n  getValue(): T {\n    const { hasError, thrownError, _value } = this;\n    if (hasError) {\n      throw thrownError;\n    }\n    this._throwIfClosed();\n    return _value;\n  }\n\n  next(value: T): void {\n    super.next((this._value = value));\n  }\n}\n", "import { TimestampProvider } from '../types';\n\ninterface DateTimestampProvider extends TimestampProvider {\n  delegate: TimestampProvider | undefined;\n}\n\nexport const dateTimestampProvider: DateTimestampProvider = {\n  now() {\n    // Use the variable rather than `this` so that the function can be called\n    // without being bound to the provider.\n    return (dateTimestampProvider.delegate || Date).now();\n  },\n  delegate: undefined,\n};\n", "import { Subject } from './Subject';\nimport { TimestampProvider } from './types';\nimport { Subscriber } from './Subscriber';\nimport { Subscription } from './Subscription';\nimport { dateTimestampProvider } from './scheduler/dateTimestampProvider';\n\n/**\n * A variant of {@link Subject} that \"replays\" old values to new subscribers by emitting them when they first subscribe.\n *\n * `ReplaySubject` has an internal buffer that will store a specified number of values that it has observed. Like `Subject`,\n * `ReplaySubject` \"observes\" values by having them passed to its `next` method. When it observes a value, it will store that\n * value for a time determined by the configuration of the `ReplaySubject`, as passed to its constructor.\n *\n * When a new subscriber subscribes to the `ReplaySubject` instance, it will synchronously emit all values in its buffer in\n * a First-In-First-Out (FIFO) manner. The `ReplaySubject` will also complete, if it has observed completion; and it will\n * error if it has observed an error.\n *\n * There are two main configuration items to be concerned with:\n *\n * 1. `bufferSize` - This will determine how many items are stored in the buffer, defaults to infinite.\n * 2. `windowTime` - The amount of time to hold a value in the buffer before removing it from the buffer.\n *\n * Both configurations may exist simultaneously. So if you would like to buffer a maximum of 3 values, as long as the values\n * are less than 2 seconds old, you could do so with a `new ReplaySubject(3, 2000)`.\n *\n * ### Differences with BehaviorSubject\n *\n * `BehaviorSubject` is similar to `new ReplaySubject(1)`, with a couple of exceptions:\n *\n * 1. `BehaviorSubject` comes \"primed\" with a single value upon construction.\n * 2. `ReplaySubject` will replay values, even after observing an error, where `BehaviorSubject` will not.\n *\n * @see {@link Subject}\n * @see {@link BehaviorSubject}\n * @see {@link shareReplay}\n */\nexport class ReplaySubject<T> extends Subject<T> {\n  private _buffer: (T | number)[] = [];\n  private _infiniteTimeWindow = true;\n\n  /**\n   * @param bufferSize The size of the buffer to replay on subscription\n   * @param windowTime The amount of time the buffered items will stay buffered\n   * @param timestampProvider An object with a `now()` method that provides the current timestamp. This is used to\n   * calculate the amount of time something has been buffered.\n   */\n  constructor(\n    private _bufferSize = Infinity,\n    private _windowTime = Infinity,\n    private _timestampProvider: TimestampProvider = dateTimestampProvider\n  ) {\n    super();\n    this._infiniteTimeWindow = _windowTime === Infinity;\n    this._bufferSize = Math.max(1, _bufferSize);\n    this._windowTime = Math.max(1, _windowTime);\n  }\n\n  next(value: T): void {\n    const { isStopped, _buffer, _infiniteTimeWindow, _timestampProvider, _windowTime } = this;\n    if (!isStopped) {\n      _buffer.push(value);\n      !_infiniteTimeWindow && _buffer.push(_timestampProvider.now() + _windowTime);\n    }\n    this._trimBuffer();\n    super.next(value);\n  }\n\n  /** @internal */\n  protected _subscribe(subscriber: Subscriber<T>): Subscription {\n    this._throwIfClosed();\n    this._trimBuffer();\n\n    const subscription = this._innerSubscribe(subscriber);\n\n    const { _infiniteTimeWindow, _buffer } = this;\n    // We use a copy here, so reentrant code does not mutate our array while we're\n    // emitting it to a new subscriber.\n    const copy = _buffer.slice();\n    for (let i = 0; i < copy.length && !subscriber.closed; i += _infiniteTimeWindow ? 1 : 2) {\n      subscriber.next(copy[i] as T);\n    }\n\n    this._checkFinalizedStatuses(subscriber);\n\n    return subscription;\n  }\n\n  private _trimBuffer() {\n    const { _bufferSize, _timestampProvider, _buffer, _infiniteTimeWindow } = this;\n    // If we don't have an infinite buffer size, and we're over the length,\n    // use splice to truncate the old buffer values off. Note that we have to\n    // double the size for instances where we're not using an infinite time window\n    // because we're storing the values and the timestamps in the same array.\n    const adjustedBufferSize = (_infiniteTimeWindow ? 1 : 2) * _bufferSize;\n    _bufferSize < Infinity && adjustedBufferSize < _buffer.length && _buffer.splice(0, _buffer.length - adjustedBufferSize);\n\n    // Now, if we're not in an infinite time window, remove all values where the time is\n    // older than what is allowed.\n    if (!_infiniteTimeWindow) {\n      const now = _timestampProvider.now();\n      let last = 0;\n      // Search the array for the first timestamp that isn't expired and\n      // truncate the buffer up to that point.\n      for (let i = 1; i < _buffer.length && (_buffer[i] as number) <= now; i += 2) {\n        last = i;\n      }\n      last && _buffer.splice(0, last + 1);\n    }\n  }\n}\n", "import { Scheduler } from '../Scheduler';\nimport { Subscription } from '../Subscription';\nimport { SchedulerAction } from '../types';\n\n/**\n * A unit of work to be executed in a `scheduler`. An action is typically\n * created from within a {@link SchedulerLike} and an RxJS user does not need to concern\n * themselves about creating and manipulating an Action.\n *\n * ```ts\n * class Action<T> extends Subscription {\n *   new (scheduler: Scheduler, work: (state?: T) => void);\n *   schedule(state?: T, delay: number = 0): Subscription;\n * }\n * ```\n *\n * @class Action<T>\n */\nexport class Action<T> extends Subscription {\n  constructor(scheduler: Scheduler, work: (this: SchedulerAction<T>, state?: T) => void) {\n    super();\n  }\n  /**\n   * Schedules this action on its parent {@link SchedulerLike} for execution. May be passed\n   * some context object, `state`. May happen at some point in the future,\n   * according to the `delay` parameter, if specified.\n   * @param {T} [state] Some contextual data that the `work` function uses when\n   * called by the Scheduler.\n   * @param {number} [delay] Time to wait before executing the work, where the\n   * time unit is implicit and defined by the Scheduler.\n   * @return {void}\n   */\n  public schedule(state?: T, delay: number = 0): Subscription {\n    return this;\n  }\n}\n", "import type { TimerHandle } from './timerHandle';\ntype SetIntervalFunction = (handler: () => void, timeout?: number, ...args: any[]) => TimerHandle;\ntype ClearIntervalFunction = (handle: TimerHandle) => void;\n\ninterface IntervalProvider {\n  setInterval: SetIntervalFunction;\n  clearInterval: ClearIntervalFunction;\n  delegate:\n    | {\n        setInterval: SetIntervalFunction;\n        clearInterval: ClearIntervalFunction;\n      }\n    | undefined;\n}\n\nexport const intervalProvider: IntervalProvider = {\n  // When accessing the delegate, use the variable rather than `this` so that\n  // the functions can be called without being bound to the provider.\n  setInterval(handler: () => void, timeout?: number, ...args) {\n    const { delegate } = intervalProvider;\n    if (delegate?.setInterval) {\n      return delegate.setInterval(handler, timeout, ...args);\n    }\n    return setInterval(handler, timeout, ...args);\n  },\n  clearInterval(handle) {\n    const { delegate } = intervalProvider;\n    return (delegate?.clearInterval || clearInterval)(handle as any);\n  },\n  delegate: undefined,\n};\n", "import { Action } from './Action';\nimport { SchedulerAction } from '../types';\nimport { Subscription } from '../Subscription';\nimport { AsyncScheduler } from './AsyncScheduler';\nimport { intervalProvider } from './intervalProvider';\nimport { arrRemove } from '../util/arrRemove';\nimport { TimerHandle } from './timerHandle';\n\nexport class AsyncAction<T> extends Action<T> {\n  public id: TimerHandle | undefined;\n  public state?: T;\n  // @ts-ignore: Property has no initializer and is not definitely assigned\n  public delay: number;\n  protected pending: boolean = false;\n\n  constructor(protected scheduler: AsyncScheduler, protected work: (this: SchedulerAction<T>, state?: T) => void) {\n    super(scheduler, work);\n  }\n\n  public schedule(state?: T, delay: number = 0): Subscription {\n    if (this.closed) {\n      return this;\n    }\n\n    // Always replace the current state with the new state.\n    this.state = state;\n\n    const id = this.id;\n    const scheduler = this.scheduler;\n\n    //\n    // Important implementation note:\n    //\n    // Actions only execute once by default, unless rescheduled from within the\n    // scheduled callback. This allows us to implement single and repeat\n    // actions via the same code path, without adding API surface area, as well\n    // as mimic traditional recursion but across asynchronous boundaries.\n    //\n    // However, JS runtimes and timers distinguish between intervals achieved by\n    // serial `setTimeout` calls vs. a single `setInterval` call. An interval of\n    // serial `setTimeout` calls can be individually delayed, which delays\n    // scheduling the next `setTimeout`, and so on. `setInterval` attempts to\n    // guarantee the interval callback will be invoked more precisely to the\n    // interval period, regardless of load.\n    //\n    // Therefore, we use `setInterval` to schedule single and repeat actions.\n    // If the action reschedules itself with the same delay, the interval is not\n    // canceled. If the action doesn't reschedule, or reschedules with a\n    // different delay, the interval will be canceled after scheduled callback\n    // execution.\n    //\n    if (id != null) {\n      this.id = this.recycleAsyncId(scheduler, id, delay);\n    }\n\n    // Set the pending flag indicating that this action has been scheduled, or\n    // has recursively rescheduled itself.\n    this.pending = true;\n\n    this.delay = delay;\n    // If this action has already an async Id, don't request a new one.\n    this.id = this.id ?? this.requestAsyncId(scheduler, this.id, delay);\n\n    return this;\n  }\n\n  protected requestAsyncId(scheduler: AsyncScheduler, _id?: TimerHandle, delay: number = 0): TimerHandle {\n    return intervalProvider.setInterval(scheduler.flush.bind(scheduler, this), delay);\n  }\n\n  protected recycleAsyncId(_scheduler: AsyncScheduler, id?: TimerHandle, delay: number | null = 0): TimerHandle | undefined {\n    // If this action is rescheduled with the same delay time, don't clear the interval id.\n    if (delay != null && this.delay === delay && this.pending === false) {\n      return id;\n    }\n    // Otherwise, if the action's delay time is different from the current delay,\n    // or the action has been rescheduled before it's executed, clear the interval id\n    if (id != null) {\n      intervalProvider.clearInterval(id);\n    }\n\n    return undefined;\n  }\n\n  /**\n   * Immediately executes this action and the `work` it contains.\n   * @return {any}\n   */\n  public execute(state: T, delay: number): any {\n    if (this.closed) {\n      return new Error('executing a cancelled action');\n    }\n\n    this.pending = false;\n    const error = this._execute(state, delay);\n    if (error) {\n      return error;\n    } else if (this.pending === false && this.id != null) {\n      // Dequeue if the action didn't reschedule itself. Don't call\n      // unsubscribe(), because the action could reschedule later.\n      // For example:\n      // ```\n      // scheduler.schedule(function doWork(counter) {\n      //   /* ... I'm a busy worker bee ... */\n      //   var originalAction = this;\n      //   /* wait 100ms before rescheduling the action */\n      //   setTimeout(function () {\n      //     originalAction.schedule(counter + 1);\n      //   }, 100);\n      // }, 1000);\n      // ```\n      this.id = this.recycleAsyncId(this.scheduler, this.id, null);\n    }\n  }\n\n  protected _execute(state: T, _delay: number): any {\n    let errored: boolean = false;\n    let errorValue: any;\n    try {\n      this.work(state);\n    } catch (e) {\n      errored = true;\n      // HACK: Since code elsewhere is relying on the \"truthiness\" of the\n      // return here, we can't have it return \"\" or 0 or false.\n      // TODO: Clean this up when we refactor schedulers mid-version-8 or so.\n      errorValue = e ? e : new Error('Scheduled action threw falsy error');\n    }\n    if (errored) {\n      this.unsubscribe();\n      return errorValue;\n    }\n  }\n\n  unsubscribe() {\n    if (!this.closed) {\n      const { id, scheduler } = this;\n      const { actions } = scheduler;\n\n      this.work = this.state = this.scheduler = null!;\n      this.pending = false;\n\n      arrRemove(actions, this);\n      if (id != null) {\n        this.id = this.recycleAsyncId(scheduler, id, null);\n      }\n\n      this.delay = null!;\n      super.unsubscribe();\n    }\n  }\n}\n", "import { Action } from './scheduler/Action';\nimport { Subscription } from './Subscription';\nimport { SchedulerLike, SchedulerAction } from './types';\nimport { dateTimestampProvider } from './scheduler/dateTimestampProvider';\n\n/**\n * An execution context and a data structure to order tasks and schedule their\n * execution. Provides a notion of (potentially virtual) time, through the\n * `now()` getter method.\n *\n * Each unit of work in a Scheduler is called an `Action`.\n *\n * ```ts\n * class Scheduler {\n *   now(): number;\n *   schedule(work, delay?, state?): Subscription;\n * }\n * ```\n *\n * @class Scheduler\n * @deprecated Scheduler is an internal implementation detail of RxJS, and\n * should not be used directly. Rather, create your own class and implement\n * {@link SchedulerLike}. Will be made internal in v8.\n */\nexport class Scheduler implements SchedulerLike {\n  public static now: () => number = dateTimestampProvider.now;\n\n  constructor(private schedulerActionCtor: typeof Action, now: () => number = Scheduler.now) {\n    this.now = now;\n  }\n\n  /**\n   * A getter method that returns a number representing the current time\n   * (at the time this function was called) according to the scheduler's own\n   * internal clock.\n   * @return {number} A number that represents the current time. May or may not\n   * have a relation to wall-clock time. May or may not refer to a time unit\n   * (e.g. milliseconds).\n   */\n  public now: () => number;\n\n  /**\n   * Schedules a function, `work`, for execution. May happen at some point in\n   * the future, according to the `delay` parameter, if specified. May be passed\n   * some context object, `state`, which will be passed to the `work` function.\n   *\n   * The given arguments will be processed an stored as an Action object in a\n   * queue of actions.\n   *\n   * @param {function(state: ?T): ?Subscription} work A function representing a\n   * task, or some unit of work to be executed by the Scheduler.\n   * @param {number} [delay] Time to wait before executing the work, where the\n   * time unit is implicit and defined by the Scheduler itself.\n   * @param {T} [state] Some contextual data that the `work` function uses when\n   * called by the Scheduler.\n   * @return {Subscription} A subscription in order to be able to unsubscribe\n   * the scheduled work.\n   */\n  public schedule<T>(work: (this: SchedulerAction<T>, state?: T) => void, delay: number = 0, state?: T): Subscription {\n    return new this.schedulerActionCtor<T>(this, work).schedule(state, delay);\n  }\n}\n", "import { Scheduler } from '../Scheduler';\nimport { Action } from './Action';\nimport { AsyncAction } from './AsyncAction';\nimport { TimerHandle } from './timerHandle';\n\nexport class AsyncScheduler extends Scheduler {\n  public actions: Array<AsyncAction<any>> = [];\n  /**\n   * A flag to indicate whether the Scheduler is currently executing a batch of\n   * queued actions.\n   * @type {boolean}\n   * @internal\n   */\n  public _active: boolean = false;\n  /**\n   * An internal ID used to track the latest asynchronous task such as those\n   * coming from `setTimeout`, `setInterval`, `requestAnimationFrame`, and\n   * others.\n   * @type {any}\n   * @internal\n   */\n  public _scheduled: TimerHandle | undefined;\n\n  constructor(SchedulerAction: typeof Action, now: () => number = Scheduler.now) {\n    super(SchedulerAction, now);\n  }\n\n  public flush(action: AsyncAction<any>): void {\n    const { actions } = this;\n\n    if (this._active) {\n      actions.push(action);\n      return;\n    }\n\n    let error: any;\n    this._active = true;\n\n    do {\n      if ((error = action.execute(action.state, action.delay))) {\n        break;\n      }\n    } while ((action = actions.shift()!)); // exhaust the scheduler queue\n\n    this._active = false;\n\n    if (error) {\n      while ((action = actions.shift()!)) {\n        action.unsubscribe();\n      }\n      throw error;\n    }\n  }\n}\n", "import { AsyncAction } from './AsyncAction';\nimport { AsyncScheduler } from './AsyncScheduler';\n\n/**\n *\n * Async Scheduler\n *\n * <span class=\"informal\">Schedule task as if you used setTimeout(task, duration)</span>\n *\n * `async` scheduler schedules tasks asynchronously, by putting them on the JavaScript\n * event loop queue. It is best used to delay tasks in time or to schedule tasks repeating\n * in intervals.\n *\n * If you just want to \"defer\" task, that is to perform it right after currently\n * executing synchronous code ends (commonly achieved by `setTimeout(deferredTask, 0)`),\n * better choice will be the {@link asapScheduler} scheduler.\n *\n * ## Examples\n * Use async scheduler to delay task\n * ```ts\n * import { asyncScheduler } from 'rxjs';\n *\n * const task = () => console.log('it works!');\n *\n * asyncScheduler.schedule(task, 2000);\n *\n * // After 2 seconds logs:\n * // \"it works!\"\n * ```\n *\n * Use async scheduler to repeat task in intervals\n * ```ts\n * import { asyncScheduler } from 'rxjs';\n *\n * function task(state) {\n *   console.log(state);\n *   this.schedule(state + 1, 1000); // `this` references currently executing Action,\n *                                   // which we reschedule with new state and delay\n * }\n *\n * asyncScheduler.schedule(task, 3000, 0);\n *\n * // Logs:\n * // 0 after 3s\n * // 1 after 4s\n * // 2 after 5s\n * // 3 after 6s\n * ```\n */\n\nexport const asyncScheduler = new AsyncScheduler(AsyncAction);\n\n/**\n * @deprecated Renamed to {@link asyncScheduler}. Will be removed in v8.\n */\nexport const async = asyncScheduler;\n", "import { AsyncAction } from './AsyncAction';\nimport { Subscription } from '../Subscription';\nimport { QueueScheduler } from './QueueScheduler';\nimport { SchedulerAction } from '../types';\nimport { TimerHandle } from './timerHandle';\n\nexport class QueueAction<T> extends AsyncAction<T> {\n  constructor(protected scheduler: QueueScheduler, protected work: (this: SchedulerAction<T>, state?: T) => void) {\n    super(scheduler, work);\n  }\n\n  public schedule(state?: T, delay: number = 0): Subscription {\n    if (delay > 0) {\n      return super.schedule(state, delay);\n    }\n    this.delay = delay;\n    this.state = state;\n    this.scheduler.flush(this);\n    return this;\n  }\n\n  public execute(state: T, delay: number): any {\n    return delay > 0 || this.closed ? super.execute(state, delay) : this._execute(state, delay);\n  }\n\n  protected requestAsyncId(scheduler: QueueScheduler, id?: TimerHandle, delay: number = 0): TimerHandle {\n    // If delay exists and is greater than 0, or if the delay is null (the\n    // action wasn't rescheduled) but was originally scheduled as an async\n    // action, then recycle as an async action.\n\n    if ((delay != null && delay > 0) || (delay == null && this.delay > 0)) {\n      return super.requestAsyncId(scheduler, id, delay);\n    }\n\n    // Otherwise flush the scheduler starting with this action.\n    scheduler.flush(this);\n\n    // HACK: In the past, this was returning `void`. However, `void` isn't a valid\n    // `TimerHandle`, and generally the return value here isn't really used. So the\n    // compromise is to return `0` which is both \"falsy\" and a valid `TimerHandle`,\n    // as opposed to refactoring every other instanceo of `requestAsyncId`.\n    return 0;\n  }\n}\n", "import { AsyncScheduler } from './AsyncScheduler';\n\nexport class QueueScheduler extends AsyncScheduler {\n}\n", "import { QueueAction } from './QueueAction';\nimport { QueueScheduler } from './QueueScheduler';\n\n/**\n *\n * Queue Scheduler\n *\n * <span class=\"informal\">Put every next task on a queue, instead of executing it immediately</span>\n *\n * `queue` scheduler, when used with delay, behaves the same as {@link asyncScheduler} scheduler.\n *\n * When used without delay, it schedules given task synchronously - executes it right when\n * it is scheduled. However when called recursively, that is when inside the scheduled task,\n * another task is scheduled with queue scheduler, instead of executing immediately as well,\n * that task will be put on a queue and wait for current one to finish.\n *\n * This means that when you execute task with `queue` scheduler, you are sure it will end\n * before any other task scheduled with that scheduler will start.\n *\n * ## Examples\n * Schedule recursively first, then do something\n * ```ts\n * import { queueScheduler } from 'rxjs';\n *\n * queueScheduler.schedule(() => {\n *   queueScheduler.schedule(() => console.log('second')); // will not happen now, but will be put on a queue\n *\n *   console.log('first');\n * });\n *\n * // Logs:\n * // \"first\"\n * // \"second\"\n * ```\n *\n * Reschedule itself recursively\n * ```ts\n * import { queueScheduler } from 'rxjs';\n *\n * queueScheduler.schedule(function(state) {\n *   if (state !== 0) {\n *     console.log('before', state);\n *     this.schedule(state - 1); // `this` references currently executing Action,\n *                               // which we reschedule with new state\n *     console.log('after', state);\n *   }\n * }, 0, 3);\n *\n * // In scheduler that runs recursively, you would expect:\n * // \"before\", 3\n * // \"before\", 2\n * // \"before\", 1\n * // \"after\", 1\n * // \"after\", 2\n * // \"after\", 3\n *\n * // But with queue it logs:\n * // \"before\", 3\n * // \"after\", 3\n * // \"before\", 2\n * // \"after\", 2\n * // \"before\", 1\n * // \"after\", 1\n * ```\n */\n\nexport const queueScheduler = new QueueScheduler(QueueAction);\n\n/**\n * @deprecated Renamed to {@link queueScheduler}. Will be removed in v8.\n */\nexport const queue = queueScheduler;\n", "import { AsyncAction } from './AsyncAction';\nimport { AnimationFrameScheduler } from './AnimationFrameScheduler';\nimport { SchedulerAction } from '../types';\nimport { animationFrameProvider } from './animationFrameProvider';\nimport { TimerHandle } from './timerHandle';\n\nexport class AnimationFrameAction<T> extends AsyncAction<T> {\n  constructor(protected scheduler: AnimationFrameScheduler, protected work: (this: SchedulerAction<T>, state?: T) => void) {\n    super(scheduler, work);\n  }\n\n  protected requestAsyncId(scheduler: AnimationFrameScheduler, id?: TimerHandle, delay: number = 0): TimerHandle {\n    // If delay is greater than 0, request as an async action.\n    if (delay !== null && delay > 0) {\n      return super.requestAsyncId(scheduler, id, delay);\n    }\n    // Push the action to the end of the scheduler queue.\n    scheduler.actions.push(this);\n    // If an animation frame has already been requested, don't request another\n    // one. If an animation frame hasn't been requested yet, request one. Return\n    // the current animation frame request id.\n    return scheduler._scheduled || (scheduler._scheduled = animationFrameProvider.requestAnimationFrame(() => scheduler.flush(undefined)));\n  }\n\n  protected recycleAsyncId(scheduler: AnimationFrameScheduler, id?: TimerHandle, delay: number = 0): TimerHandle | undefined {\n    // If delay exists and is greater than 0, or if the delay is null (the\n    // action wasn't rescheduled) but was originally scheduled as an async\n    // action, then recycle as an async action.\n    if (delay != null ? delay > 0 : this.delay > 0) {\n      return super.recycleAsyncId(scheduler, id, delay);\n    }\n    // If the scheduler queue has no remaining actions with the same async id,\n    // cancel the requested animation frame and set the scheduled flag to\n    // undefined so the next AnimationFrameAction will request its own.\n    const { actions } = scheduler;\n    if (id != null && actions[actions.length - 1]?.id !== id) {\n      animationFrameProvider.cancelAnimationFrame(id as number);\n      scheduler._scheduled = undefined;\n    }\n    // Return undefined so the action knows to request a new async id if it's rescheduled.\n    return undefined;\n  }\n}\n", "import { AsyncAction } from './AsyncAction';\nimport { AsyncScheduler } from './AsyncScheduler';\n\nexport class AnimationFrameScheduler extends AsyncScheduler {\n  public flush(action?: AsyncAction<any>): void {\n    this._active = true;\n    // The async id that effects a call to flush is stored in _scheduled.\n    // Before executing an action, it's necessary to check the action's async\n    // id to determine whether it's supposed to be executed in the current\n    // flush.\n    // Previous implementations of this method used a count to determine this,\n    // but that was unsound, as actions that are unsubscribed - i.e. cancelled -\n    // are removed from the actions array and that can shift actions that are\n    // scheduled to be executed in a subsequent flush into positions at which\n    // they are executed within the current flush.\n    const flushId = this._scheduled;\n    this._scheduled = undefined;\n\n    const { actions } = this;\n    let error: any;\n    action = action || actions.shift()!;\n\n    do {\n      if ((error = action.execute(action.state, action.delay))) {\n        break;\n      }\n    } while ((action = actions[0]) && action.id === flushId && actions.shift());\n\n    this._active = false;\n\n    if (error) {\n      while ((action = actions[0]) && action.id === flushId && actions.shift()) {\n        action.unsubscribe();\n      }\n      throw error;\n    }\n  }\n}\n", "import { AnimationFrameAction } from './AnimationFrameAction';\nimport { AnimationFrameScheduler } from './AnimationFrameScheduler';\n\n/**\n *\n * Animation Frame Scheduler\n *\n * <span class=\"informal\">Perform task when `window.requestAnimationFrame` would fire</span>\n *\n * When `animationFrame` scheduler is used with delay, it will fall back to {@link asyncScheduler} scheduler\n * behaviour.\n *\n * Without delay, `animationFrame` scheduler can be used to create smooth browser animations.\n * It makes sure scheduled task will happen just before next browser content repaint,\n * thus performing animations as efficiently as possible.\n *\n * ## Example\n * Schedule div height animation\n * ```ts\n * // html: <div style=\"background: #0ff;\"></div>\n * import { animationFrameScheduler } from 'rxjs';\n *\n * const div = document.querySelector('div');\n *\n * animationFrameScheduler.schedule(function(height) {\n *   div.style.height = height + \"px\";\n *\n *   this.schedule(height + 1);  // `this` references currently executing Action,\n *                               // which we reschedule with new state\n * }, 0, 0);\n *\n * // You will see a div element growing in height\n * ```\n */\n\nexport const animationFrameScheduler = new AnimationFrameScheduler(AnimationFrameAction);\n\n/**\n * @deprecated Renamed to {@link animationFrameScheduler}. Will be removed in v8.\n */\nexport const animationFrame = animationFrameScheduler;\n", "import { Observable } from '../Observable';\nimport { SchedulerLike } from '../types';\n\n/**\n * A simple Observable that emits no items to the Observer and immediately\n * emits a complete notification.\n *\n * <span class=\"informal\">Just emits 'complete', and nothing else.</span>\n *\n * ![](empty.png)\n *\n * A simple Observable that only emits the complete notification. It can be used\n * for composing with other Observables, such as in a {@link mergeMap}.\n *\n * ## Examples\n *\n * Log complete notification\n *\n * ```ts\n * import { EMPTY } from 'rxjs';\n *\n * EMPTY.subscribe({\n *   next: () => console.log('Next'),\n *   complete: () => console.log('Complete!')\n * });\n *\n * // Outputs\n * // Complete!\n * ```\n *\n * Emit the number 7, then complete\n *\n * ```ts\n * import { EMPTY, startWith } from 'rxjs';\n *\n * const result = EMPTY.pipe(startWith(7));\n * result.subscribe(x => console.log(x));\n *\n * // Outputs\n * // 7\n * ```\n *\n * Map and flatten only odd numbers to the sequence `'a'`, `'b'`, `'c'`\n *\n * ```ts\n * import { interval, mergeMap, of, EMPTY } from 'rxjs';\n *\n * const interval$ = interval(1000);\n * const result = interval$.pipe(\n *   mergeMap(x => x % 2 === 1 ? of('a', 'b', 'c') : EMPTY),\n * );\n * result.subscribe(x => console.log(x));\n *\n * // Results in the following to the console:\n * // x is equal to the count on the interval, e.g. (0, 1, 2, 3, ...)\n * // x will occur every 1000ms\n * // if x % 2 is equal to 1, print a, b, c (each on its own)\n * // if x % 2 is not equal to 1, nothing will be output\n * ```\n *\n * @see {@link Observable}\n * @see {@link NEVER}\n * @see {@link of}\n * @see {@link throwError}\n */\nexport const EMPTY = new Observable<never>((subscriber) => subscriber.complete());\n\n/**\n * @param scheduler A {@link SchedulerLike} to use for scheduling\n * the emission of the complete notification.\n * @deprecated Replaced with the {@link EMPTY} constant or {@link scheduled} (e.g. `scheduled([], scheduler)`). Will be removed in v8.\n */\nexport function empty(scheduler?: SchedulerLike) {\n  return scheduler ? emptyScheduled(scheduler) : EMPTY;\n}\n\nfunction emptyScheduled(scheduler: SchedulerLike) {\n  return new Observable<never>((subscriber) => scheduler.schedule(() => subscriber.complete()));\n}\n", "import { SchedulerLike } from '../types';\nimport { isFunction } from './isFunction';\n\nexport function isScheduler(value: any): value is SchedulerLike {\n  return value && isFunction(value.schedule);\n}\n", "import { SchedulerLike } from '../types';\nimport { isFunction } from './isFunction';\nimport { isScheduler } from './isScheduler';\n\nfunction last<T>(arr: T[]): T | undefined {\n  return arr[arr.length - 1];\n}\n\nexport function popResultSelector(args: any[]): ((...args: unknown[]) => unknown) | undefined {\n  return isFunction(last(args)) ? args.pop() : undefined;\n}\n\nexport function popScheduler(args: any[]): SchedulerLike | undefined {\n  return isScheduler(last(args)) ? args.pop() : undefined;\n}\n\nexport function popNumber(args: any[], defaultValue: number): number {\n  return typeof last(args) === 'number' ? args.pop()! : defaultValue;\n}\n", "export const isArrayLike = (<T>(x: any): x is ArrayLike<T> => x && typeof x.length === 'number' && typeof x !== 'function');", "import { isFunction } from \"./isFunction\";\n\n/**\n * Tests to see if the object is \"thennable\".\n * @param value the object to test\n */\nexport function isPromise(value: any): value is PromiseLike<any> {\n  return isFunction(value?.then);\n}\n", "import { InteropObservable } from '../types';\nimport { observable as Symbol_observable } from '../symbol/observable';\nimport { isFunction } from './isFunction';\n\n/** Identifies an input as being Observable (but not necessary an Rx Observable) */\nexport function isInteropObservable(input: any): input is InteropObservable<any> {\n  return isFunction(input[Symbol_observable]);\n}\n", "import { isFunction } from './isFunction';\n\nexport function isAsyncIterable<T>(obj: any): obj is AsyncIterable<T> {\n  return Symbol.asyncIterator && isFunction(obj?.[Symbol.asyncIterator]);\n}\n", "/**\n * Creates the TypeError to throw if an invalid object is passed to `from` or `scheduled`.\n * @param input The object that was passed.\n */\nexport function createInvalidObservableTypeError(input: any) {\n  // TODO: We should create error codes that can be looked up, so this can be less verbose.\n  return new TypeError(\n    `You provided ${\n      input !== null && typeof input === 'object' ? 'an invalid object' : `'${input}'`\n    } where a stream was expected. You can provide an Observable, Promise, ReadableStream, Array, AsyncIterable, or Iterable.`\n  );\n}\n", "export function getSymbolIterator(): symbol {\n  if (typeof Symbol !== 'function' || !Symbol.iterator) {\n    return '@@iterator' as any;\n  }\n\n  return Symbol.iterator;\n}\n\nexport const iterator = getSymbolIterator();\n", "import { iterator as Symbol_iterator } from '../symbol/iterator';\nimport { isFunction } from './isFunction';\n\n/** Identifies an input as being an Iterable */\nexport function isIterable(input: any): input is Iterable<any> {\n  return isFunction(input?.[Symbol_iterator]);\n}\n", "import { ReadableStreamLike } from '../types';\nimport { isFunction } from './isFunction';\n\nexport async function* readableStreamLikeToAsyncGenerator<T>(readableStream: ReadableStreamLike<T>): AsyncGenerator<T> {\n  const reader = readableStream.getReader();\n  try {\n    while (true) {\n      const { value, done } = await reader.read();\n      if (done) {\n        return;\n      }\n      yield value!;\n    }\n  } finally {\n    reader.releaseLock();\n  }\n}\n\nexport function isReadableStreamLike<T>(obj: any): obj is ReadableStreamLike<T> {\n  // We don't want to use instanceof checks because they would return\n  // false for instances from another Realm, like an <iframe>.\n  return isFunction(obj?.getReader);\n}\n", "import { isArrayLike } from '../util/isArrayLike';\nimport { isPromise } from '../util/isPromise';\nimport { Observable } from '../Observable';\nimport { ObservableInput, ObservedValueOf, ReadableStreamLike } from '../types';\nimport { isInteropObservable } from '../util/isInteropObservable';\nimport { isAsyncIterable } from '../util/isAsyncIterable';\nimport { createInvalidObservableTypeError } from '../util/throwUnobservableError';\nimport { isIterable } from '../util/isIterable';\nimport { isReadableStreamLike, readableStreamLikeToAsyncGenerator } from '../util/isReadableStreamLike';\nimport { Subscriber } from '../Subscriber';\nimport { isFunction } from '../util/isFunction';\nimport { reportUnhandledError } from '../util/reportUnhandledError';\nimport { observable as Symbol_observable } from '../symbol/observable';\n\nexport function innerFrom<O extends ObservableInput<any>>(input: O): Observable<ObservedValueOf<O>>;\nexport function innerFrom<T>(input: ObservableInput<T>): Observable<T> {\n  if (input instanceof Observable) {\n    return input;\n  }\n  if (input != null) {\n    if (isInteropObservable(input)) {\n      return fromInteropObservable(input);\n    }\n    if (isArrayLike(input)) {\n      return fromArrayLike(input);\n    }\n    if (isPromise(input)) {\n      return fromPromise(input);\n    }\n    if (isAsyncIterable(input)) {\n      return fromAsyncIterable(input);\n    }\n    if (isIterable(input)) {\n      return fromIterable(input);\n    }\n    if (isReadableStreamLike(input)) {\n      return fromReadableStreamLike(input);\n    }\n  }\n\n  throw createInvalidObservableTypeError(input);\n}\n\n/**\n * Creates an RxJS Observable from an object that implements `Symbol.observable`.\n * @param obj An object that properly implements `Symbol.observable`.\n */\nexport function fromInteropObservable<T>(obj: any) {\n  return new Observable((subscriber: Subscriber<T>) => {\n    const obs = obj[Symbol_observable]();\n    if (isFunction(obs.subscribe)) {\n      return obs.subscribe(subscriber);\n    }\n    // Should be caught by observable subscribe function error handling.\n    throw new TypeError('Provided object does not correctly implement Symbol.observable');\n  });\n}\n\n/**\n * Synchronously emits the values of an array like and completes.\n * This is exported because there are creation functions and operators that need to\n * make direct use of the same logic, and there's no reason to make them run through\n * `from` conditionals because we *know* they're dealing with an array.\n * @param array The array to emit values from\n */\nexport function fromArrayLike<T>(array: ArrayLike<T>) {\n  return new Observable((subscriber: Subscriber<T>) => {\n    // Loop over the array and emit each value. Note two things here:\n    // 1. We're making sure that the subscriber is not closed on each loop.\n    //    This is so we don't continue looping over a very large array after\n    //    something like a `take`, `takeWhile`, or other synchronous unsubscription\n    //    has already unsubscribed.\n    // 2. In this form, reentrant code can alter that array we're looping over.\n    //    This is a known issue, but considered an edge case. The alternative would\n    //    be to copy the array before executing the loop, but this has\n    //    performance implications.\n    for (let i = 0; i < array.length && !subscriber.closed; i++) {\n      subscriber.next(array[i]);\n    }\n    subscriber.complete();\n  });\n}\n\nexport function fromPromise<T>(promise: PromiseLike<T>) {\n  return new Observable((subscriber: Subscriber<T>) => {\n    promise\n      .then(\n        (value) => {\n          if (!subscriber.closed) {\n            subscriber.next(value);\n            subscriber.complete();\n          }\n        },\n        (err: any) => subscriber.error(err)\n      )\n      .then(null, reportUnhandledError);\n  });\n}\n\nexport function fromIterable<T>(iterable: Iterable<T>) {\n  return new Observable((subscriber: Subscriber<T>) => {\n    for (const value of iterable) {\n      subscriber.next(value);\n      if (subscriber.closed) {\n        return;\n      }\n    }\n    subscriber.complete();\n  });\n}\n\nexport function fromAsyncIterable<T>(asyncIterable: AsyncIterable<T>) {\n  return new Observable((subscriber: Subscriber<T>) => {\n    process(asyncIterable, subscriber).catch((err) => subscriber.error(err));\n  });\n}\n\nexport function fromReadableStreamLike<T>(readableStream: ReadableStreamLike<T>) {\n  return fromAsyncIterable(readableStreamLikeToAsyncGenerator(readableStream));\n}\n\nasync function process<T>(asyncIterable: AsyncIterable<T>, subscriber: Subscriber<T>) {\n  for await (const value of asyncIterable) {\n    subscriber.next(value);\n    // A side-effect may have closed our subscriber,\n    // check before the next iteration.\n    if (subscriber.closed) {\n      return;\n    }\n  }\n  subscriber.complete();\n}\n", "import { Subscription } from '../Subscription';\nimport { SchedulerAction, SchedulerLike } from '../types';\n\nexport function executeSchedule(\n  parentSubscription: Subscription,\n  scheduler: SchedulerLike,\n  work: () => void,\n  delay: number,\n  repeat: true\n): void;\nexport function executeSchedule(\n  parentSubscription: Subscription,\n  scheduler: SchedulerLike,\n  work: () => void,\n  delay?: number,\n  repeat?: false\n): Subscription;\n\nexport function executeSchedule(\n  parentSubscription: Subscription,\n  scheduler: SchedulerLike,\n  work: () => void,\n  delay = 0,\n  repeat = false\n): Subscription | void {\n  const scheduleSubscription = scheduler.schedule(function (this: SchedulerAction<any>) {\n    work();\n    if (repeat) {\n      parentSubscription.add(this.schedule(null, delay));\n    } else {\n      this.unsubscribe();\n    }\n  }, delay);\n\n  parentSubscription.add(scheduleSubscription);\n\n  if (!repeat) {\n    // Because user-land scheduler implementations are unlikely to properly reuse\n    // Actions for repeat scheduling, we can't trust that the returned subscription\n    // will control repeat subscription scenarios. So we're trying to avoid using them\n    // incorrectly within this library.\n    return scheduleSubscription;\n  }\n}\n", "/** @prettier */\nimport { MonoTypeOperatorFunction, SchedulerLike } from '../types';\nimport { executeSchedule } from '../util/executeSchedule';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * Re-emits all notifications from source Observable with specified scheduler.\n *\n * <span class=\"informal\">Ensure a specific scheduler is used, from outside of an Observable.</span>\n *\n * `observeOn` is an operator that accepts a scheduler as a first parameter, which will be used to reschedule\n * notifications emitted by the source Observable. It might be useful, if you do not have control over\n * internal scheduler of a given Observable, but want to control when its values are emitted nevertheless.\n *\n * Returned Observable emits the same notifications (nexted values, complete and error events) as the source Observable,\n * but rescheduled with provided scheduler. Note that this doesn't mean that source Observables internal\n * scheduler will be replaced in any way. Original scheduler still will be used, but when the source Observable emits\n * notification, it will be immediately scheduled again - this time with scheduler passed to `observeOn`.\n * An anti-pattern would be calling `observeOn` on Observable that emits lots of values synchronously, to split\n * that emissions into asynchronous chunks. For this to happen, scheduler would have to be passed into the source\n * Observable directly (usually into the operator that creates it). `observeOn` simply delays notifications a\n * little bit more, to ensure that they are emitted at expected moments.\n *\n * As a matter of fact, `observeOn` accepts second parameter, which specifies in milliseconds with what delay notifications\n * will be emitted. The main difference between {@link delay} operator and `observeOn` is that `observeOn`\n * will delay all notifications - including error notifications - while `delay` will pass through error\n * from source Observable immediately when it is emitted. In general it is highly recommended to use `delay` operator\n * for any kind of delaying of values in the stream, while using `observeOn` to specify which scheduler should be used\n * for notification emissions in general.\n *\n * ## Example\n *\n * Ensure values in subscribe are called just before browser repaint\n *\n * ```ts\n * import { interval, observeOn, animationFrameScheduler } from 'rxjs';\n *\n * const someDiv = document.createElement('div');\n * someDiv.style.cssText = 'width: 200px;background: #09c';\n * document.body.appendChild(someDiv);\n * const intervals = interval(10);      // Intervals are scheduled\n *                                      // with async scheduler by default...\n * intervals.pipe(\n *   observeOn(animationFrameScheduler) // ...but we will observe on animationFrame\n * )                                    // scheduler to ensure smooth animation.\n * .subscribe(val => {\n *   someDiv.style.height = val + 'px';\n * });\n * ```\n *\n * @see {@link delay}\n *\n * @param scheduler Scheduler that will be used to reschedule notifications from source Observable.\n * @param delay Number of milliseconds that states with what delay every notification should be rescheduled.\n * @return A function that returns an Observable that emits the same\n * notifications as the source Observable, but with provided scheduler.\n */\nexport function observeOn<T>(scheduler: SchedulerLike, delay = 0): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value) => executeSchedule(subscriber, scheduler, () => subscriber.next(value), delay),\n        () => executeSchedule(subscriber, scheduler, () => subscriber.complete(), delay),\n        (err) => executeSchedule(subscriber, scheduler, () => subscriber.error(err), delay)\n      )\n    );\n  });\n}\n", "import { MonoTypeOperatorFunction, SchedulerLike } from '../types';\nimport { operate } from '../util/lift';\n\n/**\n * Asynchronously subscribes Observers to this Observable on the specified {@link SchedulerLike}.\n *\n * With `subscribeOn` you can decide what type of scheduler a specific Observable will be using when it is subscribed to.\n *\n * Schedulers control the speed and order of emissions to observers from an Observable stream.\n *\n * ![](subscribeOn.png)\n *\n * ## Example\n *\n * Given the following code:\n *\n * ```ts\n * import { of, merge } from 'rxjs';\n *\n * const a = of(1, 2, 3);\n * const b = of(4, 5, 6);\n *\n * merge(a, b).subscribe(console.log);\n *\n * // Outputs\n * // 1\n * // 2\n * // 3\n * // 4\n * // 5\n * // 6\n * ```\n *\n * Both Observable `a` and `b` will emit their values directly and synchronously once they are subscribed to.\n *\n * If we instead use the `subscribeOn` operator declaring that we want to use the {@link asyncScheduler} for values emitted by Observable `a`:\n *\n * ```ts\n * import { of, subscribeOn, asyncScheduler, merge } from 'rxjs';\n *\n * const a = of(1, 2, 3).pipe(subscribeOn(asyncScheduler));\n * const b = of(4, 5, 6);\n *\n * merge(a, b).subscribe(console.log);\n *\n * // Outputs\n * // 4\n * // 5\n * // 6\n * // 1\n * // 2\n * // 3\n * ```\n *\n * The reason for this is that Observable `b` emits its values directly and synchronously like before\n * but the emissions from `a` are scheduled on the event loop because we are now using the {@link asyncScheduler} for that specific Observable.\n *\n * @param scheduler The {@link SchedulerLike} to perform subscription actions on.\n * @param delay A delay to pass to the scheduler to delay subscriptions\n * @return A function that returns an Observable modified so that its\n * subscriptions happen on the specified {@link SchedulerLike}.\n */\nexport function subscribeOn<T>(scheduler: SchedulerLike, delay: number = 0): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    subscriber.add(scheduler.schedule(() => source.subscribe(subscriber), delay));\n  });\n}\n", "import { innerFrom } from '../observable/innerFrom';\nimport { observeOn } from '../operators/observeOn';\nimport { subscribeOn } from '../operators/subscribeOn';\nimport { InteropObservable, SchedulerLike } from '../types';\n\nexport function scheduleObservable<T>(input: InteropObservable<T>, scheduler: SchedulerLike) {\n  return innerFrom(input).pipe(subscribeOn(scheduler), observeOn(scheduler));\n}\n", "import { innerFrom } from '../observable/innerFrom';\nimport { observeOn } from '../operators/observeOn';\nimport { subscribeOn } from '../operators/subscribeOn';\nimport { SchedulerLike } from '../types';\n\nexport function schedulePromise<T>(input: PromiseLike<T>, scheduler: SchedulerLike) {\n  return innerFrom(input).pipe(subscribeOn(scheduler), observeOn(scheduler));\n}\n", "import { Observable } from '../Observable';\nimport { SchedulerLike } from '../types';\n\nexport function scheduleArray<T>(input: ArrayLike<T>, scheduler: SchedulerLike) {\n  return new Observable<T>((subscriber) => {\n    // The current array index.\n    let i = 0;\n    // Start iterating over the array like on a schedule.\n    return scheduler.schedule(function () {\n      if (i === input.length) {\n        // If we have hit the end of the array like in the\n        // previous job, we can complete.\n        subscriber.complete();\n      } else {\n        // Otherwise let's next the value at the current index,\n        // then increment our index.\n        subscriber.next(input[i++]);\n        // If the last emission didn't cause us to close the subscriber\n        // (via take or some side effect), reschedule the job and we'll\n        // make another pass.\n        if (!subscriber.closed) {\n          this.schedule();\n        }\n      }\n    });\n  });\n}\n", "import { Observable } from '../Observable';\nimport { SchedulerLike } from '../types';\nimport { iterator as Symbol_iterator } from '../symbol/iterator';\nimport { isFunction } from '../util/isFunction';\nimport { executeSchedule } from '../util/executeSchedule';\n\n/**\n * Used in {@link scheduled} to create an observable from an Iterable.\n * @param input The iterable to create an observable from\n * @param scheduler The scheduler to use\n */\nexport function scheduleIterable<T>(input: Iterable<T>, scheduler: SchedulerLike) {\n  return new Observable<T>((subscriber) => {\n    let iterator: Iterator<T, T>;\n\n    // Schedule the initial creation of the iterator from\n    // the iterable. This is so the code in the iterable is\n    // not called until the scheduled job fires.\n    executeSchedule(subscriber, scheduler, () => {\n      // Create the iterator.\n      iterator = (input as any)[Symbol_iterator]();\n\n      executeSchedule(\n        subscriber,\n        scheduler,\n        () => {\n          let value: T;\n          let done: boolean | undefined;\n          try {\n            // Pull the value out of the iterator\n            ({ value, done } = iterator.next());\n          } catch (err) {\n            // We got an error while pulling from the iterator\n            subscriber.error(err);\n            return;\n          }\n\n          if (done) {\n            // If it is \"done\" we just complete. This mimics the\n            // behavior of JavaScript's `for..of` consumption of\n            // iterables, which will not emit the value from an iterator\n            // result of `{ done: true: value: 'here' }`.\n            subscriber.complete();\n          } else {\n            // The iterable is not done, emit the value.\n            subscriber.next(value);\n          }\n        },\n        0,\n        true\n      );\n    });\n\n    // During finalization, if we see this iterator has a `return` method,\n    // then we know it is a Generator, and not just an Iterator. So we call\n    // the `return()` function. This will ensure that any `finally { }` blocks\n    // inside of the generator we can hit will be hit properly.\n    return () => isFunction(iterator?.return) && iterator.return();\n  });\n}\n", "import { SchedulerLike } from '../types';\nimport { Observable } from '../Observable';\nimport { executeSchedule } from '../util/executeSchedule';\n\nexport function scheduleAsyncIterable<T>(input: AsyncIterable<T>, scheduler: SchedulerLike) {\n  if (!input) {\n    throw new Error('Iterable cannot be null');\n  }\n  return new Observable<T>((subscriber) => {\n    executeSchedule(subscriber, scheduler, () => {\n      const iterator = input[Symbol.asyncIterator]();\n      executeSchedule(\n        subscriber,\n        scheduler,\n        () => {\n          iterator.next().then((result) => {\n            if (result.done) {\n              // This will remove the subscriptions from\n              // the parent subscription.\n              subscriber.complete();\n            } else {\n              subscriber.next(result.value);\n            }\n          });\n        },\n        0,\n        true\n      );\n    });\n  });\n}\n", "import { SchedulerLike, ReadableStreamLike } from '../types';\nimport { Observable } from '../Observable';\nimport { scheduleAsyncIterable } from './scheduleAsyncIterable';\nimport { readableStreamLikeToAsyncGenerator } from '../util/isReadableStreamLike';\n\nexport function scheduleReadableStreamLike<T>(input: ReadableStreamLike<T>, scheduler: SchedulerLike): Observable<T> {\n  return scheduleAsyncIterable(readableStreamLikeToAsyncGenerator(input), scheduler);\n}\n", "import { scheduleObservable } from './scheduleObservable';\nimport { schedulePromise } from './schedulePromise';\nimport { scheduleArray } from './scheduleArray';\nimport { scheduleIterable } from './scheduleIterable';\nimport { scheduleAsyncIterable } from './scheduleAsyncIterable';\nimport { isInteropObservable } from '../util/isInteropObservable';\nimport { isPromise } from '../util/isPromise';\nimport { isArrayLike } from '../util/isArrayLike';\nimport { isIterable } from '../util/isIterable';\nimport { ObservableInput, SchedulerLike } from '../types';\nimport { Observable } from '../Observable';\nimport { isAsyncIterable } from '../util/isAsyncIterable';\nimport { createInvalidObservableTypeError } from '../util/throwUnobservableError';\nimport { isReadableStreamLike } from '../util/isReadableStreamLike';\nimport { scheduleReadableStreamLike } from './scheduleReadableStreamLike';\n\n/**\n * Converts from a common {@link ObservableInput} type to an observable where subscription and emissions\n * are scheduled on the provided scheduler.\n *\n * @see {@link from}\n * @see {@link of}\n *\n * @param input The observable, array, promise, iterable, etc you would like to schedule\n * @param scheduler The scheduler to use to schedule the subscription and emissions from\n * the returned observable.\n */\nexport function scheduled<T>(input: ObservableInput<T>, scheduler: SchedulerLike): Observable<T> {\n  if (input != null) {\n    if (isInteropObservable(input)) {\n      return scheduleObservable(input, scheduler);\n    }\n    if (isArrayLike(input)) {\n      return scheduleArray(input, scheduler);\n    }\n    if (isPromise(input)) {\n      return schedulePromise(input, scheduler);\n    }\n    if (isAsyncIterable(input)) {\n      return scheduleAsyncIterable(input, scheduler);\n    }\n    if (isIterable(input)) {\n      return scheduleIterable(input, scheduler);\n    }\n    if (isReadableStreamLike(input)) {\n      return scheduleReadableStreamLike(input, scheduler);\n    }\n  }\n  throw createInvalidObservableTypeError(input);\n}\n", "import { Observable } from '../Observable';\nimport { ObservableInput, SchedulerLike, ObservedValueOf } from '../types';\nimport { scheduled } from '../scheduled/scheduled';\nimport { innerFrom } from './innerFrom';\n\nexport function from<O extends ObservableInput<any>>(input: O): Observable<ObservedValueOf<O>>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function from<O extends ObservableInput<any>>(input: O, scheduler: SchedulerLike | undefined): Observable<ObservedValueOf<O>>;\n\n/**\n * Creates an Observable from an Array, an array-like object, a Promise, an iterable object, or an Observable-like object.\n *\n * <span class=\"informal\">Converts almost anything to an Observable.</span>\n *\n * ![](from.png)\n *\n * `from` converts various other objects and data types into Observables. It also converts a Promise, an array-like, or an\n * <a href=\"https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Iteration_protocols#iterable\" target=\"_blank\">iterable</a>\n * object into an Observable that emits the items in that promise, array, or iterable. A String, in this context, is treated\n * as an array of characters. Observable-like objects (contains a function named with the ES2015 Symbol for Observable) can also be\n * converted through this operator.\n *\n * ## Examples\n *\n * Converts an array to an Observable\n *\n * ```ts\n * import { from } from 'rxjs';\n *\n * const array = [10, 20, 30];\n * const result = from(array);\n *\n * result.subscribe(x => console.log(x));\n *\n * // Logs:\n * // 10\n * // 20\n * // 30\n * ```\n *\n * Convert an infinite iterable (from a generator) to an Observable\n *\n * ```ts\n * import { from, take } from 'rxjs';\n *\n * function* generateDoubles(seed) {\n *    let i = seed;\n *    while (true) {\n *      yield i;\n *      i = 2 * i; // double it\n *    }\n * }\n *\n * const iterator = generateDoubles(3);\n * const result = from(iterator).pipe(take(10));\n *\n * result.subscribe(x => console.log(x));\n *\n * // Logs:\n * // 3\n * // 6\n * // 12\n * // 24\n * // 48\n * // 96\n * // 192\n * // 384\n * // 768\n * // 1536\n * ```\n *\n * With `asyncScheduler`\n *\n * ```ts\n * import { from, asyncScheduler } from 'rxjs';\n *\n * console.log('start');\n *\n * const array = [10, 20, 30];\n * const result = from(array, asyncScheduler);\n *\n * result.subscribe(x => console.log(x));\n *\n * console.log('end');\n *\n * // Logs:\n * // 'start'\n * // 'end'\n * // 10\n * // 20\n * // 30\n * ```\n *\n * @see {@link fromEvent}\n * @see {@link fromEventPattern}\n *\n * @param {ObservableInput<T>} A subscription object, a Promise, an Observable-like,\n * an Array, an iterable, or an array-like object to be converted.\n * @param {SchedulerLike} An optional {@link SchedulerLike} on which to schedule the emission of values.\n * @return {Observable<T>}\n */\nexport function from<T>(input: ObservableInput<T>, scheduler?: SchedulerLike): Observable<T> {\n  return scheduler ? scheduled(input, scheduler) : innerFrom(input);\n}\n", "import { SchedulerLike, ValueFromArray } from '../types';\nimport { Observable } from '../Observable';\nimport { popScheduler } from '../util/args';\nimport { from } from './from';\n\n// Devs are more likely to pass null or undefined than they are a scheduler\n// without accompanying values. To make things easier for (naughty) devs who\n// use the `strictNullChecks: false` TypeScript compiler option, these\n// overloads with explicit null and undefined values are included.\n\nexport function of(value: null): Observable<null>;\nexport function of(value: undefined): Observable<undefined>;\n\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function of(scheduler: SchedulerLike): Observable<never>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function of<A extends readonly unknown[]>(...valuesAndScheduler: [...A, SchedulerLike]): Observable<ValueFromArray<A>>;\n\nexport function of(): Observable<never>;\n/** @deprecated Do not specify explicit type parameters. Signatures with type parameters that cannot be inferred will be removed in v8. */\nexport function of<T>(): Observable<T>;\nexport function of<T>(value: T): Observable<T>;\nexport function of<A extends readonly unknown[]>(...values: A): Observable<ValueFromArray<A>>;\n\n/**\n * Converts the arguments to an observable sequence.\n *\n * <span class=\"informal\">Each argument becomes a `next` notification.</span>\n *\n * ![](of.png)\n *\n * Unlike {@link from}, it does not do any flattening and emits each argument in whole\n * as a separate `next` notification.\n *\n * ## Examples\n *\n * Emit the values `10, 20, 30`\n *\n * ```ts\n * import { of } from 'rxjs';\n *\n * of(10, 20, 30)\n *   .subscribe({\n *     next: value => console.log('next:', value),\n *     error: err => console.log('error:', err),\n *     complete: () => console.log('the end'),\n *   });\n *\n * // Outputs\n * // next: 10\n * // next: 20\n * // next: 30\n * // the end\n * ```\n *\n * Emit the array `[1, 2, 3]`\n *\n * ```ts\n * import { of } from 'rxjs';\n *\n * of([1, 2, 3])\n *   .subscribe({\n *     next: value => console.log('next:', value),\n *     error: err => console.log('error:', err),\n *     complete: () => console.log('the end'),\n *   });\n *\n * // Outputs\n * // next: [1, 2, 3]\n * // the end\n * ```\n *\n * @see {@link from}\n * @see {@link range}\n *\n * @param {...T} values A comma separated list of arguments you want to be emitted\n * @return {Observable} An Observable that emits the arguments\n * described above and then completes.\n */\nexport function of<T>(...args: Array<T | SchedulerLike>): Observable<T> {\n  const scheduler = popScheduler(args);\n  return from(args as T[], scheduler);\n}\n", "import { Observable } from '../Observable';\nimport { Subscriber } from '../Subscriber';\nimport { SchedulerLike } from '../types';\nimport { isFunction } from '../util/isFunction';\n\n/**\n * Creates an observable that will create an error instance and push it to the consumer as an error\n * immediately upon subscription.\n *\n * <span class=\"informal\">Just errors and does nothing else</span>\n *\n * ![](throw.png)\n *\n * This creation function is useful for creating an observable that will create an error and error every\n * time it is subscribed to. Generally, inside of most operators when you might want to return an errored\n * observable, this is unnecessary. In most cases, such as in the inner return of {@link concatMap},\n * {@link mergeMap}, {@link defer}, and many others, you can simply throw the error, and RxJS will pick\n * that up and notify the consumer of the error.\n *\n * ## Example\n *\n * Create a simple observable that will create a new error with a timestamp and log it\n * and the message every time you subscribe to it\n *\n * ```ts\n * import { throwError } from 'rxjs';\n *\n * let errorCount = 0;\n *\n * const errorWithTimestamp$ = throwError(() => {\n *   const error: any = new Error(`This is error number ${ ++errorCount }`);\n *   error.timestamp = Date.now();\n *   return error;\n * });\n *\n * errorWithTimestamp$.subscribe({\n *   error: err => console.log(err.timestamp, err.message)\n * });\n *\n * errorWithTimestamp$.subscribe({\n *   error: err => console.log(err.timestamp, err.message)\n * });\n *\n * // Logs the timestamp and a new error message for each subscription\n * ```\n *\n * ### Unnecessary usage\n *\n * Using `throwError` inside of an operator or creation function\n * with a callback, is usually not necessary\n *\n * ```ts\n * import { of, concatMap, timer, throwError } from 'rxjs';\n *\n * const delays$ = of(1000, 2000, Infinity, 3000);\n *\n * delays$.pipe(\n *   concatMap(ms => {\n *     if (ms < 10000) {\n *       return timer(ms);\n *     } else {\n *       // This is probably overkill.\n *       return throwError(() => new Error(`Invalid time ${ ms }`));\n *     }\n *   })\n * )\n * .subscribe({\n *   next: console.log,\n *   error: console.error\n * });\n * ```\n *\n * You can just throw the error instead\n *\n * ```ts\n * import { of, concatMap, timer } from 'rxjs';\n *\n * const delays$ = of(1000, 2000, Infinity, 3000);\n *\n * delays$.pipe(\n *   concatMap(ms => {\n *     if (ms < 10000) {\n *       return timer(ms);\n *     } else {\n *       // Cleaner and easier to read for most folks.\n *       throw new Error(`Invalid time ${ ms }`);\n *     }\n *   })\n * )\n * .subscribe({\n *   next: console.log,\n *   error: console.error\n * });\n * ```\n *\n * @param errorFactory A factory function that will create the error instance that is pushed.\n */\nexport function throwError(errorFactory: () => any): Observable<never>;\n\n/**\n * Returns an observable that will error with the specified error immediately upon subscription.\n *\n * @param error The error instance to emit\n * @deprecated Support for passing an error value will be removed in v8. Instead, pass a factory function to `throwError(() => new Error('test'))`. This is\n * because it will create the error at the moment it should be created and capture a more appropriate stack trace. If\n * for some reason you need to create the error ahead of time, you can still do that: `const err = new Error('test'); throwError(() => err);`.\n */\nexport function throwError(error: any): Observable<never>;\n\n/**\n * Notifies the consumer of an error using a given scheduler by scheduling it at delay `0` upon subscription.\n *\n * @param errorOrErrorFactory An error instance or error factory\n * @param scheduler A scheduler to use to schedule the error notification\n * @deprecated The `scheduler` parameter will be removed in v8.\n * Use `throwError` in combination with {@link observeOn}: `throwError(() => new Error('test')).pipe(observeOn(scheduler));`.\n * Details: https://rxjs.dev/deprecations/scheduler-argument\n */\nexport function throwError(errorOrErrorFactory: any, scheduler: SchedulerLike): Observable<never>;\n\nexport function throwError(errorOrErrorFactory: any, scheduler?: SchedulerLike): Observable<never> {\n  const errorFactory = isFunction(errorOrErrorFactory) ? errorOrErrorFactory : () => errorOrErrorFactory;\n  const init = (subscriber: Subscriber<never>) => subscriber.error(errorFactory());\n  return new Observable(scheduler ? (subscriber) => scheduler.schedule(init as any, 0, subscriber) : init);\n}\n", "import { createErrorClass } from './createErrorClass';\n\nexport interface EmptyError extends Error {}\n\nexport interface EmptyErrorCtor {\n  /**\n   * @deprecated Internal implementation detail. Do not construct error instances.\n   * Cannot be tagged as internal: https://github.com/ReactiveX/rxjs/issues/6269\n   */\n  new (): EmptyError;\n}\n\n/**\n * An error thrown when an Observable or a sequence was queried but has no\n * elements.\n *\n * @see {@link first}\n * @see {@link last}\n * @see {@link single}\n * @see {@link firstValueFrom}\n * @see {@link lastValueFrom}\n *\n * @class EmptyError\n */\nexport const EmptyError: EmptyErrorCtor = createErrorClass((_super) => function EmptyErrorImpl(this: any) {\n  _super(this);\n  this.name = 'EmptyError';\n  this.message = 'no elements in sequence';\n});\n", "/**\n * Checks to see if a value is not only a `Date` object,\n * but a *valid* `Date` object that can be converted to a\n * number. For example, `new Date('blah')` is indeed an\n * `instanceof Date`, however it cannot be converted to a\n * number.\n */\nexport function isValidDate(value: any): value is Date {\n  return value instanceof Date && !isNaN(value as any);\n}\n", "import { OperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\nexport function map<T, R>(project: (value: T, index: number) => R): OperatorFunction<T, R>;\n/** @deprecated Use a closure instead of a `thisArg`. Signatures accepting a `thisArg` will be removed in v8. */\nexport function map<T, R, A>(project: (this: A, value: T, index: number) => R, thisArg: A): OperatorFunction<T, R>;\n\n/**\n * Applies a given `project` function to each value emitted by the source\n * Observable, and emits the resulting values as an Observable.\n *\n * <span class=\"informal\">Like [Array.prototype.map()](https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/Array/map),\n * it passes each source value through a transformation function to get\n * corresponding output values.</span>\n *\n * ![](map.png)\n *\n * Similar to the well known `Array.prototype.map` function, this operator\n * applies a projection to each value and emits that projection in the output\n * Observable.\n *\n * ## Example\n *\n * Map every click to the `clientX` position of that click\n *\n * ```ts\n * import { fromEvent, map } from 'rxjs';\n *\n * const clicks = fromEvent<PointerEvent>(document, 'click');\n * const positions = clicks.pipe(map(ev => ev.clientX));\n *\n * positions.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link mapTo}\n * @see {@link pluck}\n *\n * @param {function(value: T, index: number): R} project The function to apply\n * to each `value` emitted by the source Observable. The `index` parameter is\n * the number `i` for the i-th emission that has happened since the\n * subscription, starting from the number `0`.\n * @param {any} [thisArg] An optional argument to define what `this` is in the\n * `project` function.\n * @return A function that returns an Observable that emits the values from the\n * source Observable transformed by the given `project` function.\n */\nexport function map<T, R>(project: (value: T, index: number) => R, thisArg?: any): OperatorFunction<T, R> {\n  return operate((source, subscriber) => {\n    // The index of the value from the source. Used with projection.\n    let index = 0;\n    // Subscribe to the source, all errors and completions are sent along\n    // to the consumer.\n    source.subscribe(\n      createOperatorSubscriber(subscriber, (value: T) => {\n        // Call the projection function with the appropriate this context,\n        // and send the resulting value to the consumer.\n        subscriber.next(project.call(thisArg, value, index++));\n      })\n    );\n  });\n}\n", "import { OperatorFunction } from \"../types\";\nimport { map } from \"../operators/map\";\n\nconst { isArray } = Array;\n\nfunction callOrApply<T, R>(fn: ((...values: T[]) => R), args: T|T[]): R {\n    return isArray(args) ? fn(...args) : fn(args);\n}\n\n/**\n * Used in several -- mostly deprecated -- situations where we need to \n * apply a list of arguments or a single argument to a result selector.\n */\nexport function mapOneOrManyArgs<T, R>(fn: ((...values: T[]) => R)): OperatorFunction<T|T[], R> {\n    return map(args => callOrApply(fn, args))\n}", "const { isArray } = Array;\nconst { getPrototypeOf, prototype: objectProto, keys: getKeys } = Object;\n\n/**\n * Used in functions where either a list of arguments, a single array of arguments, or a\n * dictionary of arguments can be returned. Returns an object with an `args` property with\n * the arguments in an array, if it is a dictionary, it will also return the `keys` in another\n * property.\n */\nexport function argsArgArrayOrObject<T, O extends Record<string, T>>(args: T[] | [O] | [T[]]): { args: T[]; keys: string[] | null } {\n  if (args.length === 1) {\n    const first = args[0];\n    if (isArray(first)) {\n      return { args: first, keys: null };\n    }\n    if (isPOJO(first)) {\n      const keys = getKeys(first);\n      return {\n        args: keys.map((key) => first[key]),\n        keys,\n      };\n    }\n  }\n\n  return { args: args as T[], keys: null };\n}\n\nfunction isPOJO(obj: any): obj is object {\n  return obj && typeof obj === 'object' && getPrototypeOf(obj) === objectProto;\n}\n", "export function createObject(keys: string[], values: any[]) {\n  return keys.reduce((result, key, i) => ((result[key] = values[i]), result), {} as any);\n}\n", "import { Observable } from '../Observable';\nimport { ObservableInput, SchedulerLike, ObservedValueOf, ObservableInputTuple } from '../types';\nimport { argsArgArrayOrObject } from '../util/argsArgArrayOrObject';\nimport { Subscriber } from '../Subscriber';\nimport { from } from './from';\nimport { identity } from '../util/identity';\nimport { Subscription } from '../Subscription';\nimport { mapOneOrManyArgs } from '../util/mapOneOrManyArgs';\nimport { popResultSelector, popScheduler } from '../util/args';\nimport { createObject } from '../util/createObject';\nimport { createOperatorSubscriber } from '../operators/OperatorSubscriber';\nimport { AnyCatcher } from '../AnyCatcher';\nimport { executeSchedule } from '../util/executeSchedule';\n\n// combineLatest(any)\n// We put this first because we need to catch cases where the user has supplied\n// _exactly `any`_ as the argument. Since `any` literally matches _anything_,\n// we don't want it to randomly hit one of the other type signatures below,\n// as we have no idea at build-time what type we should be returning when given an any.\n\n/**\n * You have passed `any` here, we can't figure out if it is\n * an array or an object, so you're getting `unknown`. Use better types.\n * @param arg Something typed as `any`\n */\nexport function combineLatest<T extends AnyCatcher>(arg: T): Observable<unknown>;\n\n// combineLatest([a, b, c])\nexport function combineLatest(sources: []): Observable<never>;\nexport function combineLatest<A extends readonly unknown[]>(sources: readonly [...ObservableInputTuple<A>]): Observable<A>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `combineLatestAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function combineLatest<A extends readonly unknown[], R>(\n  sources: readonly [...ObservableInputTuple<A>],\n  resultSelector: (...values: A) => R,\n  scheduler: SchedulerLike\n): Observable<R>;\nexport function combineLatest<A extends readonly unknown[], R>(\n  sources: readonly [...ObservableInputTuple<A>],\n  resultSelector: (...values: A) => R\n): Observable<R>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `combineLatestAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function combineLatest<A extends readonly unknown[]>(\n  sources: readonly [...ObservableInputTuple<A>],\n  scheduler: SchedulerLike\n): Observable<A>;\n\n// combineLatest(a, b, c)\n/** @deprecated Pass an array of sources instead. The rest-parameters signature will be removed in v8. Details: https://rxjs.dev/deprecations/array-argument */\nexport function combineLatest<A extends readonly unknown[]>(...sources: [...ObservableInputTuple<A>]): Observable<A>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `combineLatestAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function combineLatest<A extends readonly unknown[], R>(\n  ...sourcesAndResultSelectorAndScheduler: [...ObservableInputTuple<A>, (...values: A) => R, SchedulerLike]\n): Observable<R>;\n/** @deprecated Pass an array of sources instead. The rest-parameters signature will be removed in v8. Details: https://rxjs.dev/deprecations/array-argument */\nexport function combineLatest<A extends readonly unknown[], R>(\n  ...sourcesAndResultSelector: [...ObservableInputTuple<A>, (...values: A) => R]\n): Observable<R>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `combineLatestAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function combineLatest<A extends readonly unknown[]>(\n  ...sourcesAndScheduler: [...ObservableInputTuple<A>, SchedulerLike]\n): Observable<A>;\n\n// combineLatest({a, b, c})\nexport function combineLatest(sourcesObject: { [K in any]: never }): Observable<never>;\nexport function combineLatest<T extends Record<string, ObservableInput<any>>>(\n  sourcesObject: T\n): Observable<{ [K in keyof T]: ObservedValueOf<T[K]> }>;\n\n/**\n * Combines multiple Observables to create an Observable whose values are\n * calculated from the latest values of each of its input Observables.\n *\n * <span class=\"informal\">Whenever any input Observable emits a value, it\n * computes a formula using the latest values from all the inputs, then emits\n * the output of that formula.</span>\n *\n * ![](combineLatest.png)\n *\n * `combineLatest` combines the values from all the Observables passed in the\n * observables array. This is done by subscribing to each Observable in order and,\n * whenever any Observable emits, collecting an array of the most recent\n * values from each Observable. So if you pass `n` Observables to this operator,\n * the returned Observable will always emit an array of `n` values, in an order\n * corresponding to the order of the passed Observables (the value from the first Observable\n * will be at index 0 of the array and so on).\n *\n * Static version of `combineLatest` accepts an array of Observables. Note that an array of\n * Observables is a good choice, if you don't know beforehand how many Observables\n * you will combine. Passing an empty array will result in an Observable that\n * completes immediately.\n *\n * To ensure the output array always has the same length, `combineLatest` will\n * actually wait for all input Observables to emit at least once,\n * before it starts emitting results. This means if some Observable emits\n * values before other Observables started emitting, all these values but the last\n * will be lost. On the other hand, if some Observable does not emit a value but\n * completes, resulting Observable will complete at the same moment without\n * emitting anything, since it will now be impossible to include a value from the\n * completed Observable in the resulting array. Also, if some input Observable does\n * not emit any value and never completes, `combineLatest` will also never emit\n * and never complete, since, again, it will wait for all streams to emit some\n * value.\n *\n * If at least one Observable was passed to `combineLatest` and all passed Observables\n * emitted something, the resulting Observable will complete when all combined\n * streams complete. So even if some Observable completes, the result of\n * `combineLatest` will still emit values when other Observables do. In case\n * of a completed Observable, its value from now on will always be the last\n * emitted value. On the other hand, if any Observable errors, `combineLatest`\n * will error immediately as well, and all other Observables will be unsubscribed.\n *\n * ## Examples\n *\n * Combine two timer Observables\n *\n * ```ts\n * import { timer, combineLatest } from 'rxjs';\n *\n * const firstTimer = timer(0, 1000); // emit 0, 1, 2... after every second, starting from now\n * const secondTimer = timer(500, 1000); // emit 0, 1, 2... after every second, starting 0,5s from now\n * const combinedTimers = combineLatest([firstTimer, secondTimer]);\n * combinedTimers.subscribe(value => console.log(value));\n * // Logs\n * // [0, 0] after 0.5s\n * // [1, 0] after 1s\n * // [1, 1] after 1.5s\n * // [2, 1] after 2s\n * ```\n *\n * Combine a dictionary of Observables\n *\n * ```ts\n * import { of, delay, startWith, combineLatest } from 'rxjs';\n *\n * const observables = {\n *   a: of(1).pipe(delay(1000), startWith(0)),\n *   b: of(5).pipe(delay(5000), startWith(0)),\n *   c: of(10).pipe(delay(10000), startWith(0))\n * };\n * const combined = combineLatest(observables);\n * combined.subscribe(value => console.log(value));\n * // Logs\n * // { a: 0, b: 0, c: 0 } immediately\n * // { a: 1, b: 0, c: 0 } after 1s\n * // { a: 1, b: 5, c: 0 } after 5s\n * // { a: 1, b: 5, c: 10 } after 10s\n * ```\n *\n * Combine an array of Observables\n *\n * ```ts\n * import { of, delay, startWith, combineLatest } from 'rxjs';\n *\n * const observables = [1, 5, 10].map(\n *   n => of(n).pipe(\n *     delay(n * 1000), // emit 0 and then emit n after n seconds\n *     startWith(0)\n *   )\n * );\n * const combined = combineLatest(observables);\n * combined.subscribe(value => console.log(value));\n * // Logs\n * // [0, 0, 0] immediately\n * // [1, 0, 0] after 1s\n * // [1, 5, 0] after 5s\n * // [1, 5, 10] after 10s\n * ```\n *\n * Use map operator to dynamically calculate the Body-Mass Index\n *\n * ```ts\n * import { of, combineLatest, map } from 'rxjs';\n *\n * const weight = of(70, 72, 76, 79, 75);\n * const height = of(1.76, 1.77, 1.78);\n * const bmi = combineLatest([weight, height]).pipe(\n *   map(([w, h]) => w / (h * h)),\n * );\n * bmi.subscribe(x => console.log('BMI is ' + x));\n *\n * // With output to console:\n * // BMI is 24.212293388429753\n * // BMI is 23.93948099205209\n * // BMI is 23.671253629592222\n * ```\n *\n * @see {@link combineLatestAll}\n * @see {@link merge}\n * @see {@link withLatestFrom}\n *\n * @param {ObservableInput} [observables] An array of input Observables to combine with each other.\n * An array of Observables must be given as the first argument.\n * @param {function} [project] An optional function to project the values from\n * the combined latest values into a new value on the output Observable.\n * @param {SchedulerLike} [scheduler=null] The {@link SchedulerLike} to use for subscribing to\n * each input Observable.\n * @return {Observable} An Observable of projected values from the most recent\n * values from each input Observable, or an array of the most recent values from\n * each input Observable.\n */\nexport function combineLatest<O extends ObservableInput<any>, R>(...args: any[]): Observable<R> | Observable<ObservedValueOf<O>[]> {\n  const scheduler = popScheduler(args);\n  const resultSelector = popResultSelector(args);\n\n  const { args: observables, keys } = argsArgArrayOrObject(args);\n\n  if (observables.length === 0) {\n    // If no observables are passed, or someone has passed an empty array\n    // of observables, or even an empty object POJO, we need to just\n    // complete (EMPTY), but we have to honor the scheduler provided if any.\n    return from([], scheduler as any);\n  }\n\n  const result = new Observable<ObservedValueOf<O>[]>(\n    combineLatestInit(\n      observables as ObservableInput<ObservedValueOf<O>>[],\n      scheduler,\n      keys\n        ? // A handler for scrubbing the array of args into a dictionary.\n          (values) => createObject(keys, values)\n        : // A passthrough to just return the array\n          identity\n    )\n  );\n\n  return resultSelector ? (result.pipe(mapOneOrManyArgs(resultSelector)) as Observable<R>) : result;\n}\n\nexport function combineLatestInit(\n  observables: ObservableInput<any>[],\n  scheduler?: SchedulerLike,\n  valueTransform: (values: any[]) => any = identity\n) {\n  return (subscriber: Subscriber<any>) => {\n    // The outer subscription. We're capturing this in a function\n    // because we may have to schedule it.\n    maybeSchedule(\n      scheduler,\n      () => {\n        const { length } = observables;\n        // A store for the values each observable has emitted so far. We match observable to value on index.\n        const values = new Array(length);\n        // The number of currently active subscriptions, as they complete, we decrement this number to see if\n        // we are all done combining values, so we can complete the result.\n        let active = length;\n        // The number of inner sources that still haven't emitted the first value\n        // We need to track this because all sources need to emit one value in order\n        // to start emitting values.\n        let remainingFirstValues = length;\n        // The loop to kick off subscription. We're keying everything on index `i` to relate the observables passed\n        // in to the slot in the output array or the key in the array of keys in the output dictionary.\n        for (let i = 0; i < length; i++) {\n          maybeSchedule(\n            scheduler,\n            () => {\n              const source = from(observables[i], scheduler as any);\n              let hasFirstValue = false;\n              source.subscribe(\n                createOperatorSubscriber(\n                  subscriber,\n                  (value) => {\n                    // When we get a value, record it in our set of values.\n                    values[i] = value;\n                    if (!hasFirstValue) {\n                      // If this is our first value, record that.\n                      hasFirstValue = true;\n                      remainingFirstValues--;\n                    }\n                    if (!remainingFirstValues) {\n                      // We're not waiting for any more\n                      // first values, so we can emit!\n                      subscriber.next(valueTransform(values.slice()));\n                    }\n                  },\n                  () => {\n                    if (!--active) {\n                      // We only complete the result if we have no more active\n                      // inner observables.\n                      subscriber.complete();\n                    }\n                  }\n                )\n              );\n            },\n            subscriber\n          );\n        }\n      },\n      subscriber\n    );\n  };\n}\n\n/**\n * A small utility to handle the couple of locations where we want to schedule if a scheduler was provided,\n * but we don't if there was no scheduler.\n */\nfunction maybeSchedule(scheduler: SchedulerLike | undefined, execute: () => void, subscription: Subscription) {\n  if (scheduler) {\n    executeSchedule(subscription, scheduler, execute);\n  } else {\n    execute();\n  }\n}\n", "import { Observable } from '../Observable';\nimport { innerFrom } from '../observable/innerFrom';\nimport { Subscriber } from '../Subscriber';\nimport { ObservableInput, SchedulerLike } from '../types';\nimport { executeSchedule } from '../util/executeSchedule';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * A process embodying the general \"merge\" strategy. This is used in\n * `mergeMap` and `mergeScan` because the logic is otherwise nearly identical.\n * @param source The original source observable\n * @param subscriber The consumer subscriber\n * @param project The projection function to get our inner sources\n * @param concurrent The number of concurrent inner subscriptions\n * @param onBeforeNext Additional logic to apply before nexting to our consumer\n * @param expand If `true` this will perform an \"expand\" strategy, which differs only\n * in that it recurses, and the inner subscription must be schedule-able.\n * @param innerSubScheduler A scheduler to use to schedule inner subscriptions,\n * this is to support the expand strategy, mostly, and should be deprecated\n */\nexport function mergeInternals<T, R>(\n  source: Observable<T>,\n  subscriber: Subscriber<R>,\n  project: (value: T, index: number) => ObservableInput<R>,\n  concurrent: number,\n  onBeforeNext?: (innerValue: R) => void,\n  expand?: boolean,\n  innerSubScheduler?: SchedulerLike,\n  additionalFinalizer?: () => void\n) {\n  // Buffered values, in the event of going over our concurrency limit\n  const buffer: T[] = [];\n  // The number of active inner subscriptions.\n  let active = 0;\n  // An index to pass to our accumulator function\n  let index = 0;\n  // Whether or not the outer source has completed.\n  let isComplete = false;\n\n  /**\n   * Checks to see if we can complete our result or not.\n   */\n  const checkComplete = () => {\n    // If the outer has completed, and nothing is left in the buffer,\n    // and we don't have any active inner subscriptions, then we can\n    // Emit the state and complete.\n    if (isComplete && !buffer.length && !active) {\n      subscriber.complete();\n    }\n  };\n\n  // If we're under our concurrency limit, just start the inner subscription, otherwise buffer and wait.\n  const outerNext = (value: T) => (active < concurrent ? doInnerSub(value) : buffer.push(value));\n\n  const doInnerSub = (value: T) => {\n    // If we're expanding, we need to emit the outer values and the inner values\n    // as the inners will \"become outers\" in a way as they are recursively fed\n    // back to the projection mechanism.\n    expand && subscriber.next(value as any);\n\n    // Increment the number of active subscriptions so we can track it\n    // against our concurrency limit later.\n    active++;\n\n    // A flag used to show that the inner observable completed.\n    // This is checked during finalization to see if we should\n    // move to the next item in the buffer, if there is on.\n    let innerComplete = false;\n\n    // Start our inner subscription.\n    innerFrom(project(value, index++)).subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (innerValue) => {\n          // `mergeScan` has additional handling here. For example\n          // taking the inner value and updating state.\n          onBeforeNext?.(innerValue);\n\n          if (expand) {\n            // If we're expanding, then just recurse back to our outer\n            // handler. It will emit the value first thing.\n            outerNext(innerValue as any);\n          } else {\n            // Otherwise, emit the inner value.\n            subscriber.next(innerValue);\n          }\n        },\n        () => {\n          // Flag that we have completed, so we know to check the buffer\n          // during finalization.\n          innerComplete = true;\n        },\n        // Errors are passed to the destination.\n        undefined,\n        () => {\n          // During finalization, if the inner completed (it wasn't errored or\n          // cancelled), then we want to try the next item in the buffer if\n          // there is one.\n          if (innerComplete) {\n            // We have to wrap this in a try/catch because it happens during\n            // finalization, possibly asynchronously, and we want to pass\n            // any errors that happen (like in a projection function) to\n            // the outer Subscriber.\n            try {\n              // INNER SOURCE COMPLETE\n              // Decrement the active count to ensure that the next time\n              // we try to call `doInnerSub`, the number is accurate.\n              active--;\n              // If we have more values in the buffer, try to process those\n              // Note that this call will increment `active` ahead of the\n              // next conditional, if there were any more inner subscriptions\n              // to start.\n              while (buffer.length && active < concurrent) {\n                const bufferedValue = buffer.shift()!;\n                // Particularly for `expand`, we need to check to see if a scheduler was provided\n                // for when we want to start our inner subscription. Otherwise, we just start\n                // are next inner subscription.\n                if (innerSubScheduler) {\n                  executeSchedule(subscriber, innerSubScheduler, () => doInnerSub(bufferedValue));\n                } else {\n                  doInnerSub(bufferedValue);\n                }\n              }\n              // Check to see if we can complete, and complete if so.\n              checkComplete();\n            } catch (err) {\n              subscriber.error(err);\n            }\n          }\n        }\n      )\n    );\n  };\n\n  // Subscribe to our source observable.\n  source.subscribe(\n    createOperatorSubscriber(subscriber, outerNext, () => {\n      // Outer completed, make a note of it, and check to see if we can complete everything.\n      isComplete = true;\n      checkComplete();\n    })\n  );\n\n  // Additional finalization (for when the destination is torn down).\n  // Other finalization is added implicitly via subscription above.\n  return () => {\n    additionalFinalizer?.();\n  };\n}\n", "import { ObservableInput, OperatorFunction, ObservedValueOf } from '../types';\nimport { map } from './map';\nimport { innerFrom } from '../observable/innerFrom';\nimport { operate } from '../util/lift';\nimport { mergeInternals } from './mergeInternals';\nimport { isFunction } from '../util/isFunction';\n\n/* tslint:disable:max-line-length */\nexport function mergeMap<T, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O,\n  concurrent?: number\n): OperatorFunction<T, ObservedValueOf<O>>;\n/** @deprecated The `resultSelector` parameter will be removed in v8. Use an inner `map` instead. Details: https://rxjs.dev/deprecations/resultSelector */\nexport function mergeMap<T, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O,\n  resultSelector: undefined,\n  concurrent?: number\n): OperatorFunction<T, ObservedValueOf<O>>;\n/** @deprecated The `resultSelector` parameter will be removed in v8. Use an inner `map` instead. Details: https://rxjs.dev/deprecations/resultSelector */\nexport function mergeMap<T, R, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O,\n  resultSelector: (outerValue: T, innerValue: ObservedValueOf<O>, outerIndex: number, innerIndex: number) => R,\n  concurrent?: number\n): OperatorFunction<T, R>;\n/* tslint:enable:max-line-length */\n\n/**\n * Projects each source value to an Observable which is merged in the output\n * Observable.\n *\n * <span class=\"informal\">Maps each value to an Observable, then flattens all of\n * these inner Observables using {@link mergeAll}.</span>\n *\n * ![](mergeMap.png)\n *\n * Returns an Observable that emits items based on applying a function that you\n * supply to each item emitted by the source Observable, where that function\n * returns an Observable, and then merging those resulting Observables and\n * emitting the results of this merger.\n *\n * ## Example\n *\n * Map and flatten each letter to an Observable ticking every 1 second\n *\n * ```ts\n * import { of, mergeMap, interval, map } from 'rxjs';\n *\n * const letters = of('a', 'b', 'c');\n * const result = letters.pipe(\n *   mergeMap(x => interval(1000).pipe(map(i => x + i)))\n * );\n *\n * result.subscribe(x => console.log(x));\n *\n * // Results in the following:\n * // a0\n * // b0\n * // c0\n * // a1\n * // b1\n * // c1\n * // continues to list a, b, c every second with respective ascending integers\n * ```\n *\n * @see {@link concatMap}\n * @see {@link exhaustMap}\n * @see {@link merge}\n * @see {@link mergeAll}\n * @see {@link mergeMapTo}\n * @see {@link mergeScan}\n * @see {@link switchMap}\n *\n * @param {function(value: T, ?index: number): ObservableInput} project A function\n * that, when applied to an item emitted by the source Observable, returns an\n * Observable.\n * @param {number} [concurrent=Infinity] Maximum number of input\n * Observables being subscribed to concurrently.\n * @return A function that returns an Observable that emits the result of\n * applying the projection function (and the optional deprecated\n * `resultSelector`) to each item emitted by the source Observable and merging\n * the results of the Observables obtained from this transformation.\n */\nexport function mergeMap<T, R, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O,\n  resultSelector?: ((outerValue: T, innerValue: ObservedValueOf<O>, outerIndex: number, innerIndex: number) => R) | number,\n  concurrent: number = Infinity\n): OperatorFunction<T, ObservedValueOf<O> | R> {\n  if (isFunction(resultSelector)) {\n    // DEPRECATED PATH\n    return mergeMap((a, i) => map((b: any, ii: number) => resultSelector(a, b, i, ii))(innerFrom(project(a, i))), concurrent);\n  } else if (typeof resultSelector === 'number') {\n    concurrent = resultSelector;\n  }\n\n  return operate((source, subscriber) => mergeInternals(source, subscriber, project, concurrent));\n}\n", "import { mergeMap } from './mergeMap';\nimport { identity } from '../util/identity';\nimport { OperatorFunction, ObservableInput, ObservedValueOf } from '../types';\n\n/**\n * Converts a higher-order Observable into a first-order Observable which\n * concurrently delivers all values that are emitted on the inner Observables.\n *\n * <span class=\"informal\">Flattens an Observable-of-Observables.</span>\n *\n * ![](mergeAll.png)\n *\n * `mergeAll` subscribes to an Observable that emits Observables, also known as\n * a higher-order Observable. Each time it observes one of these emitted inner\n * Observables, it subscribes to that and delivers all the values from the\n * inner Observable on the output Observable. The output Observable only\n * completes once all inner Observables have completed. Any error delivered by\n * a inner Observable will be immediately emitted on the output Observable.\n *\n * ## Examples\n *\n * Spawn a new interval Observable for each click event, and blend their outputs as one Observable\n *\n * ```ts\n * import { fromEvent, map, interval, mergeAll } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const higherOrder = clicks.pipe(map(() => interval(1000)));\n * const firstOrder = higherOrder.pipe(mergeAll());\n *\n * firstOrder.subscribe(x => console.log(x));\n * ```\n *\n * Count from 0 to 9 every second for each click, but only allow 2 concurrent timers\n *\n * ```ts\n * import { fromEvent, map, interval, take, mergeAll } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const higherOrder = clicks.pipe(\n *   map(() => interval(1000).pipe(take(10)))\n * );\n * const firstOrder = higherOrder.pipe(mergeAll(2));\n *\n * firstOrder.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link combineLatestAll}\n * @see {@link concatAll}\n * @see {@link exhaustAll}\n * @see {@link merge}\n * @see {@link mergeMap}\n * @see {@link mergeMapTo}\n * @see {@link mergeScan}\n * @see {@link switchAll}\n * @see {@link switchMap}\n * @see {@link zipAll}\n *\n * @param {number} [concurrent=Infinity] Maximum number of inner\n * Observables being subscribed to concurrently.\n * @return A function that returns an Observable that emits values coming from\n * all the inner Observables emitted by the source Observable.\n */\nexport function mergeAll<O extends ObservableInput<any>>(concurrent: number = Infinity): OperatorFunction<O, ObservedValueOf<O>> {\n  return mergeMap(identity, concurrent);\n}\n", "import { mergeAll } from './mergeAll';\nimport { OperatorFunction, ObservableInput, ObservedValueOf } from '../types';\n\n/**\n * Converts a higher-order Observable into a first-order Observable by\n * concatenating the inner Observables in order.\n *\n * <span class=\"informal\">Flattens an Observable-of-Observables by putting one\n * inner Observable after the other.</span>\n *\n * ![](concatAll.svg)\n *\n * Joins every Observable emitted by the source (a higher-order Observable), in\n * a serial fashion. It subscribes to each inner Observable only after the\n * previous inner Observable has completed, and merges all of their values into\n * the returned observable.\n *\n * __Warning:__ If the source Observable emits Observables quickly and\n * endlessly, and the inner Observables it emits generally complete slower than\n * the source emits, you can run into memory issues as the incoming Observables\n * collect in an unbounded buffer.\n *\n * Note: `concatAll` is equivalent to `mergeAll` with concurrency parameter set\n * to `1`.\n *\n * ## Example\n *\n * For each click event, tick every second from 0 to 3, with no concurrency\n *\n * ```ts\n * import { fromEvent, map, interval, take, concatAll } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const higherOrder = clicks.pipe(\n *   map(() => interval(1000).pipe(take(4)))\n * );\n * const firstOrder = higherOrder.pipe(concatAll());\n * firstOrder.subscribe(x => console.log(x));\n *\n * // Results in the following:\n * // (results are not concurrent)\n * // For every click on the \"document\" it will emit values 0 to 3 spaced\n * // on a 1000ms interval\n * // one click = 1000ms-> 0 -1000ms-> 1 -1000ms-> 2 -1000ms-> 3\n * ```\n *\n * @see {@link combineLatestAll}\n * @see {@link concat}\n * @see {@link concatMap}\n * @see {@link concatMapTo}\n * @see {@link exhaustAll}\n * @see {@link mergeAll}\n * @see {@link switchAll}\n * @see {@link switchMap}\n * @see {@link zipAll}\n *\n * @return A function that returns an Observable emitting values from all the\n * inner Observables concatenated.\n */\nexport function concatAll<O extends ObservableInput<any>>(): OperatorFunction<O, ObservedValueOf<O>> {\n  return mergeAll(1);\n}\n", "import { Observable } from '../Observable';\nimport { ObservableInputTuple, SchedulerLike } from '../types';\nimport { concatAll } from '../operators/concatAll';\nimport { popScheduler } from '../util/args';\nimport { from } from './from';\n\nexport function concat<T extends readonly unknown[]>(...inputs: [...ObservableInputTuple<T>]): Observable<T[number]>;\nexport function concat<T extends readonly unknown[]>(\n  ...inputsAndScheduler: [...ObservableInputTuple<T>, SchedulerLike]\n): Observable<T[number]>;\n\n/**\n * Creates an output Observable which sequentially emits all values from the first given\n * Observable and then moves on to the next.\n *\n * <span class=\"informal\">Concatenates multiple Observables together by\n * sequentially emitting their values, one Observable after the other.</span>\n *\n * ![](concat.png)\n *\n * `concat` joins multiple Observables together, by subscribing to them one at a time and\n * merging their results into the output Observable. You can pass either an array of\n * Observables, or put them directly as arguments. Passing an empty array will result\n * in Observable that completes immediately.\n *\n * `concat` will subscribe to first input Observable and emit all its values, without\n * changing or affecting them in any way. When that Observable completes, it will\n * subscribe to then next Observable passed and, again, emit its values. This will be\n * repeated, until the operator runs out of Observables. When last input Observable completes,\n * `concat` will complete as well. At any given moment only one Observable passed to operator\n * emits values. If you would like to emit values from passed Observables concurrently, check out\n * {@link merge} instead, especially with optional `concurrent` parameter. As a matter of fact,\n * `concat` is an equivalent of `merge` operator with `concurrent` parameter set to `1`.\n *\n * Note that if some input Observable never completes, `concat` will also never complete\n * and Observables following the one that did not complete will never be subscribed. On the other\n * hand, if some Observable simply completes immediately after it is subscribed, it will be\n * invisible for `concat`, which will just move on to the next Observable.\n *\n * If any Observable in chain errors, instead of passing control to the next Observable,\n * `concat` will error immediately as well. Observables that would be subscribed after\n * the one that emitted error, never will.\n *\n * If you pass to `concat` the same Observable many times, its stream of values\n * will be \"replayed\" on every subscription, which means you can repeat given Observable\n * as many times as you like. If passing the same Observable to `concat` 1000 times becomes tedious,\n * you can always use {@link repeat}.\n *\n * ## Examples\n *\n * Concatenate a timer counting from 0 to 3 with a synchronous sequence from 1 to 10\n *\n * ```ts\n * import { interval, take, range, concat } from 'rxjs';\n *\n * const timer = interval(1000).pipe(take(4));\n * const sequence = range(1, 10);\n * const result = concat(timer, sequence);\n * result.subscribe(x => console.log(x));\n *\n * // results in:\n * // 0 -1000ms-> 1 -1000ms-> 2 -1000ms-> 3 -immediate-> 1 ... 10\n * ```\n *\n * Concatenate 3 Observables\n *\n * ```ts\n * import { interval, take, concat } from 'rxjs';\n *\n * const timer1 = interval(1000).pipe(take(10));\n * const timer2 = interval(2000).pipe(take(6));\n * const timer3 = interval(500).pipe(take(10));\n *\n * const result = concat(timer1, timer2, timer3);\n * result.subscribe(x => console.log(x));\n *\n * // results in the following:\n * // (Prints to console sequentially)\n * // -1000ms-> 0 -1000ms-> 1 -1000ms-> ... 9\n * // -2000ms-> 0 -2000ms-> 1 -2000ms-> ... 5\n * // -500ms-> 0 -500ms-> 1 -500ms-> ... 9\n * ```\n *\n * Concatenate the same Observable to repeat it\n *\n * ```ts\n * import { interval, take, concat } from 'rxjs';\n *\n * const timer = interval(1000).pipe(take(2));\n *\n * concat(timer, timer) // concatenating the same Observable!\n *   .subscribe({\n *     next: value => console.log(value),\n *     complete: () => console.log('...and it is done!')\n *   });\n *\n * // Logs:\n * // 0 after 1s\n * // 1 after 2s\n * // 0 after 3s\n * // 1 after 4s\n * // '...and it is done!' also after 4s\n * ```\n *\n * @see {@link concatAll}\n * @see {@link concatMap}\n * @see {@link concatMapTo}\n * @see {@link startWith}\n * @see {@link endWith}\n *\n * @param args Input Observables to concatenate.\n */\nexport function concat(...args: any[]): Observable<unknown> {\n  return concatAll()(from(args, popScheduler(args)));\n}\n", "import { Observable } from '../Observable';\nimport { ObservedValueOf, ObservableInput } from '../types';\nimport { innerFrom } from './innerFrom';\n\n/**\n * Creates an Observable that, on subscribe, calls an Observable factory to\n * make an Observable for each new Observer.\n *\n * <span class=\"informal\">Creates the Observable lazily, that is, only when it\n * is subscribed.\n * </span>\n *\n * ![](defer.png)\n *\n * `defer` allows you to create an Observable only when the Observer\n * subscribes. It waits until an Observer subscribes to it, calls the given\n * factory function to get an Observable -- where a factory function typically\n * generates a new Observable -- and subscribes the Observer to this Observable.\n * In case the factory function returns a falsy value, then EMPTY is used as\n * Observable instead. Last but not least, an exception during the factory\n * function call is transferred to the Observer by calling `error`.\n *\n * ## Example\n *\n * Subscribe to either an Observable of clicks or an Observable of interval, at random\n *\n * ```ts\n * import { defer, fromEvent, interval } from 'rxjs';\n *\n * const clicksOrInterval = defer(() => {\n *   return Math.random() > 0.5\n *     ? fromEvent(document, 'click')\n *     : interval(1000);\n * });\n * clicksOrInterval.subscribe(x => console.log(x));\n *\n * // Results in the following behavior:\n * // If the result of Math.random() is greater than 0.5 it will listen\n * // for clicks anywhere on the \"document\"; when document is clicked it\n * // will log a MouseEvent object to the console. If the result is less\n * // than 0.5 it will emit ascending numbers, one every second(1000ms).\n * ```\n *\n * @see {@link Observable}\n *\n * @param {function(): ObservableInput} observableFactory The Observable\n * factory function to invoke for each Observer that subscribes to the output\n * Observable. May also return a Promise, which will be converted on the fly\n * to an Observable.\n * @return {Observable} An Observable whose Observers' subscriptions trigger\n * an invocation of the given Observable factory function.\n */\nexport function defer<R extends ObservableInput<any>>(observableFactory: () => R): Observable<ObservedValueOf<R>> {\n  return new Observable<ObservedValueOf<R>>((subscriber) => {\n    innerFrom(observableFactory()).subscribe(subscriber);\n  });\n}\n", "import { innerFrom } from '../observable/innerFrom';\nimport { Observable } from '../Observable';\nimport { mergeMap } from '../operators/mergeMap';\nimport { isArrayLike } from '../util/isArrayLike';\nimport { isFunction } from '../util/isFunction';\nimport { mapOneOrManyArgs } from '../util/mapOneOrManyArgs';\n\n// These constants are used to create handler registry functions using array mapping below.\nconst nodeEventEmitterMethods = ['addListener', 'removeListener'] as const;\nconst eventTargetMethods = ['addEventListener', 'removeEventListener'] as const;\nconst jqueryMethods = ['on', 'off'] as const;\n\nexport interface NodeStyleEventEmitter {\n  addListener(eventName: string | symbol, handler: NodeEventHandler): this;\n  removeListener(eventName: string | symbol, handler: NodeEventHandler): this;\n}\n\nexport type NodeEventHandler = (...args: any[]) => void;\n\n// For APIs that implement `addListener` and `removeListener` methods that may\n// not use the same arguments or return EventEmitter values\n// such as React Native\nexport interface NodeCompatibleEventEmitter {\n  addListener(eventName: string, handler: NodeEventHandler): void | {};\n  removeListener(eventName: string, handler: NodeEventHandler): void | {};\n}\n\n// Use handler types like those in @types/jquery. See:\n// https://github.com/DefinitelyTyped/DefinitelyTyped/blob/847731ba1d7fa6db6b911c0e43aa0afe596e7723/types/jquery/misc.d.ts#L6395\nexport interface JQueryStyleEventEmitter<TContext, T> {\n  on(eventName: string, handler: (this: TContext, t: T, ...args: any[]) => any): void;\n  off(eventName: string, handler: (this: TContext, t: T, ...args: any[]) => any): void;\n}\n\nexport interface EventListenerObject<E> {\n  handleEvent(evt: E): void;\n}\n\nexport interface HasEventTargetAddRemove<E> {\n  addEventListener(\n    type: string,\n    listener: ((evt: E) => void) | EventListenerObject<E> | null,\n    options?: boolean | AddEventListenerOptions\n  ): void;\n  removeEventListener(\n    type: string,\n    listener: ((evt: E) => void) | EventListenerObject<E> | null,\n    options?: EventListenerOptions | boolean\n  ): void;\n}\n\nexport interface EventListenerOptions {\n  capture?: boolean;\n  passive?: boolean;\n  once?: boolean;\n}\n\nexport interface AddEventListenerOptions extends EventListenerOptions {\n  once?: boolean;\n  passive?: boolean;\n}\n\nexport function fromEvent<T>(target: HasEventTargetAddRemove<T> | ArrayLike<HasEventTargetAddRemove<T>>, eventName: string): Observable<T>;\nexport function fromEvent<T, R>(\n  target: HasEventTargetAddRemove<T> | ArrayLike<HasEventTargetAddRemove<T>>,\n  eventName: string,\n  resultSelector: (event: T) => R\n): Observable<R>;\nexport function fromEvent<T>(\n  target: HasEventTargetAddRemove<T> | ArrayLike<HasEventTargetAddRemove<T>>,\n  eventName: string,\n  options: EventListenerOptions\n): Observable<T>;\nexport function fromEvent<T, R>(\n  target: HasEventTargetAddRemove<T> | ArrayLike<HasEventTargetAddRemove<T>>,\n  eventName: string,\n  options: EventListenerOptions,\n  resultSelector: (event: T) => R\n): Observable<R>;\n\nexport function fromEvent(target: NodeStyleEventEmitter | ArrayLike<NodeStyleEventEmitter>, eventName: string): Observable<unknown>;\n/** @deprecated Do not specify explicit type parameters. Signatures with type parameters that cannot be inferred will be removed in v8. */\nexport function fromEvent<T>(target: NodeStyleEventEmitter | ArrayLike<NodeStyleEventEmitter>, eventName: string): Observable<T>;\nexport function fromEvent<R>(\n  target: NodeStyleEventEmitter | ArrayLike<NodeStyleEventEmitter>,\n  eventName: string,\n  resultSelector: (...args: any[]) => R\n): Observable<R>;\n\nexport function fromEvent(\n  target: NodeCompatibleEventEmitter | ArrayLike<NodeCompatibleEventEmitter>,\n  eventName: string\n): Observable<unknown>;\n/** @deprecated Do not specify explicit type parameters. Signatures with type parameters that cannot be inferred will be removed in v8. */\nexport function fromEvent<T>(target: NodeCompatibleEventEmitter | ArrayLike<NodeCompatibleEventEmitter>, eventName: string): Observable<T>;\nexport function fromEvent<R>(\n  target: NodeCompatibleEventEmitter | ArrayLike<NodeCompatibleEventEmitter>,\n  eventName: string,\n  resultSelector: (...args: any[]) => R\n): Observable<R>;\n\nexport function fromEvent<T>(\n  target: JQueryStyleEventEmitter<any, T> | ArrayLike<JQueryStyleEventEmitter<any, T>>,\n  eventName: string\n): Observable<T>;\nexport function fromEvent<T, R>(\n  target: JQueryStyleEventEmitter<any, T> | ArrayLike<JQueryStyleEventEmitter<any, T>>,\n  eventName: string,\n  resultSelector: (value: T, ...args: any[]) => R\n): Observable<R>;\n\n/**\n * Creates an Observable that emits events of a specific type coming from the\n * given event target.\n *\n * <span class=\"informal\">Creates an Observable from DOM events, or Node.js\n * EventEmitter events or others.</span>\n *\n * ![](fromEvent.png)\n *\n * `fromEvent` accepts as a first argument event target, which is an object with methods\n * for registering event handler functions. As a second argument it takes string that indicates\n * type of event we want to listen for. `fromEvent` supports selected types of event targets,\n * which are described in detail below. If your event target does not match any of the ones listed,\n * you should use {@link fromEventPattern}, which can be used on arbitrary APIs.\n * When it comes to APIs supported by `fromEvent`, their methods for adding and removing event\n * handler functions have different names, but they all accept a string describing event type\n * and function itself, which will be called whenever said event happens.\n *\n * Every time resulting Observable is subscribed, event handler function will be registered\n * to event target on given event type. When that event fires, value\n * passed as a first argument to registered function will be emitted by output Observable.\n * When Observable is unsubscribed, function will be unregistered from event target.\n *\n * Note that if event target calls registered function with more than one argument, second\n * and following arguments will not appear in resulting stream. In order to get access to them,\n * you can pass to `fromEvent` optional project function, which will be called with all arguments\n * passed to event handler. Output Observable will then emit value returned by project function,\n * instead of the usual value.\n *\n * Remember that event targets listed below are checked via duck typing. It means that\n * no matter what kind of object you have and no matter what environment you work in,\n * you can safely use `fromEvent` on that object if it exposes described methods (provided\n * of course they behave as was described above). So for example if Node.js library exposes\n * event target which has the same method names as DOM EventTarget, `fromEvent` is still\n * a good choice.\n *\n * If the API you use is more callback then event handler oriented (subscribed\n * callback function fires only once and thus there is no need to manually\n * unregister it), you should use {@link bindCallback} or {@link bindNodeCallback}\n * instead.\n *\n * `fromEvent` supports following types of event targets:\n *\n * **DOM EventTarget**\n *\n * This is an object with `addEventListener` and `removeEventListener` methods.\n *\n * In the browser, `addEventListener` accepts - apart from event type string and event\n * handler function arguments - optional third parameter, which is either an object or boolean,\n * both used for additional configuration how and when passed function will be called. When\n * `fromEvent` is used with event target of that type, you can provide this values\n * as third parameter as well.\n *\n * **Node.js EventEmitter**\n *\n * An object with `addListener` and `removeListener` methods.\n *\n * **JQuery-style event target**\n *\n * An object with `on` and `off` methods\n *\n * **DOM NodeList**\n *\n * List of DOM Nodes, returned for example by `document.querySelectorAll` or `Node.childNodes`.\n *\n * Although this collection is not event target in itself, `fromEvent` will iterate over all Nodes\n * it contains and install event handler function in every of them. When returned Observable\n * is unsubscribed, function will be removed from all Nodes.\n *\n * **DOM HtmlCollection**\n *\n * Just as in case of NodeList it is a collection of DOM nodes. Here as well event handler function is\n * installed and removed in each of elements.\n *\n *\n * ## Examples\n *\n * Emit clicks happening on the DOM document\n *\n * ```ts\n * import { fromEvent } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * clicks.subscribe(x => console.log(x));\n *\n * // Results in:\n * // MouseEvent object logged to console every time a click\n * // occurs on the document.\n * ```\n *\n * Use `addEventListener` with capture option\n *\n * ```ts\n * import { fromEvent } from 'rxjs';\n *\n * const div = document.createElement('div');\n * div.style.cssText = 'width: 200px; height: 200px; background: #09c;';\n * document.body.appendChild(div);\n *\n * // note optional configuration parameter which will be passed to addEventListener\n * const clicksInDocument = fromEvent(document, 'click', { capture: true });\n * const clicksInDiv = fromEvent(div, 'click');\n *\n * clicksInDocument.subscribe(() => console.log('document'));\n * clicksInDiv.subscribe(() => console.log('div'));\n *\n * // By default events bubble UP in DOM tree, so normally\n * // when we would click on div in document\n * // \"div\" would be logged first and then \"document\".\n * // Since we specified optional `capture` option, document\n * // will catch event when it goes DOWN DOM tree, so console\n * // will log \"document\" and then \"div\".\n * ```\n *\n * @see {@link bindCallback}\n * @see {@link bindNodeCallback}\n * @see {@link fromEventPattern}\n *\n * @param {FromEventTarget<T>} target The DOM EventTarget, Node.js\n * EventEmitter, JQuery-like event target, NodeList or HTMLCollection to attach the event handler to.\n * @param {string} eventName The event name of interest, being emitted by the\n * `target`.\n * @param {EventListenerOptions} [options] Options to pass through to addEventListener\n * @return {Observable<T>}\n */\nexport function fromEvent<T>(\n  target: any,\n  eventName: string,\n  options?: EventListenerOptions | ((...args: any[]) => T),\n  resultSelector?: (...args: any[]) => T\n): Observable<T> {\n  if (isFunction(options)) {\n    resultSelector = options;\n    options = undefined;\n  }\n  if (resultSelector) {\n    return fromEvent<T>(target, eventName, options as EventListenerOptions).pipe(mapOneOrManyArgs(resultSelector));\n  }\n\n  // Figure out our add and remove methods. In order to do this,\n  // we are going to analyze the target in a preferred order, if\n  // the target matches a given signature, we take the two \"add\" and \"remove\"\n  // method names and apply them to a map to create opposite versions of the\n  // same function. This is because they all operate in duplicate pairs,\n  // `addListener(name, handler)`, `removeListener(name, handler)`, for example.\n  // The call only differs by method name, as to whether or not you're adding or removing.\n  const [add, remove] =\n    // If it is an EventTarget, we need to use a slightly different method than the other two patterns.\n    isEventTarget(target)\n      ? eventTargetMethods.map((methodName) => (handler: any) => target[methodName](eventName, handler, options as EventListenerOptions))\n      : // In all other cases, the call pattern is identical with the exception of the method names.\n      isNodeStyleEventEmitter(target)\n      ? nodeEventEmitterMethods.map(toCommonHandlerRegistry(target, eventName))\n      : isJQueryStyleEventEmitter(target)\n      ? jqueryMethods.map(toCommonHandlerRegistry(target, eventName))\n      : [];\n\n  // If add is falsy, it's because we didn't match a pattern above.\n  // Check to see if it is an ArrayLike, because if it is, we want to\n  // try to apply fromEvent to all of it's items. We do this check last,\n  // because there are may be some types that are both ArrayLike *and* implement\n  // event registry points, and we'd rather delegate to that when possible.\n  if (!add) {\n    if (isArrayLike(target)) {\n      return mergeMap((subTarget: any) => fromEvent(subTarget, eventName, options as EventListenerOptions))(\n        innerFrom(target)\n      ) as Observable<T>;\n    }\n  }\n\n  // If add is falsy and we made it here, it's because we didn't\n  // match any valid target objects above.\n  if (!add) {\n    throw new TypeError('Invalid event target');\n  }\n\n  return new Observable<T>((subscriber) => {\n    // The handler we are going to register. Forwards the event object, by itself, or\n    // an array of arguments to the event handler, if there is more than one argument,\n    // to the consumer.\n    const handler = (...args: any[]) => subscriber.next(1 < args.length ? args : args[0]);\n    // Do the work of adding the handler to the target.\n    add(handler);\n    // When we finalize, we want to remove the handler and free up memory.\n    return () => remove!(handler);\n  });\n}\n\n/**\n * Used to create `add` and `remove` functions to register and unregister event handlers\n * from a target in the most common handler pattern, where there are only two arguments.\n * (e.g.  `on(name, fn)`, `off(name, fn)`, `addListener(name, fn)`, or `removeListener(name, fn)`)\n * @param target The target we're calling methods on\n * @param eventName The event name for the event we're creating register or unregister functions for\n */\nfunction toCommonHandlerRegistry(target: any, eventName: string) {\n  return (methodName: string) => (handler: any) => target[methodName](eventName, handler);\n}\n\n/**\n * Checks to see if the target implements the required node-style EventEmitter methods\n * for adding and removing event handlers.\n * @param target the object to check\n */\nfunction isNodeStyleEventEmitter(target: any): target is NodeStyleEventEmitter {\n  return isFunction(target.addListener) && isFunction(target.removeListener);\n}\n\n/**\n * Checks to see if the target implements the required jQuery-style EventEmitter methods\n * for adding and removing event handlers.\n * @param target the object to check\n */\nfunction isJQueryStyleEventEmitter(target: any): target is JQueryStyleEventEmitter<any, any> {\n  return isFunction(target.on) && isFunction(target.off);\n}\n\n/**\n * Checks to see if the target implements the required EventTarget methods\n * for adding and removing event handlers.\n * @param target the object to check\n */\nfunction isEventTarget(target: any): target is HasEventTargetAddRemove<any> {\n  return isFunction(target.addEventListener) && isFunction(target.removeEventListener);\n}\n", "import { Observable } from '../Observable';\nimport { isFunction } from '../util/isFunction';\nimport { NodeEventHandler } from './fromEvent';\nimport { mapOneOrManyArgs } from '../util/mapOneOrManyArgs';\n\n/* tslint:disable:max-line-length */\nexport function fromEventPattern<T>(\n  addHandler: (handler: NodeEventHandler) => any,\n  removeHandler?: (handler: NodeEventHandler, signal?: any) => void\n): Observable<T>;\nexport function fromEventPattern<T>(\n  addHandler: (handler: NodeEventHandler) => any,\n  removeHandler?: (handler: NodeEventHandler, signal?: any) => void,\n  resultSelector?: (...args: any[]) => T\n): Observable<T>;\n/* tslint:enable:max-line-length */\n\n/**\n * Creates an Observable from an arbitrary API for registering event handlers.\n *\n * <span class=\"informal\">When that method for adding event handler was something {@link fromEvent}\n * was not prepared for.</span>\n *\n * ![](fromEventPattern.png)\n *\n * `fromEventPattern` allows you to convert into an Observable any API that supports registering handler functions\n * for events. It is similar to {@link fromEvent}, but far\n * more flexible. In fact, all use cases of {@link fromEvent} could be easily handled by\n * `fromEventPattern` (although in slightly more verbose way).\n *\n * This operator accepts as a first argument an `addHandler` function, which will be injected with\n * handler parameter. That handler is actually an event handler function that you now can pass\n * to API expecting it. `addHandler` will be called whenever Observable\n * returned by the operator is subscribed, so registering handler in API will not\n * necessarily happen when `fromEventPattern` is called.\n *\n * After registration, every time an event that we listen to happens,\n * Observable returned by `fromEventPattern` will emit value that event handler\n * function was called with. Note that if event handler was called with more\n * than one argument, second and following arguments will not appear in the Observable.\n *\n * If API you are using allows to unregister event handlers as well, you can pass to `fromEventPattern`\n * another function - `removeHandler` - as a second parameter. It will be injected\n * with the same handler function as before, which now you can use to unregister\n * it from the API. `removeHandler` will be called when consumer of resulting Observable\n * unsubscribes from it.\n *\n * In some APIs unregistering is actually handled differently. Method registering an event handler\n * returns some kind of token, which is later used to identify which function should\n * be unregistered or it itself has method that unregisters event handler.\n * If that is the case with your API, make sure token returned\n * by registering method is returned by `addHandler`. Then it will be passed\n * as a second argument to `removeHandler`, where you will be able to use it.\n *\n * If you need access to all event handler parameters (not only the first one),\n * or you need to transform them in any way, you can call `fromEventPattern` with optional\n * third parameter - project function which will accept all arguments passed to\n * event handler when it is called. Whatever is returned from project function will appear on\n * resulting stream instead of usual event handlers first argument. This means\n * that default project can be thought of as function that takes its first parameter\n * and ignores the rest.\n *\n * ## Examples\n *\n * Emits clicks happening on the DOM document\n *\n * ```ts\n * import { fromEventPattern } from 'rxjs';\n *\n * function addClickHandler(handler) {\n *   document.addEventListener('click', handler);\n * }\n *\n * function removeClickHandler(handler) {\n *   document.removeEventListener('click', handler);\n * }\n *\n * const clicks = fromEventPattern(\n *   addClickHandler,\n *   removeClickHandler\n * );\n * clicks.subscribe(x => console.log(x));\n *\n * // Whenever you click anywhere in the browser, DOM MouseEvent\n * // object will be logged.\n * ```\n *\n * Use with API that returns cancellation token\n *\n * ```ts\n * import { fromEventPattern } from 'rxjs';\n *\n * const token = someAPI.registerEventHandler(function() {});\n * someAPI.unregisterEventHandler(token); // this APIs cancellation method accepts\n *                                        // not handler itself, but special token.\n *\n * const someAPIObservable = fromEventPattern(\n *   function(handler) { return someAPI.registerEventHandler(handler); }, // Note that we return the token here...\n *   function(handler, token) { someAPI.unregisterEventHandler(token); }  // ...to then use it here.\n * );\n * ```\n *\n * Use with project function\n *\n * ```ts\n * import { fromEventPattern } from 'rxjs';\n *\n * someAPI.registerEventHandler((eventType, eventMessage) => {\n *   console.log(eventType, eventMessage); // Logs 'EVENT_TYPE' 'EVENT_MESSAGE' to console.\n * });\n *\n * const someAPIObservable = fromEventPattern(\n *   handler => someAPI.registerEventHandler(handler),\n *   handler => someAPI.unregisterEventHandler(handler)\n *   (eventType, eventMessage) => eventType + ' --- ' + eventMessage // without that function only 'EVENT_TYPE'\n * );                                                                // would be emitted by the Observable\n *\n * someAPIObservable.subscribe(value => console.log(value));\n *\n * // Logs:\n * // 'EVENT_TYPE --- EVENT_MESSAGE'\n * ```\n *\n * @see {@link fromEvent}\n * @see {@link bindCallback}\n * @see {@link bindNodeCallback}\n *\n * @param {function(handler: Function): any} addHandler A function that takes\n * a `handler` function as argument and attaches it somehow to the actual\n * source of events.\n * @param {function(handler: Function, token?: any): void} [removeHandler] A function that\n * takes a `handler` function as an argument and removes it from the event source. If `addHandler`\n * returns some kind of token, `removeHandler` function will have it as a second parameter.\n * @param {function(...args: any): T} [project] A function to\n * transform results. It takes the arguments from the event handler and\n * should return a single value.\n * @return {Observable<T>} Observable which, when an event happens, emits first parameter\n * passed to registered event handler. Alternatively it emits whatever project function returns\n * at that moment.\n */\nexport function fromEventPattern<T>(\n  addHandler: (handler: NodeEventHandler) => any,\n  removeHandler?: (handler: NodeEventHandler, signal?: any) => void,\n  resultSelector?: (...args: any[]) => T\n): Observable<T | T[]> {\n  if (resultSelector) {\n    return fromEventPattern<T>(addHandler, removeHandler).pipe(mapOneOrManyArgs(resultSelector));\n  }\n\n  return new Observable<T | T[]>((subscriber) => {\n    const handler = (...e: T[]) => subscriber.next(e.length === 1 ? e[0] : e);\n    const retValue = addHandler(handler);\n    return isFunction(removeHandler) ? () => removeHandler(handler, retValue) : undefined;\n  });\n}\n", "import { Observable } from '../Observable';\nimport { SchedulerLike } from '../types';\nimport { async as asyncScheduler } from '../scheduler/async';\nimport { isScheduler } from '../util/isScheduler';\nimport { isValidDate } from '../util/isDate';\n\n/**\n * Creates an observable that will wait for a specified time period, or exact date, before\n * emitting the number 0.\n *\n * <span class=\"informal\">Used to emit a notification after a delay.</span>\n *\n * This observable is useful for creating delays in code, or racing against other values\n * for ad-hoc timeouts.\n *\n * The `delay` is specified by default in milliseconds, however providing a custom scheduler could\n * create a different behavior.\n *\n * ## Examples\n *\n * Wait 3 seconds and start another observable\n *\n * You might want to use `timer` to delay subscription to an\n * observable by a set amount of time. Here we use a timer with\n * {@link concatMapTo} or {@link concatMap} in order to wait\n * a few seconds and start a subscription to a source.\n *\n * ```ts\n * import { of, timer, concatMap } from 'rxjs';\n *\n * // This could be any observable\n * const source = of(1, 2, 3);\n *\n * timer(3000)\n *   .pipe(concatMap(() => source))\n *   .subscribe(console.log);\n * ```\n *\n * Take all values until the start of the next minute\n *\n * Using a `Date` as the trigger for the first emission, you can\n * do things like wait until midnight to fire an event, or in this case,\n * wait until a new minute starts (chosen so the example wouldn't take\n * too long to run) in order to stop watching a stream. Leveraging\n * {@link takeUntil}.\n *\n * ```ts\n * import { interval, takeUntil, timer } from 'rxjs';\n *\n * // Build a Date object that marks the\n * // next minute.\n * const currentDate = new Date();\n * const startOfNextMinute = new Date(\n *   currentDate.getFullYear(),\n *   currentDate.getMonth(),\n *   currentDate.getDate(),\n *   currentDate.getHours(),\n *   currentDate.getMinutes() + 1\n * );\n *\n * // This could be any observable stream\n * const source = interval(1000);\n *\n * const result = source.pipe(\n *   takeUntil(timer(startOfNextMinute))\n * );\n *\n * result.subscribe(console.log);\n * ```\n *\n * ### Known Limitations\n *\n * - The {@link asyncScheduler} uses `setTimeout` which has limitations for how far in the future it can be scheduled.\n *\n * - If a `scheduler` is provided that returns a timestamp other than an epoch from `now()`, and\n * a `Date` object is passed to the `dueTime` argument, the calculation for when the first emission\n * should occur will be incorrect. In this case, it would be best to do your own calculations\n * ahead of time, and pass a `number` in as the `dueTime`.\n *\n * @param due If a `number`, the amount of time in milliseconds to wait before emitting.\n * If a `Date`, the exact time at which to emit.\n * @param scheduler The scheduler to use to schedule the delay. Defaults to {@link asyncScheduler}.\n */\nexport function timer(due: number | Date, scheduler?: SchedulerLike): Observable<0>;\n\n/**\n * Creates an observable that starts an interval after a specified delay, emitting incrementing numbers -- starting at `0` --\n * on each interval after words.\n *\n * The `delay` and `intervalDuration` are specified by default in milliseconds, however providing a custom scheduler could\n * create a different behavior.\n *\n * ## Example\n *\n * ### Start an interval that starts right away\n *\n * Since {@link interval} waits for the passed delay before starting,\n * sometimes that's not ideal. You may want to start an interval immediately.\n * `timer` works well for this. Here we have both side-by-side so you can\n * see them in comparison.\n *\n * Note that this observable will never complete.\n *\n * ```ts\n * import { timer, interval } from 'rxjs';\n *\n * timer(0, 1000).subscribe(n => console.log('timer', n));\n * interval(1000).subscribe(n => console.log('interval', n));\n * ```\n *\n * ### Known Limitations\n *\n * - The {@link asyncScheduler} uses `setTimeout` which has limitations for how far in the future it can be scheduled.\n *\n * - If a `scheduler` is provided that returns a timestamp other than an epoch from `now()`, and\n * a `Date` object is passed to the `dueTime` argument, the calculation for when the first emission\n * should occur will be incorrect. In this case, it would be best to do your own calculations\n * ahead of time, and pass a `number` in as the `startDue`.\n * @param startDue If a `number`, is the time to wait before starting the interval.\n * If a `Date`, is the exact time at which to start the interval.\n * @param intervalDuration The delay between each value emitted in the interval. Passing a\n * negative number here will result in immediate completion after the first value is emitted, as though\n * no `intervalDuration` was passed at all.\n * @param scheduler The scheduler to use to schedule the delay. Defaults to {@link asyncScheduler}.\n */\nexport function timer(startDue: number | Date, intervalDuration: number, scheduler?: SchedulerLike): Observable<number>;\n\n/**\n * @deprecated The signature allowing `undefined` to be passed for `intervalDuration` will be removed in v8. Use the `timer(dueTime, scheduler?)` signature instead.\n */\nexport function timer(dueTime: number | Date, unused: undefined, scheduler?: SchedulerLike): Observable<0>;\n\nexport function timer(\n  dueTime: number | Date = 0,\n  intervalOrScheduler?: number | SchedulerLike,\n  scheduler: SchedulerLike = asyncScheduler\n): Observable<number> {\n  // Since negative intervalDuration is treated as though no\n  // interval was specified at all, we start with a negative number.\n  let intervalDuration = -1;\n\n  if (intervalOrScheduler != null) {\n    // If we have a second argument, and it's a scheduler,\n    // override the scheduler we had defaulted. Otherwise,\n    // it must be an interval.\n    if (isScheduler(intervalOrScheduler)) {\n      scheduler = intervalOrScheduler;\n    } else {\n      // Note that this *could* be negative, in which case\n      // it's like not passing an intervalDuration at all.\n      intervalDuration = intervalOrScheduler;\n    }\n  }\n\n  return new Observable((subscriber) => {\n    // If a valid date is passed, calculate how long to wait before\n    // executing the first value... otherwise, if it's a number just schedule\n    // that many milliseconds (or scheduler-specified unit size) in the future.\n    let due = isValidDate(dueTime) ? +dueTime - scheduler!.now() : dueTime;\n\n    if (due < 0) {\n      // Ensure we don't schedule in the future.\n      due = 0;\n    }\n\n    // The incrementing value we emit.\n    let n = 0;\n\n    // Start the timer.\n    return scheduler.schedule(function () {\n      if (!subscriber.closed) {\n        // Emit the next value and increment.\n        subscriber.next(n++);\n\n        if (0 <= intervalDuration) {\n          // If we have a interval after the initial timer,\n          // reschedule with the period.\n          this.schedule(undefined, intervalDuration);\n        } else {\n          // We didn't have an interval. So just complete.\n          subscriber.complete();\n        }\n      }\n    }, due);\n  });\n}\n", "import { Observable } from '../Observable';\nimport { ObservableInput, ObservableInputTuple, SchedulerLike } from '../types';\nimport { mergeAll } from '../operators/mergeAll';\nimport { innerFrom } from './innerFrom';\nimport { EMPTY } from './empty';\nimport { popNumber, popScheduler } from '../util/args';\nimport { from } from './from';\n\nexport function merge<A extends readonly unknown[]>(...sources: [...ObservableInputTuple<A>]): Observable<A[number]>;\nexport function merge<A extends readonly unknown[]>(...sourcesAndConcurrency: [...ObservableInputTuple<A>, number?]): Observable<A[number]>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `mergeAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function merge<A extends readonly unknown[]>(\n  ...sourcesAndScheduler: [...ObservableInputTuple<A>, SchedulerLike?]\n): Observable<A[number]>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `mergeAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function merge<A extends readonly unknown[]>(\n  ...sourcesAndConcurrencyAndScheduler: [...ObservableInputTuple<A>, number?, SchedulerLike?]\n): Observable<A[number]>;\n\n/**\n * Creates an output Observable which concurrently emits all values from every\n * given input Observable.\n *\n * <span class=\"informal\">Flattens multiple Observables together by blending\n * their values into one Observable.</span>\n *\n * ![](merge.png)\n *\n * `merge` subscribes to each given input Observable (as arguments), and simply\n * forwards (without doing any transformation) all the values from all the input\n * Observables to the output Observable. The output Observable only completes\n * once all input Observables have completed. Any error delivered by an input\n * Observable will be immediately emitted on the output Observable.\n *\n * ## Examples\n *\n * Merge together two Observables: 1s interval and clicks\n *\n * ```ts\n * import { merge, fromEvent, interval } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const timer = interval(1000);\n * const clicksOrTimer = merge(clicks, timer);\n * clicksOrTimer.subscribe(x => console.log(x));\n *\n * // Results in the following:\n * // timer will emit ascending values, one every second(1000ms) to console\n * // clicks logs MouseEvents to console every time the \"document\" is clicked\n * // Since the two streams are merged you see these happening\n * // as they occur.\n * ```\n *\n * Merge together 3 Observables, but run only 2 concurrently\n *\n * ```ts\n * import { interval, take, merge } from 'rxjs';\n *\n * const timer1 = interval(1000).pipe(take(10));\n * const timer2 = interval(2000).pipe(take(6));\n * const timer3 = interval(500).pipe(take(10));\n *\n * const concurrent = 2; // the argument\n * const merged = merge(timer1, timer2, timer3, concurrent);\n * merged.subscribe(x => console.log(x));\n *\n * // Results in the following:\n * // - First timer1 and timer2 will run concurrently\n * // - timer1 will emit a value every 1000ms for 10 iterations\n * // - timer2 will emit a value every 2000ms for 6 iterations\n * // - after timer1 hits its max iteration, timer2 will\n * //   continue, and timer3 will start to run concurrently with timer2\n * // - when timer2 hits its max iteration it terminates, and\n * //   timer3 will continue to emit a value every 500ms until it is complete\n * ```\n *\n * @see {@link mergeAll}\n * @see {@link mergeMap}\n * @see {@link mergeMapTo}\n * @see {@link mergeScan}\n *\n * @param {...ObservableInput} observables Input Observables to merge together.\n * @param {number} [concurrent=Infinity] Maximum number of input\n * Observables being subscribed to concurrently.\n * @param {SchedulerLike} [scheduler=null] The {@link SchedulerLike} to use for managing\n * concurrency of input Observables.\n * @return {Observable} an Observable that emits items that are the result of\n * every input Observable.\n */\nexport function merge(...args: (ObservableInput<unknown> | number | SchedulerLike)[]): Observable<unknown> {\n  const scheduler = popScheduler(args);\n  const concurrent = popNumber(args, Infinity);\n  const sources = args as ObservableInput<unknown>[];\n  return !sources.length\n    ? // No source provided\n      EMPTY\n    : sources.length === 1\n    ? // One source? Just return it.\n      innerFrom(sources[0])\n    : // Merge all sources\n      mergeAll(concurrent)(from(sources, scheduler));\n}\n", "import { Observable } from '../Observable';\nimport { noop } from '../util/noop';\n\n/**\n * An Observable that emits no items to the Observer and never completes.\n *\n * ![](never.png)\n *\n * A simple Observable that emits neither values nor errors nor the completion\n * notification. It can be used for testing purposes or for composing with other\n * Observables. Please note that by never emitting a complete notification, this\n * Observable keeps the subscription from being disposed automatically.\n * Subscriptions need to be manually disposed.\n *\n * ##  Example\n *\n * Emit the number 7, then never emit anything else (not even complete)\n *\n * ```ts\n * import { NEVER, startWith } from 'rxjs';\n *\n * const info = () => console.log('Will not be called');\n *\n * const result = NEVER.pipe(startWith(7));\n * result.subscribe({\n *   next: x => console.log(x),\n *   error: info,\n *   complete: info\n * });\n * ```\n *\n * @see {@link Observable}\n * @see {@link EMPTY}\n * @see {@link of}\n * @see {@link throwError}\n */\nexport const NEVER = new Observable<never>(noop);\n\n/**\n * @deprecated Replaced with the {@link NEVER} constant. Will be removed in v8.\n */\nexport function never() {\n  return NEVER;\n}\n", "const { isArray } = Array;\n\n/**\n * Used in operators and functions that accept either a list of arguments, or an array of arguments\n * as a single argument.\n */\nexport function argsOrArgArray<T>(args: (T | T[])[]): T[] {\n  return args.length === 1 && isArray(args[0]) ? args[0] : (args as T[]);\n}\n", "import { OperatorFunction, MonoTypeOperatorFunction, TruthyTypesOf } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/** @deprecated Use a closure instead of a `thisArg`. Signatures accepting a `thisArg` will be removed in v8. */\nexport function filter<T, S extends T, A>(predicate: (this: A, value: T, index: number) => value is S, thisArg: A): OperatorFunction<T, S>;\nexport function filter<T, S extends T>(predicate: (value: T, index: number) => value is S): OperatorFunction<T, S>;\nexport function filter<T>(predicate: BooleanConstructor): OperatorFunction<T, TruthyTypesOf<T>>;\n/** @deprecated Use a closure instead of a `thisArg`. Signatures accepting a `thisArg` will be removed in v8. */\nexport function filter<T, A>(predicate: (this: A, value: T, index: number) => boolean, thisArg: A): MonoTypeOperatorFunction<T>;\nexport function filter<T>(predicate: (value: T, index: number) => boolean): MonoTypeOperatorFunction<T>;\n\n/**\n * Filter items emitted by the source Observable by only emitting those that\n * satisfy a specified predicate.\n *\n * <span class=\"informal\">Like\n * [Array.prototype.filter()](https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/Array/filter),\n * it only emits a value from the source if it passes a criterion function.</span>\n *\n * ![](filter.png)\n *\n * Similar to the well-known `Array.prototype.filter` method, this operator\n * takes values from the source Observable, passes them through a `predicate`\n * function and only emits those values that yielded `true`.\n *\n * ## Example\n *\n * Emit only click events whose target was a DIV element\n *\n * ```ts\n * import { fromEvent, filter } from 'rxjs';\n *\n * const div = document.createElement('div');\n * div.style.cssText = 'width: 200px; height: 200px; background: #09c;';\n * document.body.appendChild(div);\n *\n * const clicks = fromEvent(document, 'click');\n * const clicksOnDivs = clicks.pipe(filter(ev => (<HTMLElement>ev.target).tagName === 'DIV'));\n * clicksOnDivs.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link distinct}\n * @see {@link distinctUntilChanged}\n * @see {@link distinctUntilKeyChanged}\n * @see {@link ignoreElements}\n * @see {@link partition}\n * @see {@link skip}\n *\n * @param predicate A function that\n * evaluates each value emitted by the source Observable. If it returns `true`,\n * the value is emitted, if `false` the value is not passed to the output\n * Observable. The `index` parameter is the number `i` for the i-th source\n * emission that has happened since the subscription, starting from the number\n * `0`.\n * @param thisArg An optional argument to determine the value of `this`\n * in the `predicate` function.\n * @return A function that returns an Observable that emits items from the\n * source Observable that satisfy the specified `predicate`.\n */\nexport function filter<T>(predicate: (value: T, index: number) => boolean, thisArg?: any): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    // An index passed to our predicate function on each call.\n    let index = 0;\n\n    // Subscribe to the source, all errors and completions are\n    // forwarded to the consumer.\n    source.subscribe(\n      // Call the predicate with the appropriate `this` context,\n      // if the predicate returns `true`, then send the value\n      // to the consumer.\n      createOperatorSubscriber(subscriber, (value) => predicate.call(thisArg, value, index++) && subscriber.next(value))\n    );\n  });\n}\n", "import { Observable } from '../Observable';\nimport { ObservableInputTuple } from '../types';\nimport { innerFrom } from './innerFrom';\nimport { argsOrArgArray } from '../util/argsOrArgArray';\nimport { EMPTY } from './empty';\nimport { createOperatorSubscriber } from '../operators/OperatorSubscriber';\nimport { popResultSelector } from '../util/args';\n\nexport function zip<A extends readonly unknown[]>(sources: [...ObservableInputTuple<A>]): Observable<A>;\nexport function zip<A extends readonly unknown[], R>(\n  sources: [...ObservableInputTuple<A>],\n  resultSelector: (...values: A) => R\n): Observable<R>;\nexport function zip<A extends readonly unknown[]>(...sources: [...ObservableInputTuple<A>]): Observable<A>;\nexport function zip<A extends readonly unknown[], R>(\n  ...sourcesAndResultSelector: [...ObservableInputTuple<A>, (...values: A) => R]\n): Observable<R>;\n\n/**\n * Combines multiple Observables to create an Observable whose values are calculated from the values, in order, of each\n * of its input Observables.\n *\n * If the last parameter is a function, this function is used to compute the created value from the input values.\n * Otherwise, an array of the input values is returned.\n *\n * ## Example\n *\n * Combine age and name from different sources\n *\n * ```ts\n * import { of, zip, map } from 'rxjs';\n *\n * const age$ = of(27, 25, 29);\n * const name$ = of('Foo', 'Bar', 'Beer');\n * const isDev$ = of(true, true, false);\n *\n * zip(age$, name$, isDev$).pipe(\n *   map(([age, name, isDev]) => ({ age, name, isDev }))\n * )\n * .subscribe(x => console.log(x));\n *\n * // Outputs\n * // { age: 27, name: 'Foo', isDev: true }\n * // { age: 25, name: 'Bar', isDev: true }\n * // { age: 29, name: 'Beer', isDev: false }\n * ```\n *\n * @param sources\n * @return {Observable<R>}\n */\nexport function zip(...args: unknown[]): Observable<unknown> {\n  const resultSelector = popResultSelector(args);\n\n  const sources = argsOrArgArray(args) as Observable<unknown>[];\n\n  return sources.length\n    ? new Observable<unknown[]>((subscriber) => {\n        // A collection of buffers of values from each source.\n        // Keyed by the same index with which the sources were passed in.\n        let buffers: unknown[][] = sources.map(() => []);\n\n        // An array of flags of whether or not the sources have completed.\n        // This is used to check to see if we should complete the result.\n        // Keyed by the same index with which the sources were passed in.\n        let completed = sources.map(() => false);\n\n        // When everything is done, release the arrays above.\n        subscriber.add(() => {\n          buffers = completed = null!;\n        });\n\n        // Loop over our sources and subscribe to each one. The index `i` is\n        // especially important here, because we use it in closures below to\n        // access the related buffers and completion properties\n        for (let sourceIndex = 0; !subscriber.closed && sourceIndex < sources.length; sourceIndex++) {\n          innerFrom(sources[sourceIndex]).subscribe(\n            createOperatorSubscriber(\n              subscriber,\n              (value) => {\n                buffers[sourceIndex].push(value);\n                // if every buffer has at least one value in it, then we\n                // can shift out the oldest value from each buffer and emit\n                // them as an array.\n                if (buffers.every((buffer) => buffer.length)) {\n                  const result: any = buffers.map((buffer) => buffer.shift()!);\n                  // Emit the array. If theres' a result selector, use that.\n                  subscriber.next(resultSelector ? resultSelector(...result) : result);\n                  // If any one of the sources is both complete and has an empty buffer\n                  // then we complete the result. This is because we cannot possibly have\n                  // any more values to zip together.\n                  if (buffers.some((buffer, i) => !buffer.length && completed[i])) {\n                    subscriber.complete();\n                  }\n                }\n              },\n              () => {\n                // This source completed. Mark it as complete so we can check it later\n                // if we have to.\n                completed[sourceIndex] = true;\n                // But, if this complete source has nothing in its buffer, then we\n                // can complete the result, because we can't possibly have any more\n                // values from this to zip together with the other values.\n                !buffers[sourceIndex].length && subscriber.complete();\n              }\n            )\n          );\n        }\n\n        // When everything is done, release the arrays above.\n        return () => {\n          buffers = completed = null!;\n        };\n      })\n    : EMPTY;\n}\n", "import { Subscriber } from '../Subscriber';\nimport { MonoTypeOperatorFunction, ObservableInput } from '../types';\n\nimport { operate } from '../util/lift';\nimport { innerFrom } from '../observable/innerFrom';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * Ignores source values for a duration determined by another Observable, then\n * emits the most recent value from the source Observable, then repeats this\n * process.\n *\n * <span class=\"informal\">It's like {@link auditTime}, but the silencing\n * duration is determined by a second Observable.</span>\n *\n * ![](audit.svg)\n *\n * `audit` is similar to `throttle`, but emits the last value from the silenced\n * time window, instead of the first value. `audit` emits the most recent value\n * from the source Observable on the output Observable as soon as its internal\n * timer becomes disabled, and ignores source values while the timer is enabled.\n * Initially, the timer is disabled. As soon as the first source value arrives,\n * the timer is enabled by calling the `durationSelector` function with the\n * source value, which returns the \"duration\" Observable. When the duration\n * Observable emits a value, the timer is disabled, then the most\n * recent source value is emitted on the output Observable, and this process\n * repeats for the next source value.\n *\n * ## Example\n *\n * Emit clicks at a rate of at most one click per second\n *\n * ```ts\n * import { fromEvent, audit, interval } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(audit(ev => interval(1000)));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link auditTime}\n * @see {@link debounce}\n * @see {@link delayWhen}\n * @see {@link sample}\n * @see {@link throttle}\n *\n * @param durationSelector A function\n * that receives a value from the source Observable, for computing the silencing\n * duration, returned as an Observable or a Promise.\n * @return A function that returns an Observable that performs rate-limiting of\n * emissions from the source Observable.\n */\nexport function audit<T>(durationSelector: (value: T) => ObservableInput<any>): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    let hasValue = false;\n    let lastValue: T | null = null;\n    let durationSubscriber: Subscriber<any> | null = null;\n    let isComplete = false;\n\n    const endDuration = () => {\n      durationSubscriber?.unsubscribe();\n      durationSubscriber = null;\n      if (hasValue) {\n        hasValue = false;\n        const value = lastValue!;\n        lastValue = null;\n        subscriber.next(value);\n      }\n      isComplete && subscriber.complete();\n    };\n\n    const cleanupDuration = () => {\n      durationSubscriber = null;\n      isComplete && subscriber.complete();\n    };\n\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value) => {\n          hasValue = true;\n          lastValue = value;\n          if (!durationSubscriber) {\n            innerFrom(durationSelector(value)).subscribe(\n              (durationSubscriber = createOperatorSubscriber(subscriber, endDuration, cleanupDuration))\n            );\n          }\n        },\n        () => {\n          isComplete = true;\n          (!hasValue || !durationSubscriber || durationSubscriber.closed) && subscriber.complete();\n        }\n      )\n    );\n  });\n}\n", "import { asyncScheduler } from '../scheduler/async';\nimport { audit } from './audit';\nimport { timer } from '../observable/timer';\nimport { MonoTypeOperatorFunction, SchedulerLike } from '../types';\n\n/**\n * Ignores source values for `duration` milliseconds, then emits the most recent\n * value from the source Observable, then repeats this process.\n *\n * <span class=\"informal\">When it sees a source value, it ignores that plus\n * the next ones for `duration` milliseconds, and then it emits the most recent\n * value from the source.</span>\n *\n * ![](auditTime.png)\n *\n * `auditTime` is similar to `throttleTime`, but emits the last value from the\n * silenced time window, instead of the first value. `auditTime` emits the most\n * recent value from the source Observable on the output Observable as soon as\n * its internal timer becomes disabled, and ignores source values while the\n * timer is enabled. Initially, the timer is disabled. As soon as the first\n * source value arrives, the timer is enabled. After `duration` milliseconds (or\n * the time unit determined internally by the optional `scheduler`) has passed,\n * the timer is disabled, then the most recent source value is emitted on the\n * output Observable, and this process repeats for the next source value.\n * Optionally takes a {@link SchedulerLike} for managing timers.\n *\n * ## Example\n *\n * Emit clicks at a rate of at most one click per second\n *\n * ```ts\n * import { fromEvent, auditTime } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(auditTime(1000));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link audit}\n * @see {@link debounceTime}\n * @see {@link delay}\n * @see {@link sampleTime}\n * @see {@link throttleTime}\n *\n * @param {number} duration Time to wait before emitting the most recent source\n * value, measured in milliseconds or the time unit determined internally\n * by the optional `scheduler`.\n * @param {SchedulerLike} [scheduler=async] The {@link SchedulerLike} to use for\n * managing the timers that handle the rate-limiting behavior.\n * @return A function that returns an Observable that performs rate-limiting of\n * emissions from the source Observable.\n */\nexport function auditTime<T>(duration: number, scheduler: SchedulerLike = asyncScheduler): MonoTypeOperatorFunction<T> {\n  return audit(() => timer(duration, scheduler));\n}\n", "import { OperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { arrRemove } from '../util/arrRemove';\n\n/**\n * Buffers the source Observable values until the size hits the maximum\n * `bufferSize` given.\n *\n * <span class=\"informal\">Collects values from the past as an array, and emits\n * that array only when its size reaches `bufferSize`.</span>\n *\n * ![](bufferCount.png)\n *\n * Buffers a number of values from the source Observable by `bufferSize` then\n * emits the buffer and clears it, and starts a new buffer each\n * `startBufferEvery` values. If `startBufferEvery` is not provided or is\n * `null`, then new buffers are started immediately at the start of the source\n * and when each buffer closes and is emitted.\n *\n * ## Examples\n *\n * Emit the last two click events as an array\n *\n * ```ts\n * import { fromEvent, bufferCount } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const buffered = clicks.pipe(bufferCount(2));\n * buffered.subscribe(x => console.log(x));\n * ```\n *\n * On every click, emit the last two click events as an array\n *\n * ```ts\n * import { fromEvent, bufferCount } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const buffered = clicks.pipe(bufferCount(2, 1));\n * buffered.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link buffer}\n * @see {@link bufferTime}\n * @see {@link bufferToggle}\n * @see {@link bufferWhen}\n * @see {@link pairwise}\n * @see {@link windowCount}\n *\n * @param {number} bufferSize The maximum size of the buffer emitted.\n * @param {number} [startBufferEvery] Interval at which to start a new buffer.\n * For example if `startBufferEvery` is `2`, then a new buffer will be started\n * on every other value from the source. A new buffer is started at the\n * beginning of the source by default.\n * @return A function that returns an Observable of arrays of buffered values.\n */\nexport function bufferCount<T>(bufferSize: number, startBufferEvery: number | null = null): OperatorFunction<T, T[]> {\n  // If no `startBufferEvery` value was supplied, then we're\n  // opening and closing on the bufferSize itself.\n  startBufferEvery = startBufferEvery ?? bufferSize;\n\n  return operate((source, subscriber) => {\n    let buffers: T[][] = [];\n    let count = 0;\n\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value) => {\n          let toEmit: T[][] | null = null;\n\n          // Check to see if we need to start a buffer.\n          // This will start one at the first value, and then\n          // a new one every N after that.\n          if (count++ % startBufferEvery! === 0) {\n            buffers.push([]);\n          }\n\n          // Push our value into our active buffers.\n          for (const buffer of buffers) {\n            buffer.push(value);\n            // Check to see if we're over the bufferSize\n            // if we are, record it so we can emit it later.\n            // If we emitted it now and removed it, it would\n            // mutate the `buffers` array while we're looping\n            // over it.\n            if (bufferSize <= buffer.length) {\n              toEmit = toEmit ?? [];\n              toEmit.push(buffer);\n            }\n          }\n\n          if (toEmit) {\n            // We have found some buffers that are over the\n            // `bufferSize`. Emit them, and remove them from our\n            // buffers list.\n            for (const buffer of toEmit) {\n              arrRemove(buffers, buffer);\n              subscriber.next(buffer);\n            }\n          }\n        },\n        () => {\n          // When the source completes, emit all of our\n          // active buffers.\n          for (const buffer of buffers) {\n            subscriber.next(buffer);\n          }\n          subscriber.complete();\n        },\n        // Pass all errors through to consumer.\n        undefined,\n        () => {\n          // Clean up our memory when we finalize\n          buffers = null!;\n        }\n      )\n    );\n  });\n}\n", "import { Observable } from '../Observable';\n\nimport { ObservableInput, OperatorFunction, ObservedValueOf } from '../types';\nimport { Subscription } from '../Subscription';\nimport { innerFrom } from '../observable/innerFrom';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { operate } from '../util/lift';\n\n/* tslint:disable:max-line-length */\nexport function catchError<T, O extends ObservableInput<any>>(\n  selector: (err: any, caught: Observable<T>) => O\n): OperatorFunction<T, T | ObservedValueOf<O>>;\n/* tslint:enable:max-line-length */\n\n/**\n * Catches errors on the observable to be handled by returning a new observable or throwing an error.\n *\n * <span class=\"informal\">\n * It only listens to the error channel and ignores notifications.\n * Handles errors from the source observable, and maps them to a new observable.\n * The error may also be rethrown, or a new error can be thrown to emit an error from the result.\n * </span>\n *\n * ![](catch.png)\n *\n * This operator handles errors, but forwards along all other events to the resulting observable.\n * If the source observable terminates with an error, it will map that error to a new observable,\n * subscribe to it, and forward all of its events to the resulting observable.\n *\n * ## Examples\n *\n * Continue with a different Observable when there's an error\n *\n * ```ts\n * import { of, map, catchError } from 'rxjs';\n *\n * of(1, 2, 3, 4, 5)\n *   .pipe(\n *     map(n => {\n *       if (n === 4) {\n *         throw 'four!';\n *       }\n *       return n;\n *     }),\n *     catchError(err => of('I', 'II', 'III', 'IV', 'V'))\n *   )\n *   .subscribe(x => console.log(x));\n *   // 1, 2, 3, I, II, III, IV, V\n * ```\n *\n * Retry the caught source Observable again in case of error, similar to `retry()` operator\n *\n * ```ts\n * import { of, map, catchError, take } from 'rxjs';\n *\n * of(1, 2, 3, 4, 5)\n *   .pipe(\n *     map(n => {\n *       if (n === 4) {\n *         throw 'four!';\n *       }\n *       return n;\n *     }),\n *     catchError((err, caught) => caught),\n *     take(30)\n *   )\n *   .subscribe(x => console.log(x));\n *   // 1, 2, 3, 1, 2, 3, ...\n * ```\n *\n * Throw a new error when the source Observable throws an error\n *\n * ```ts\n * import { of, map, catchError } from 'rxjs';\n *\n * of(1, 2, 3, 4, 5)\n *   .pipe(\n *     map(n => {\n *       if (n === 4) {\n *         throw 'four!';\n *       }\n *       return n;\n *     }),\n *     catchError(err => {\n *       throw 'error in source. Details: ' + err;\n *     })\n *   )\n *   .subscribe({\n *     next: x => console.log(x),\n *     error: err => console.log(err)\n *   });\n *   // 1, 2, 3, error in source. Details: four!\n * ```\n *\n * @see {@link onErrorResumeNext}\n * @see {@link repeat}\n * @see {@link repeatWhen}\n * @see {@link retry }\n * @see {@link retryWhen}\n *\n * @param {function} selector a function that takes as arguments `err`, which is the error, and `caught`, which\n * is the source observable, in case you'd like to \"retry\" that observable by returning it again. Whatever observable\n * is returned by the `selector` will be used to continue the observable chain.\n * @return A function that returns an Observable that originates from either\n * the source or the Observable returned by the `selector` function.\n */\nexport function catchError<T, O extends ObservableInput<any>>(\n  selector: (err: any, caught: Observable<T>) => O\n): OperatorFunction<T, T | ObservedValueOf<O>> {\n  return operate((source, subscriber) => {\n    let innerSub: Subscription | null = null;\n    let syncUnsub = false;\n    let handledResult: Observable<ObservedValueOf<O>>;\n\n    innerSub = source.subscribe(\n      createOperatorSubscriber(subscriber, undefined, undefined, (err) => {\n        handledResult = innerFrom(selector(err, catchError(selector)(source)));\n        if (innerSub) {\n          innerSub.unsubscribe();\n          innerSub = null;\n          handledResult.subscribe(subscriber);\n        } else {\n          // We don't have an innerSub yet, that means the error was synchronous\n          // because the subscribe call hasn't returned yet.\n          syncUnsub = true;\n        }\n      })\n    );\n\n    if (syncUnsub) {\n      // We have a synchronous error, we need to make sure to\n      // finalize right away. This ensures that callbacks in the `finalize` operator are called\n      // at the right time, and that finalization occurs at the expected\n      // time between the source error and the subscription to the\n      // next observable.\n      innerSub.unsubscribe();\n      innerSub = null;\n      handledResult!.subscribe(subscriber);\n    }\n  });\n}\n", "import { Observable } from '../Observable';\nimport { Subscriber } from '../Subscriber';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * A basic scan operation. This is used for `scan` and `reduce`.\n * @param accumulator The accumulator to use\n * @param seed The seed value for the state to accumulate\n * @param hasSeed Whether or not a seed was provided\n * @param emitOnNext Whether or not to emit the state on next\n * @param emitBeforeComplete Whether or not to emit the before completion\n */\n\nexport function scanInternals<V, A, S>(\n  accumulator: (acc: V | A | S, value: V, index: number) => A,\n  seed: S,\n  hasSeed: boolean,\n  emitOnNext: boolean,\n  emitBeforeComplete?: undefined | true\n) {\n  return (source: Observable<V>, subscriber: Subscriber<any>) => {\n    // Whether or not we have state yet. This will only be\n    // false before the first value arrives if we didn't get\n    // a seed value.\n    let hasState = hasSeed;\n    // The state that we're tracking, starting with the seed,\n    // if there is one, and then updated by the return value\n    // from the accumulator on each emission.\n    let state: any = seed;\n    // An index to pass to the accumulator function.\n    let index = 0;\n\n    // Subscribe to our source. All errors and completions are passed through.\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value) => {\n          // Always increment the index.\n          const i = index++;\n          // Set the state\n          state = hasState\n            ? // We already have state, so we can get the new state from the accumulator\n              accumulator(state, value, i)\n            : // We didn't have state yet, a seed value was not provided, so\n\n              // we set the state to the first value, and mark that we have state now\n              ((hasState = true), value);\n\n          // Maybe send it to the consumer.\n          emitOnNext && subscriber.next(state);\n        },\n        // If an onComplete was given, call it, otherwise\n        // just pass through the complete notification to the consumer.\n        emitBeforeComplete &&\n          (() => {\n            hasState && subscriber.next(state);\n            subscriber.complete();\n          })\n      )\n    );\n  };\n}\n", "import { combineLatestInit } from '../observable/combineLatest';\nimport { ObservableInput, ObservableInputTuple, OperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { argsOrArgArray } from '../util/argsOrArgArray';\nimport { mapOneOrManyArgs } from '../util/mapOneOrManyArgs';\nimport { pipe } from '../util/pipe';\nimport { popResultSelector } from '../util/args';\n\n/** @deprecated Replaced with {@link combineLatestWith}. Will be removed in v8. */\nexport function combineLatest<T, A extends readonly unknown[], R>(\n  sources: [...ObservableInputTuple<A>],\n  project: (...values: [T, ...A]) => R\n): OperatorFunction<T, R>;\n/** @deprecated Replaced with {@link combineLatestWith}. Will be removed in v8. */\nexport function combineLatest<T, A extends readonly unknown[], R>(sources: [...ObservableInputTuple<A>]): OperatorFunction<T, [T, ...A]>;\n\n/** @deprecated Replaced with {@link combineLatestWith}. Will be removed in v8. */\nexport function combineLatest<T, A extends readonly unknown[], R>(\n  ...sourcesAndProject: [...ObservableInputTuple<A>, (...values: [T, ...A]) => R]\n): OperatorFunction<T, R>;\n/** @deprecated Replaced with {@link combineLatestWith}. Will be removed in v8. */\nexport function combineLatest<T, A extends readonly unknown[], R>(...sources: [...ObservableInputTuple<A>]): OperatorFunction<T, [T, ...A]>;\n\n/**\n * @deprecated Replaced with {@link combineLatestWith}. Will be removed in v8.\n */\nexport function combineLatest<T, R>(...args: (ObservableInput<any> | ((...values: any[]) => R))[]): OperatorFunction<T, unknown> {\n  const resultSelector = popResultSelector(args);\n  return resultSelector\n    ? pipe(combineLatest(...(args as Array<ObservableInput<any>>)), mapOneOrManyArgs(resultSelector))\n    : operate((source, subscriber) => {\n        combineLatestInit([source, ...argsOrArgArray(args)])(subscriber);\n      });\n}\n", "import { ObservableInputTuple, OperatorFunction, Cons } from '../types';\nimport { combineLatest } from './combineLatest';\n\n/**\n * Create an observable that combines the latest values from all passed observables and the source\n * into arrays and emits them.\n *\n * Returns an observable, that when subscribed to, will subscribe to the source observable and all\n * sources provided as arguments. Once all sources emit at least one value, all of the latest values\n * will be emitted as an array. After that, every time any source emits a value, all of the latest values\n * will be emitted as an array.\n *\n * This is a useful operator for eagerly calculating values based off of changed inputs.\n *\n * ## Example\n *\n * Simple concatenation of values from two inputs\n *\n * ```ts\n * import { fromEvent, combineLatestWith, map } from 'rxjs';\n *\n * // Setup: Add two inputs to the page\n * const input1 = document.createElement('input');\n * document.body.appendChild(input1);\n * const input2 = document.createElement('input');\n * document.body.appendChild(input2);\n *\n * // Get streams of changes\n * const input1Changes$ = fromEvent(input1, 'change');\n * const input2Changes$ = fromEvent(input2, 'change');\n *\n * // Combine the changes by adding them together\n * input1Changes$.pipe(\n *   combineLatestWith(input2Changes$),\n *   map(([e1, e2]) => (<HTMLInputElement>e1.target).value + ' - ' + (<HTMLInputElement>e2.target).value)\n * )\n * .subscribe(x => console.log(x));\n * ```\n *\n * @param otherSources the other sources to subscribe to.\n * @return A function that returns an Observable that emits the latest\n * emissions from both source and provided Observables.\n */\nexport function combineLatestWith<T, A extends readonly unknown[]>(\n  ...otherSources: [...ObservableInputTuple<A>]\n): OperatorFunction<T, Cons<T, A>> {\n  return combineLatest(...otherSources);\n}\n", "import { Subscriber } from '../Subscriber';\nimport { MonoTypeOperatorFunction, ObservableInput } from '../types';\nimport { operate } from '../util/lift';\nimport { noop } from '../util/noop';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { innerFrom } from '../observable/innerFrom';\n\n/**\n * Emits a notification from the source Observable only after a particular time span\n * determined by another Observable has passed without another source emission.\n *\n * <span class=\"informal\">It's like {@link debounceTime}, but the time span of\n * emission silence is determined by a second Observable.</span>\n *\n * ![](debounce.svg)\n *\n * `debounce` delays notifications emitted by the source Observable, but drops previous\n * pending delayed emissions if a new notification arrives on the source Observable.\n * This operator keeps track of the most recent notification from the source\n * Observable, and spawns a duration Observable by calling the\n * `durationSelector` function. The notification is emitted only when the duration\n * Observable emits a next notification, and if no other notification was emitted on\n * the source Observable since the duration Observable was spawned. If a new\n * notification appears before the duration Observable emits, the previous notification will\n * not be emitted and a new duration is scheduled from `durationSelector` is scheduled.\n * If the completing event happens during the scheduled duration the last cached notification\n * is emitted before the completion event is forwarded to the output observable.\n * If the error event happens during the scheduled duration or after it only the error event is\n * forwarded to the output observable. The cache notification is not emitted in this case.\n *\n * Like {@link debounceTime}, this is a rate-limiting operator, and also a\n * delay-like operator since output emissions do not necessarily occur at the\n * same time as they did on the source Observable.\n *\n * ## Example\n *\n * Emit the most recent click after a burst of clicks\n *\n * ```ts\n * import { fromEvent, scan, debounce, interval } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(\n *   scan(i => ++i, 1),\n *   debounce(i => interval(200 * i))\n * );\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link audit}\n * @see {@link auditTime}\n * @see {@link debounceTime}\n * @see {@link delay}\n * @see {@link sample}\n * @see {@link sampleTime}\n * @see {@link throttle}\n * @see {@link throttleTime}\n *\n * @param durationSelector A function\n * that receives a value from the source Observable, for computing the timeout\n * duration for each source value, returned as an Observable or a Promise.\n * @return A function that returns an Observable that delays the emissions of\n * the source Observable by the specified duration Observable returned by\n * `durationSelector`, and may drop some values if they occur too frequently.\n */\nexport function debounce<T>(durationSelector: (value: T) => ObservableInput<any>): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    let hasValue = false;\n    let lastValue: T | null = null;\n    // The subscriber/subscription for the current debounce, if there is one.\n    let durationSubscriber: Subscriber<any> | null = null;\n\n    const emit = () => {\n      // Unsubscribe any current debounce subscription we have,\n      // we only cared about the first notification from it, and we\n      // want to clean that subscription up as soon as possible.\n      durationSubscriber?.unsubscribe();\n      durationSubscriber = null;\n      if (hasValue) {\n        // We have a value! Free up memory first, then emit the value.\n        hasValue = false;\n        const value = lastValue!;\n        lastValue = null;\n        subscriber.next(value);\n      }\n    };\n\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value: T) => {\n          // Cancel any pending debounce duration. We don't\n          // need to null it out here yet tho, because we're just going\n          // to create another one in a few lines.\n          durationSubscriber?.unsubscribe();\n          hasValue = true;\n          lastValue = value;\n          // Capture our duration subscriber, so we can unsubscribe it when we're notified\n          // and we're going to emit the value.\n          durationSubscriber = createOperatorSubscriber(subscriber, emit, noop);\n          // Subscribe to the duration.\n          innerFrom(durationSelector(value)).subscribe(durationSubscriber);\n        },\n        () => {\n          // Source completed.\n          // Emit any pending debounced values then complete\n          emit();\n          subscriber.complete();\n        },\n        // Pass all errors through to consumer\n        undefined,\n        () => {\n          // Finalization.\n          lastValue = durationSubscriber = null;\n        }\n      )\n    );\n  });\n}\n", "import { asyncScheduler } from '../scheduler/async';\nimport { Subscription } from '../Subscription';\nimport { MonoTypeOperatorFunction, SchedulerAction, SchedulerLike } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * Emits a notification from the source Observable only after a particular time span\n * has passed without another source emission.\n *\n * <span class=\"informal\">It's like {@link delay}, but passes only the most\n * recent notification from each burst of emissions.</span>\n *\n * ![](debounceTime.png)\n *\n * `debounceTime` delays notifications emitted by the source Observable, but drops\n * previous pending delayed emissions if a new notification arrives on the source\n * Observable. This operator keeps track of the most recent notification from the\n * source Observable, and emits that only when `dueTime` has passed\n * without any other notification appearing on the source Observable. If a new value\n * appears before `dueTime` silence occurs, the previous notification will be dropped\n * and will not be emitted and a new `dueTime` is scheduled.\n * If the completing event happens during `dueTime` the last cached notification\n * is emitted before the completion event is forwarded to the output observable.\n * If the error event happens during `dueTime` or after it only the error event is\n * forwarded to the output observable. The cache notification is not emitted in this case.\n *\n * This is a rate-limiting operator, because it is impossible for more than one\n * notification to be emitted in any time window of duration `dueTime`, but it is also\n * a delay-like operator since output emissions do not occur at the same time as\n * they did on the source Observable. Optionally takes a {@link SchedulerLike} for\n * managing timers.\n *\n * ## Example\n *\n * Emit the most recent click after a burst of clicks\n *\n * ```ts\n * import { fromEvent, debounceTime } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(debounceTime(1000));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link audit}\n * @see {@link auditTime}\n * @see {@link debounce}\n * @see {@link sample}\n * @see {@link sampleTime}\n * @see {@link throttle}\n * @see {@link throttleTime}\n *\n * @param {number} dueTime The timeout duration in milliseconds (or the time\n * unit determined internally by the optional `scheduler`) for the window of\n * time required to wait for emission silence before emitting the most recent\n * source value.\n * @param {SchedulerLike} [scheduler=async] The {@link SchedulerLike} to use for\n * managing the timers that handle the timeout for each value.\n * @return A function that returns an Observable that delays the emissions of\n * the source Observable by the specified `dueTime`, and may drop some values\n * if they occur too frequently.\n */\nexport function debounceTime<T>(dueTime: number, scheduler: SchedulerLike = asyncScheduler): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    let activeTask: Subscription | null = null;\n    let lastValue: T | null = null;\n    let lastTime: number | null = null;\n\n    const emit = () => {\n      if (activeTask) {\n        // We have a value! Free up memory first, then emit the value.\n        activeTask.unsubscribe();\n        activeTask = null;\n        const value = lastValue!;\n        lastValue = null;\n        subscriber.next(value);\n      }\n    };\n    function emitWhenIdle(this: SchedulerAction<unknown>) {\n      // This is called `dueTime` after the first value\n      // but we might have received new values during this window!\n\n      const targetTime = lastTime! + dueTime;\n      const now = scheduler.now();\n      if (now < targetTime) {\n        // On that case, re-schedule to the new target\n        activeTask = this.schedule(undefined, targetTime - now);\n        subscriber.add(activeTask);\n        return;\n      }\n\n      emit();\n    }\n\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value: T) => {\n          lastValue = value;\n          lastTime = scheduler.now();\n\n          // Only set up a task if it's not already up\n          if (!activeTask) {\n            activeTask = scheduler.schedule(emitWhenIdle, dueTime);\n            subscriber.add(activeTask);\n          }\n        },\n        () => {\n          // Source completed.\n          // Emit any pending debounced values then complete\n          emit();\n          subscriber.complete();\n        },\n        // Pass all errors through to consumer.\n        undefined,\n        () => {\n          // Finalization.\n          lastValue = activeTask = null;\n        }\n      )\n    );\n  });\n}\n", "import { OperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * Emits a given value if the source Observable completes without emitting any\n * `next` value, otherwise mirrors the source Observable.\n *\n * <span class=\"informal\">If the source Observable turns out to be empty, then\n * this operator will emit a default value.</span>\n *\n * ![](defaultIfEmpty.png)\n *\n * `defaultIfEmpty` emits the values emitted by the source Observable or a\n * specified default value if the source Observable is empty (completes without\n * having emitted any `next` value).\n *\n * ## Example\n *\n * If no clicks happen in 5 seconds, then emit 'no clicks'\n *\n * ```ts\n * import { fromEvent, takeUntil, interval, defaultIfEmpty } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const clicksBeforeFive = clicks.pipe(takeUntil(interval(5000)));\n * const result = clicksBeforeFive.pipe(defaultIfEmpty('no clicks'));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link empty}\n * @see {@link last}\n *\n * @param defaultValue The default value used if the source\n * Observable is empty.\n * @return A function that returns an Observable that emits either the\n * specified `defaultValue` if the source Observable emits no items, or the\n * values emitted by the source Observable.\n */\nexport function defaultIfEmpty<T, R>(defaultValue: R): OperatorFunction<T, T | R> {\n  return operate((source, subscriber) => {\n    let hasValue = false;\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value) => {\n          hasValue = true;\n          subscriber.next(value);\n        },\n        () => {\n          if (!hasValue) {\n            subscriber.next(defaultValue!);\n          }\n          subscriber.complete();\n        }\n      )\n    );\n  });\n}\n", "import { MonoTypeOperatorFunction } from '../types';\nimport { EMPTY } from '../observable/empty';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * Emits only the first `count` values emitted by the source Observable.\n *\n * <span class=\"informal\">Takes the first `count` values from the source, then\n * completes.</span>\n *\n * ![](take.png)\n *\n * `take` returns an Observable that emits only the first `count` values emitted\n * by the source Observable. If the source emits fewer than `count` values then\n * all of its values are emitted. After that, it completes, regardless if the\n * source completes.\n *\n * ## Example\n *\n * Take the first 5 seconds of an infinite 1-second interval Observable\n *\n * ```ts\n * import { interval, take } from 'rxjs';\n *\n * const intervalCount = interval(1000);\n * const takeFive = intervalCount.pipe(take(5));\n * takeFive.subscribe(x => console.log(x));\n *\n * // Logs:\n * // 0\n * // 1\n * // 2\n * // 3\n * // 4\n * ```\n *\n * @see {@link takeLast}\n * @see {@link takeUntil}\n * @see {@link takeWhile}\n * @see {@link skip}\n *\n * @param count The maximum number of `next` values to emit.\n * @return A function that returns an Observable that emits only the first\n * `count` values emitted by the source Observable, or all of the values from\n * the source if the source emits fewer than `count` values.\n */\nexport function take<T>(count: number): MonoTypeOperatorFunction<T> {\n  return count <= 0\n    ? // If we are taking no values, that's empty.\n      () => EMPTY\n    : operate((source, subscriber) => {\n        let seen = 0;\n        source.subscribe(\n          createOperatorSubscriber(subscriber, (value) => {\n            // Increment the number of values we have seen,\n            // then check it against the allowed count to see\n            // if we are still letting values through.\n            if (++seen <= count) {\n              subscriber.next(value);\n              // If we have met or passed our allowed count,\n              // we need to complete. We have to do <= here,\n              // because re-entrant code will increment `seen` twice.\n              if (count <= seen) {\n                subscriber.complete();\n              }\n            }\n          })\n        );\n      });\n}\n", "import { OperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { noop } from '../util/noop';\n\n/**\n * Ignores all items emitted by the source Observable and only passes calls of `complete` or `error`.\n *\n * ![](ignoreElements.png)\n *\n * The `ignoreElements` operator suppresses all items emitted by the source Observable,\n * but allows its termination notification (either `error` or `complete`) to pass through unchanged.\n *\n * If you do not care about the items being emitted by an Observable, but you do want to be notified\n * when it completes or when it terminates with an error, you can apply the `ignoreElements` operator\n * to the Observable, which will ensure that it will never call its observers\u2019 `next` handlers.\n *\n * ## Example\n *\n * Ignore all `next` emissions from the source\n *\n * ```ts\n * import { of, ignoreElements } from 'rxjs';\n *\n * of('you', 'talking', 'to', 'me')\n *   .pipe(ignoreElements())\n *   .subscribe({\n *     next: word => console.log(word),\n *     error: err => console.log('error:', err),\n *     complete: () => console.log('the end'),\n *   });\n *\n * // result:\n * // 'the end'\n * ```\n *\n * @return A function that returns an empty Observable that only calls\n * `complete` or `error`, based on which one is called by the source\n * Observable.\n */\nexport function ignoreElements(): OperatorFunction<unknown, never> {\n  return operate((source, subscriber) => {\n    source.subscribe(createOperatorSubscriber(subscriber, noop));\n  });\n}\n", "import { OperatorFunction } from '../types';\nimport { map } from './map';\n\n/** @deprecated To be removed in v9. Use {@link map} instead: `map(() => value)`. */\nexport function mapTo<R>(value: R): OperatorFunction<unknown, R>;\n/**\n * @deprecated Do not specify explicit type parameters. Signatures with type parameters\n * that cannot be inferred will be removed in v8. `mapTo` itself will be removed in v9,\n * use {@link map} instead: `map(() => value)`.\n * */\nexport function mapTo<T, R>(value: R): OperatorFunction<T, R>;\n\n/**\n * Emits the given constant value on the output Observable every time the source\n * Observable emits a value.\n *\n * <span class=\"informal\">Like {@link map}, but it maps every source value to\n * the same output value every time.</span>\n *\n * ![](mapTo.png)\n *\n * Takes a constant `value` as argument, and emits that whenever the source\n * Observable emits a value. In other words, ignores the actual source value,\n * and simply uses the emission moment to know when to emit the given `value`.\n *\n * ## Example\n *\n * Map every click to the string `'Hi'`\n *\n * ```ts\n * import { fromEvent, mapTo } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const greetings = clicks.pipe(mapTo('Hi'));\n *\n * greetings.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link map}\n *\n * @param value The value to map each source value to.\n * @return A function that returns an Observable that emits the given `value`\n * every time the source Observable emits.\n * @deprecated To be removed in v9. Use {@link map} instead: `map(() => value)`.\n */\nexport function mapTo<R>(value: R): OperatorFunction<unknown, R> {\n  return map(() => value);\n}\n", "import { Observable } from '../Observable';\nimport { MonoTypeOperatorFunction, ObservableInput } from '../types';\nimport { concat } from '../observable/concat';\nimport { take } from './take';\nimport { ignoreElements } from './ignoreElements';\nimport { mapTo } from './mapTo';\nimport { mergeMap } from './mergeMap';\nimport { innerFrom } from '../observable/innerFrom';\n\n/** @deprecated The `subscriptionDelay` parameter will be removed in v8. */\nexport function delayWhen<T>(\n  delayDurationSelector: (value: T, index: number) => ObservableInput<any>,\n  subscriptionDelay: Observable<any>\n): MonoTypeOperatorFunction<T>;\nexport function delayWhen<T>(delayDurationSelector: (value: T, index: number) => ObservableInput<any>): MonoTypeOperatorFunction<T>;\n\n/**\n * Delays the emission of items from the source Observable by a given time span\n * determined by the emissions of another Observable.\n *\n * <span class=\"informal\">It's like {@link delay}, but the time span of the\n * delay duration is determined by a second Observable.</span>\n *\n * ![](delayWhen.png)\n *\n * `delayWhen` operator shifts each emitted value from the source Observable by\n * a time span determined by another Observable. When the source emits a value,\n * the `delayDurationSelector` function is called with the value emitted from\n * the source Observable as the first argument to the `delayDurationSelector`.\n * The `delayDurationSelector` function should return an {@link ObservableInput},\n * that is internally converted to an Observable that is called the \"duration\"\n * Observable.\n *\n * The source value is emitted on the output Observable only when the \"duration\"\n * Observable emits ({@link guide/glossary-and-semantics#next next}s) any value.\n * Upon that, the \"duration\" Observable gets unsubscribed.\n *\n * Before RxJS V7, the {@link guide/glossary-and-semantics#complete completion}\n * of the \"duration\" Observable would have been triggering the emission of the\n * source value to the output Observable, but with RxJS V7, this is not the case\n * anymore.\n *\n * Only next notifications (from the \"duration\" Observable) trigger values from\n * the source Observable to be passed to the output Observable. If the \"duration\"\n * Observable only emits the complete notification (without next), the value\n * emitted by the source Observable will never get to the output Observable - it\n * will be swallowed. If the \"duration\" Observable errors, the error will be\n * propagated to the output Observable.\n *\n * Optionally, `delayWhen` takes a second argument, `subscriptionDelay`, which\n * is an Observable. When `subscriptionDelay` emits its first value or\n * completes, the source Observable is subscribed to and starts behaving like\n * described in the previous paragraph. If `subscriptionDelay` is not provided,\n * `delayWhen` will subscribe to the source Observable as soon as the output\n * Observable is subscribed.\n *\n * ## Example\n *\n * Delay each click by a random amount of time, between 0 and 5 seconds\n *\n * ```ts\n * import { fromEvent, delayWhen, interval } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const delayedClicks = clicks.pipe(\n *   delayWhen(() => interval(Math.random() * 5000))\n * );\n * delayedClicks.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link delay}\n * @see {@link throttle}\n * @see {@link throttleTime}\n * @see {@link debounce}\n * @see {@link debounceTime}\n * @see {@link sample}\n * @see {@link sampleTime}\n * @see {@link audit}\n * @see {@link auditTime}\n *\n * @param delayDurationSelector A function that returns an `ObservableInput` for\n * each `value` emitted by the source Observable, which is then used to delay the\n * emission of that `value` on the output Observable until the `ObservableInput`\n * returned from this function emits a next value. When called, beside `value`,\n * this function receives a zero-based `index` of the emission order.\n * @param subscriptionDelay An Observable that triggers the subscription to the\n * source Observable once it emits any value.\n * @return A function that returns an Observable that delays the emissions of\n * the source Observable by an amount of time specified by the Observable\n * returned by `delayDurationSelector`.\n */\nexport function delayWhen<T>(\n  delayDurationSelector: (value: T, index: number) => ObservableInput<any>,\n  subscriptionDelay?: Observable<any>\n): MonoTypeOperatorFunction<T> {\n  if (subscriptionDelay) {\n    // DEPRECATED PATH\n    return (source: Observable<T>) =>\n      concat(subscriptionDelay.pipe(take(1), ignoreElements()), source.pipe(delayWhen(delayDurationSelector)));\n  }\n\n  return mergeMap((value, index) => innerFrom(delayDurationSelector(value, index)).pipe(take(1), mapTo(value)));\n}\n", "import { asyncScheduler } from '../scheduler/async';\nimport { MonoTypeOperatorFunction, SchedulerLike } from '../types';\nimport { delayWhen } from './delayWhen';\nimport { timer } from '../observable/timer';\n\n/**\n * Delays the emission of items from the source Observable by a given timeout or\n * until a given Date.\n *\n * <span class=\"informal\">Time shifts each item by some specified amount of\n * milliseconds.</span>\n *\n * ![](delay.svg)\n *\n * If the delay argument is a Number, this operator time shifts the source\n * Observable by that amount of time expressed in milliseconds. The relative\n * time intervals between the values are preserved.\n *\n * If the delay argument is a Date, this operator time shifts the start of the\n * Observable execution until the given date occurs.\n *\n * ## Examples\n *\n * Delay each click by one second\n *\n * ```ts\n * import { fromEvent, delay } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const delayedClicks = clicks.pipe(delay(1000)); // each click emitted after 1 second\n * delayedClicks.subscribe(x => console.log(x));\n * ```\n *\n * Delay all clicks until a future date happens\n *\n * ```ts\n * import { fromEvent, delay } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const date = new Date('March 15, 2050 12:00:00'); // in the future\n * const delayedClicks = clicks.pipe(delay(date)); // click emitted only after that date\n * delayedClicks.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link delayWhen}\n * @see {@link throttle}\n * @see {@link throttleTime}\n * @see {@link debounce}\n * @see {@link debounceTime}\n * @see {@link sample}\n * @see {@link sampleTime}\n * @see {@link audit}\n * @see {@link auditTime}\n *\n * @param {number|Date} due The delay duration in milliseconds (a `number`) or\n * a `Date` until which the emission of the source items is delayed.\n * @param {SchedulerLike} [scheduler=async] The {@link SchedulerLike} to use for\n * managing the timers that handle the time-shift for each item.\n * @return A function that returns an Observable that delays the emissions of\n * the source Observable by the specified timeout or Date.\n */\nexport function delay<T>(due: number | Date, scheduler: SchedulerLike = asyncScheduler): MonoTypeOperatorFunction<T> {\n  const duration = timer(due, scheduler);\n  return delayWhen(() => duration);\n}\n", "import { MonoTypeOperatorFunction } from '../types';\nimport { identity } from '../util/identity';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\nexport function distinctUntilChanged<T>(comparator?: (previous: T, current: T) => boolean): MonoTypeOperatorFunction<T>;\nexport function distinctUntilChanged<T, K>(\n  comparator: (previous: K, current: K) => boolean,\n  keySelector: (value: T) => K\n): MonoTypeOperatorFunction<T>;\n\n/**\n * Returns a result {@link Observable} that emits all values pushed by the source observable if they\n * are distinct in comparison to the last value the result observable emitted.\n *\n * When provided without parameters or with the first parameter (`{@link distinctUntilChanged#comparator comparator}`),\n * it behaves like this:\n *\n * 1. It will always emit the first value from the source.\n * 2. For all subsequent values pushed by the source, they will be compared to the previously emitted values\n *    using the provided `comparator` or an `===` equality check.\n * 3. If the value pushed by the source is determined to be unequal by this check, that value is emitted and\n *    becomes the new \"previously emitted value\" internally.\n *\n * When the second parameter (`{@link distinctUntilChanged#keySelector keySelector}`) is provided, the behavior\n * changes:\n *\n * 1. It will always emit the first value from the source.\n * 2. The `keySelector` will be run against all values, including the first value.\n * 3. For all values after the first, the selected key will be compared against the key selected from\n *    the previously emitted value using the `comparator`.\n * 4. If the keys are determined to be unequal by this check, the value (not the key), is emitted\n *    and the selected key from that value is saved for future comparisons against other keys.\n *\n * ## Examples\n *\n * A very basic example with no `{@link distinctUntilChanged#comparator comparator}`. Note that `1` is emitted more than once,\n * because it's distinct in comparison to the _previously emitted_ value,\n * not in comparison to _all other emitted values_.\n *\n * ```ts\n * import { of, distinctUntilChanged } from 'rxjs';\n *\n * of(1, 1, 1, 2, 2, 2, 1, 1, 3, 3)\n *   .pipe(distinctUntilChanged())\n *   .subscribe(console.log);\n * // Logs: 1, 2, 1, 3\n * ```\n *\n * With a `{@link distinctUntilChanged#comparator comparator}`, you can do custom comparisons. Let's say\n * you only want to emit a value when all of its components have\n * changed:\n *\n * ```ts\n * import { of, distinctUntilChanged } from 'rxjs';\n *\n * const totallyDifferentBuilds$ = of(\n *   { engineVersion: '1.1.0', transmissionVersion: '1.2.0' },\n *   { engineVersion: '1.1.0', transmissionVersion: '1.4.0' },\n *   { engineVersion: '1.3.0', transmissionVersion: '1.4.0' },\n *   { engineVersion: '1.3.0', transmissionVersion: '1.5.0' },\n *   { engineVersion: '2.0.0', transmissionVersion: '1.5.0' }\n * ).pipe(\n *   distinctUntilChanged((prev, curr) => {\n *     return (\n *       prev.engineVersion === curr.engineVersion ||\n *       prev.transmissionVersion === curr.transmissionVersion\n *     );\n *   })\n * );\n *\n * totallyDifferentBuilds$.subscribe(console.log);\n *\n * // Logs:\n * // { engineVersion: '1.1.0', transmissionVersion: '1.2.0' }\n * // { engineVersion: '1.3.0', transmissionVersion: '1.4.0' }\n * // { engineVersion: '2.0.0', transmissionVersion: '1.5.0' }\n * ```\n *\n * You can also provide a custom `{@link distinctUntilChanged#comparator comparator}` to check that emitted\n * changes are only in one direction. Let's say you only want to get\n * the next record temperature:\n *\n * ```ts\n * import { of, distinctUntilChanged } from 'rxjs';\n *\n * const temps$ = of(30, 31, 20, 34, 33, 29, 35, 20);\n *\n * const recordHighs$ = temps$.pipe(\n *   distinctUntilChanged((prevHigh, temp) => {\n *     // If the current temp is less than\n *     // or the same as the previous record,\n *     // the record hasn't changed.\n *     return temp <= prevHigh;\n *   })\n * );\n *\n * recordHighs$.subscribe(console.log);\n * // Logs: 30, 31, 34, 35\n * ```\n *\n * Selecting update events only when the `updatedBy` field shows\n * the account changed hands.\n *\n * ```ts\n * import { of, distinctUntilChanged } from 'rxjs';\n *\n * // A stream of updates to a given account\n * const accountUpdates$ = of(\n *   { updatedBy: 'blesh', data: [] },\n *   { updatedBy: 'blesh', data: [] },\n *   { updatedBy: 'ncjamieson', data: [] },\n *   { updatedBy: 'ncjamieson', data: [] },\n *   { updatedBy: 'blesh', data: [] }\n * );\n *\n * // We only want the events where it changed hands\n * const changedHands$ = accountUpdates$.pipe(\n *   distinctUntilChanged(undefined, update => update.updatedBy)\n * );\n *\n * changedHands$.subscribe(console.log);\n * // Logs:\n * // { updatedBy: 'blesh', data: Array[0] }\n * // { updatedBy: 'ncjamieson', data: Array[0] }\n * // { updatedBy: 'blesh', data: Array[0] }\n * ```\n *\n * @see {@link distinct}\n * @see {@link distinctUntilKeyChanged}\n *\n * @param comparator A function used to compare the previous and current keys for\n * equality. Defaults to a `===` check.\n * @param keySelector Used to select a key value to be passed to the `comparator`.\n *\n * @return A function that returns an Observable that emits items from the\n * source Observable with distinct values.\n */\nexport function distinctUntilChanged<T, K>(\n  comparator?: (previous: K, current: K) => boolean,\n  keySelector: (value: T) => K = identity as (value: T) => K\n): MonoTypeOperatorFunction<T> {\n  // We've been allowing `null` do be passed as the `compare`, so we can't do\n  // a default value for the parameter, because that will only work\n  // for `undefined`.\n  comparator = comparator ?? defaultCompare;\n\n  return operate((source, subscriber) => {\n    // The previous key, used to compare against keys selected\n    // from new arrivals to determine \"distinctiveness\".\n    let previousKey: K;\n    // Whether or not this is the first value we've gotten.\n    let first = true;\n\n    source.subscribe(\n      createOperatorSubscriber(subscriber, (value) => {\n        // We always call the key selector.\n        const currentKey = keySelector(value);\n\n        // If it's the first value, we always emit it.\n        // Otherwise, we compare this key to the previous key, and\n        // if the comparer returns false, we emit.\n        if (first || !comparator!(previousKey, currentKey)) {\n          // Update our state *before* we emit the value\n          // as emission can be the source of re-entrant code\n          // in functional libraries like this. We only really\n          // need to do this if it's the first value, or if the\n          // key we're tracking in previous needs to change.\n          first = false;\n          previousKey = currentKey;\n\n          // Emit the value!\n          subscriber.next(value);\n        }\n      })\n    );\n  });\n}\n\nfunction defaultCompare(a: any, b: any) {\n  return a === b;\n}\n", "import { distinctUntilChanged } from './distinctUntilChanged';\nimport { MonoTypeOperatorFunction } from '../types';\n\n/* tslint:disable:max-line-length */\nexport function distinctUntilKeyChanged<T>(key: keyof T): MonoTypeOperatorFunction<T>;\nexport function distinctUntilKeyChanged<T, K extends keyof T>(key: K, compare: (x: T[K], y: T[K]) => boolean): MonoTypeOperatorFunction<T>;\n/* tslint:enable:max-line-length */\n\n/**\n * Returns an Observable that emits all items emitted by the source Observable that are distinct by comparison from the previous item,\n * using a property accessed by using the key provided to check if the two items are distinct.\n *\n * If a comparator function is provided, then it will be called for each item to test for whether or not that value should be emitted.\n *\n * If a comparator function is not provided, an equality check is used by default.\n *\n * ## Examples\n *\n * An example comparing the name of persons\n *\n * ```ts\n * import { of, distinctUntilKeyChanged } from 'rxjs';\n *\n * of(\n *   { age: 4, name: 'Foo' },\n *   { age: 7, name: 'Bar' },\n *   { age: 5, name: 'Foo' },\n *   { age: 6, name: 'Foo' }\n * ).pipe(\n *   distinctUntilKeyChanged('name')\n * )\n * .subscribe(x => console.log(x));\n *\n * // displays:\n * // { age: 4, name: 'Foo' }\n * // { age: 7, name: 'Bar' }\n * // { age: 5, name: 'Foo' }\n * ```\n *\n * An example comparing the first letters of the name\n *\n * ```ts\n * import { of, distinctUntilKeyChanged } from 'rxjs';\n *\n * of(\n *   { age: 4, name: 'Foo1' },\n *   { age: 7, name: 'Bar' },\n *   { age: 5, name: 'Foo2' },\n *   { age: 6, name: 'Foo3' }\n * ).pipe(\n *   distinctUntilKeyChanged('name', (x, y) => x.substring(0, 3) === y.substring(0, 3))\n * )\n * .subscribe(x => console.log(x));\n *\n * // displays:\n * // { age: 4, name: 'Foo1' }\n * // { age: 7, name: 'Bar' }\n * // { age: 5, name: 'Foo2' }\n * ```\n *\n * @see {@link distinct}\n * @see {@link distinctUntilChanged}\n *\n * @param {string} key String key for object property lookup on each item.\n * @param {function} [compare] Optional comparison function called to test if an item is distinct from the previous item in the source.\n * @return A function that returns an Observable that emits items from the\n * source Observable with distinct values based on the key specified.\n */\nexport function distinctUntilKeyChanged<T, K extends keyof T>(key: K, compare?: (x: T[K], y: T[K]) => boolean): MonoTypeOperatorFunction<T> {\n  return distinctUntilChanged((x: T, y: T) => compare ? compare(x[key], y[key]) : x[key] === y[key]);\n}\n", "import { EmptyError } from '../util/EmptyError';\nimport { MonoTypeOperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * If the source observable completes without emitting a value, it will emit\n * an error. The error will be created at that time by the optional\n * `errorFactory` argument, otherwise, the error will be {@link EmptyError}.\n *\n * ![](throwIfEmpty.png)\n *\n * ## Example\n *\n * Throw an error if the document wasn't clicked within 1 second\n *\n * ```ts\n * import { fromEvent, takeUntil, timer, throwIfEmpty } from 'rxjs';\n *\n * const click$ = fromEvent(document, 'click');\n *\n * click$.pipe(\n *   takeUntil(timer(1000)),\n *   throwIfEmpty(() => new Error('The document was not clicked within 1 second'))\n * )\n * .subscribe({\n *   next() {\n *    console.log('The document was clicked');\n *   },\n *   error(err) {\n *     console.error(err.message);\n *   }\n * });\n * ```\n *\n * @param errorFactory A factory function called to produce the\n * error to be thrown when the source observable completes without emitting a\n * value.\n * @return A function that returns an Observable that throws an error if the\n * source Observable completed without emitting.\n */\nexport function throwIfEmpty<T>(errorFactory: () => any = defaultErrorFactory): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    let hasValue = false;\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value) => {\n          hasValue = true;\n          subscriber.next(value);\n        },\n        () => (hasValue ? subscriber.complete() : subscriber.error(errorFactory()))\n      )\n    );\n  });\n}\n\nfunction defaultErrorFactory() {\n  return new EmptyError();\n}\n", "/** prettier */\nimport { Observable } from '../Observable';\nimport { concat } from '../observable/concat';\nimport { of } from '../observable/of';\nimport { MonoTypeOperatorFunction, SchedulerLike, OperatorFunction, ValueFromArray } from '../types';\n\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `concatAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function endWith<T>(scheduler: SchedulerLike): MonoTypeOperatorFunction<T>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `concatAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function endWith<T, A extends unknown[] = T[]>(\n  ...valuesAndScheduler: [...A, SchedulerLike]\n): OperatorFunction<T, T | ValueFromArray<A>>;\n\nexport function endWith<T, A extends unknown[] = T[]>(...values: A): OperatorFunction<T, T | ValueFromArray<A>>;\n\n/**\n * Returns an observable that will emit all values from the source, then synchronously emit\n * the provided value(s) immediately after the source completes.\n *\n * NOTE: Passing a last argument of a Scheduler is _deprecated_, and may result in incorrect\n * types in TypeScript.\n *\n * This is useful for knowing when an observable ends. Particularly when paired with an\n * operator like {@link takeUntil}\n *\n * ![](endWith.png)\n *\n * ## Example\n *\n * Emit values to know when an interval starts and stops. The interval will\n * stop when a user clicks anywhere on the document.\n *\n * ```ts\n * import { interval, map, fromEvent, startWith, takeUntil, endWith } from 'rxjs';\n *\n * const ticker$ = interval(5000).pipe(\n *   map(() => 'tick')\n * );\n *\n * const documentClicks$ = fromEvent(document, 'click');\n *\n * ticker$.pipe(\n *   startWith('interval started'),\n *   takeUntil(documentClicks$),\n *   endWith('interval ended by click')\n * )\n * .subscribe(x => console.log(x));\n *\n * // Result (assuming a user clicks after 15 seconds)\n * // 'interval started'\n * // 'tick'\n * // 'tick'\n * // 'tick'\n * // 'interval ended by click'\n * ```\n *\n * @see {@link startWith}\n * @see {@link concat}\n * @see {@link takeUntil}\n *\n * @param values Items you want the modified Observable to emit last.\n * @return A function that returns an Observable that emits all values from the\n * source, then synchronously emits the provided value(s) immediately after the\n * source completes.\n */\nexport function endWith<T>(...values: Array<T | SchedulerLike>): MonoTypeOperatorFunction<T> {\n  return (source: Observable<T>) => concat(source, of(...values)) as Observable<T>;\n}\n", "import { MonoTypeOperatorFunction } from '../types';\nimport { operate } from '../util/lift';\n\n/**\n * Returns an Observable that mirrors the source Observable, but will call a specified function when\n * the source terminates on complete or error.\n * The specified function will also be called when the subscriber explicitly unsubscribes.\n *\n * ## Examples\n *\n * Execute callback function when the observable completes\n *\n * ```ts\n * import { interval, take, finalize } from 'rxjs';\n *\n * // emit value in sequence every 1 second\n * const source = interval(1000);\n * const example = source.pipe(\n *   take(5), //take only the first 5 values\n *   finalize(() => console.log('Sequence complete')) // Execute when the observable completes\n * );\n * const subscribe = example.subscribe(val => console.log(val));\n *\n * // results:\n * // 0\n * // 1\n * // 2\n * // 3\n * // 4\n * // 'Sequence complete'\n * ```\n *\n * Execute callback function when the subscriber explicitly unsubscribes\n *\n * ```ts\n * import { interval, finalize, tap, noop, timer } from 'rxjs';\n *\n * const source = interval(100).pipe(\n *   finalize(() => console.log('[finalize] Called')),\n *   tap({\n *     next: () => console.log('[next] Called'),\n *     error: () => console.log('[error] Not called'),\n *     complete: () => console.log('[tap complete] Not called')\n *   })\n * );\n *\n * const sub = source.subscribe({\n *   next: x => console.log(x),\n *   error: noop,\n *   complete: () => console.log('[complete] Not called')\n * });\n *\n * timer(150).subscribe(() => sub.unsubscribe());\n *\n * // results:\n * // '[next] Called'\n * // 0\n * // '[finalize] Called'\n * ```\n *\n * @param {function} callback Function to be called when source terminates.\n * @return A function that returns an Observable that mirrors the source, but\n * will call the specified function on termination.\n */\nexport function finalize<T>(callback: () => void): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    // TODO: This try/finally was only added for `useDeprecatedSynchronousErrorHandling`.\n    // REMOVE THIS WHEN THAT HOT GARBAGE IS REMOVED IN V8.\n    try {\n      source.subscribe(subscriber);\n    } finally {\n      subscriber.add(callback);\n    }\n  });\n}\n", "import { Observable } from '../Observable';\nimport { EmptyError } from '../util/EmptyError';\nimport { OperatorFunction, TruthyTypesOf } from '../types';\nimport { filter } from './filter';\nimport { take } from './take';\nimport { defaultIfEmpty } from './defaultIfEmpty';\nimport { throwIfEmpty } from './throwIfEmpty';\nimport { identity } from '../util/identity';\n\nexport function first<T, D = T>(predicate?: null, defaultValue?: D): OperatorFunction<T, T | D>;\nexport function first<T>(predicate: BooleanConstructor): OperatorFunction<T, TruthyTypesOf<T>>;\nexport function first<T, D>(predicate: BooleanConstructor, defaultValue: D): OperatorFunction<T, TruthyTypesOf<T> | D>;\nexport function first<T, S extends T>(\n  predicate: (value: T, index: number, source: Observable<T>) => value is S,\n  defaultValue?: S\n): OperatorFunction<T, S>;\nexport function first<T, S extends T, D>(\n  predicate: (value: T, index: number, source: Observable<T>) => value is S,\n  defaultValue: D\n): OperatorFunction<T, S | D>;\nexport function first<T, D = T>(\n  predicate: (value: T, index: number, source: Observable<T>) => boolean,\n  defaultValue?: D\n): OperatorFunction<T, T | D>;\n\n/**\n * Emits only the first value (or the first value that meets some condition)\n * emitted by the source Observable.\n *\n * <span class=\"informal\">Emits only the first value. Or emits only the first\n * value that passes some test.</span>\n *\n * ![](first.png)\n *\n * If called with no arguments, `first` emits the first value of the source\n * Observable, then completes. If called with a `predicate` function, `first`\n * emits the first value of the source that matches the specified condition. Throws an error if\n * `defaultValue` was not provided and a matching element is not found.\n *\n * ## Examples\n *\n * Emit only the first click that happens on the DOM\n *\n * ```ts\n * import { fromEvent, first } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(first());\n * result.subscribe(x => console.log(x));\n * ```\n *\n * Emits the first click that happens on a DIV\n *\n * ```ts\n * import { fromEvent, first } from 'rxjs';\n *\n * const div = document.createElement('div');\n * div.style.cssText = 'width: 200px; height: 200px; background: #09c;';\n * document.body.appendChild(div);\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(first(ev => (<HTMLElement>ev.target).tagName === 'DIV'));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link filter}\n * @see {@link find}\n * @see {@link take}\n *\n * @throws {EmptyError} Delivers an EmptyError to the Observer's `error`\n * callback if the Observable completes before any `next` notification was sent.\n * This is how `first()` is different from {@link take}(1) which completes instead.\n *\n * @param {function(value: T, index: number, source: Observable<T>): boolean} [predicate]\n * An optional function called with each item to test for condition matching.\n * @param {D} [defaultValue] The default value emitted in case no valid value\n * was found on the source.\n * @return A function that returns an Observable that emits the first item that\n * matches the condition.\n */\nexport function first<T, D>(\n  predicate?: ((value: T, index: number, source: Observable<T>) => boolean) | null,\n  defaultValue?: D\n): OperatorFunction<T, T | D> {\n  const hasDefaultValue = arguments.length >= 2;\n  return (source: Observable<T>) =>\n    source.pipe(\n      predicate ? filter((v, i) => predicate(v, i, source)) : identity,\n      take(1),\n      hasDefaultValue ? defaultIfEmpty(defaultValue!) : throwIfEmpty(() => new EmptyError())\n    );\n}\n", "import { EMPTY } from '../observable/empty';\nimport { MonoTypeOperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * Waits for the source to complete, then emits the last N values from the source,\n * as specified by the `count` argument.\n *\n * ![](takeLast.png)\n *\n * `takeLast` results in an observable that will hold values up to `count` values in memory,\n * until the source completes. It then pushes all values in memory to the consumer, in the\n * order they were received from the source, then notifies the consumer that it is\n * complete.\n *\n * If for some reason the source completes before the `count` supplied to `takeLast` is reached,\n * all values received until that point are emitted, and then completion is notified.\n *\n * **Warning**: Using `takeLast` with an observable that never completes will result\n * in an observable that never emits a value.\n *\n * ## Example\n *\n * Take the last 3 values of an Observable with many values\n *\n * ```ts\n * import { range, takeLast } from 'rxjs';\n *\n * const many = range(1, 100);\n * const lastThree = many.pipe(takeLast(3));\n * lastThree.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link take}\n * @see {@link takeUntil}\n * @see {@link takeWhile}\n * @see {@link skip}\n *\n * @param count The maximum number of values to emit from the end of\n * the sequence of values emitted by the source Observable.\n * @return A function that returns an Observable that emits at most the last\n * `count` values emitted by the source Observable.\n */\nexport function takeLast<T>(count: number): MonoTypeOperatorFunction<T> {\n  return count <= 0\n    ? () => EMPTY\n    : operate((source, subscriber) => {\n        // This buffer will hold the values we are going to emit\n        // when the source completes. Since we only want to take the\n        // last N values, we can't emit until we're sure we're not getting\n        // any more values.\n        let buffer: T[] = [];\n        source.subscribe(\n          createOperatorSubscriber(\n            subscriber,\n            (value) => {\n              // Add the most recent value onto the end of our buffer.\n              buffer.push(value);\n              // If our buffer is now larger than the number of values we\n              // want to take, we remove the oldest value from the buffer.\n              count < buffer.length && buffer.shift();\n            },\n            () => {\n              // The source completed, we now know what are last values\n              // are, emit them in the order they were received.\n              for (const value of buffer) {\n                subscriber.next(value);\n              }\n              subscriber.complete();\n            },\n            // Errors are passed through to the consumer\n            undefined,\n            () => {\n              // During finalization release the values in our buffer.\n              buffer = null!;\n            }\n          )\n        );\n      });\n}\n", "import { ObservableInput, ObservableInputTuple, OperatorFunction, SchedulerLike } from '../types';\nimport { operate } from '../util/lift';\nimport { argsOrArgArray } from '../util/argsOrArgArray';\nimport { mergeAll } from './mergeAll';\nimport { popNumber, popScheduler } from '../util/args';\nimport { from } from '../observable/from';\n\n/** @deprecated Replaced with {@link mergeWith}. Will be removed in v8. */\nexport function merge<T, A extends readonly unknown[]>(...sources: [...ObservableInputTuple<A>]): OperatorFunction<T, T | A[number]>;\n/** @deprecated Replaced with {@link mergeWith}. Will be removed in v8. */\nexport function merge<T, A extends readonly unknown[]>(\n  ...sourcesAndConcurrency: [...ObservableInputTuple<A>, number]\n): OperatorFunction<T, T | A[number]>;\n/** @deprecated Replaced with {@link mergeWith}. Will be removed in v8. */\nexport function merge<T, A extends readonly unknown[]>(\n  ...sourcesAndScheduler: [...ObservableInputTuple<A>, SchedulerLike]\n): OperatorFunction<T, T | A[number]>;\n/** @deprecated Replaced with {@link mergeWith}. Will be removed in v8. */\nexport function merge<T, A extends readonly unknown[]>(\n  ...sourcesAndConcurrencyAndScheduler: [...ObservableInputTuple<A>, number, SchedulerLike]\n): OperatorFunction<T, T | A[number]>;\n\nexport function merge<T>(...args: unknown[]): OperatorFunction<T, unknown> {\n  const scheduler = popScheduler(args);\n  const concurrent = popNumber(args, Infinity);\n  args = argsOrArgArray(args);\n\n  return operate((source, subscriber) => {\n    mergeAll(concurrent)(from([source, ...(args as ObservableInput<T>[])], scheduler)).subscribe(subscriber);\n  });\n}\n", "import { ObservableInputTuple, OperatorFunction } from '../types';\nimport { merge } from './merge';\n\n/**\n * Merge the values from all observables to a single observable result.\n *\n * Creates an observable, that when subscribed to, subscribes to the source\n * observable, and all other sources provided as arguments. All values from\n * every source are emitted from the resulting subscription.\n *\n * When all sources complete, the resulting observable will complete.\n *\n * When any source errors, the resulting observable will error.\n *\n * ## Example\n *\n * Joining all outputs from multiple user input event streams\n *\n * ```ts\n * import { fromEvent, map, mergeWith } from 'rxjs';\n *\n * const clicks$ = fromEvent(document, 'click').pipe(map(() => 'click'));\n * const mousemoves$ = fromEvent(document, 'mousemove').pipe(map(() => 'mousemove'));\n * const dblclicks$ = fromEvent(document, 'dblclick').pipe(map(() => 'dblclick'));\n *\n * mousemoves$\n *   .pipe(mergeWith(clicks$, dblclicks$))\n *   .subscribe(x => console.log(x));\n *\n * // result (assuming user interactions)\n * // 'mousemove'\n * // 'mousemove'\n * // 'mousemove'\n * // 'click'\n * // 'click'\n * // 'dblclick'\n * ```\n *\n * @see {@link merge}\n *\n * @param otherSources the sources to combine the current source with.\n * @return A function that returns an Observable that merges the values from\n * all given Observables.\n */\nexport function mergeWith<T, A extends readonly unknown[]>(\n  ...otherSources: [...ObservableInputTuple<A>]\n): OperatorFunction<T, T | A[number]> {\n  return merge(...otherSources);\n}\n", "import { Subscription } from '../Subscription';\nimport { EMPTY } from '../observable/empty';\nimport { operate } from '../util/lift';\nimport { MonoTypeOperatorFunction, ObservableInput } from '../types';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { innerFrom } from '../observable/innerFrom';\nimport { timer } from '../observable/timer';\n\nexport interface RepeatConfig {\n  /**\n   * The number of times to repeat the source. Defaults to `Infinity`.\n   */\n  count?: number;\n\n  /**\n   * If a `number`, will delay the repeat of the source by that number of milliseconds.\n   * If a function, it will provide the number of times the source has been subscribed to,\n   * and the return value should be a valid observable input that will notify when the source\n   * should be repeated. If the notifier observable is empty, the result will complete.\n   */\n  delay?: number | ((count: number) => ObservableInput<any>);\n}\n\n/**\n * Returns an Observable that will resubscribe to the source stream when the source stream completes.\n *\n * <span class=\"informal\">Repeats all values emitted on the source. It's like {@link retry}, but for non error cases.</span>\n *\n * ![](repeat.png)\n *\n * Repeat will output values from a source until the source completes, then it will resubscribe to the\n * source a specified number of times, with a specified delay. Repeat can be particularly useful in\n * combination with closing operators like {@link take}, {@link takeUntil}, {@link first}, or {@link takeWhile},\n * as it can be used to restart a source again from scratch.\n *\n * Repeat is very similar to {@link retry}, where {@link retry} will resubscribe to the source in the error case, but\n * `repeat` will resubscribe if the source completes.\n *\n * Note that `repeat` will _not_ catch errors. Use {@link retry} for that.\n *\n * - `repeat(0)` returns an empty observable\n * - `repeat()` will repeat forever\n * - `repeat({ delay: 200 })` will repeat forever, with a delay of 200ms between repetitions.\n * - `repeat({ count: 2, delay: 400 })` will repeat twice, with a delay of 400ms between repetitions.\n * - `repeat({ delay: (count) => timer(count * 1000) })` will repeat forever, but will have a delay that grows by one second for each repetition.\n *\n * ## Example\n *\n * Repeat a message stream\n *\n * ```ts\n * import { of, repeat } from 'rxjs';\n *\n * const source = of('Repeat message');\n * const result = source.pipe(repeat(3));\n *\n * result.subscribe(x => console.log(x));\n *\n * // Results\n * // 'Repeat message'\n * // 'Repeat message'\n * // 'Repeat message'\n * ```\n *\n * Repeat 3 values, 2 times\n *\n * ```ts\n * import { interval, take, repeat } from 'rxjs';\n *\n * const source = interval(1000);\n * const result = source.pipe(take(3), repeat(2));\n *\n * result.subscribe(x => console.log(x));\n *\n * // Results every second\n * // 0\n * // 1\n * // 2\n * // 0\n * // 1\n * // 2\n * ```\n *\n * Defining two complex repeats with delays on the same source.\n * Note that the second repeat cannot be called until the first\n * repeat as exhausted it's count.\n *\n * ```ts\n * import { defer, of, repeat } from 'rxjs';\n *\n * const source = defer(() => {\n *    return of(`Hello, it is ${new Date()}`)\n * });\n *\n * source.pipe(\n *    // Repeat 3 times with a delay of 1 second between repetitions\n *    repeat({\n *      count: 3,\n *      delay: 1000,\n *    }),\n *\n *    // *Then* repeat forever, but with an exponential step-back\n *    // maxing out at 1 minute.\n *    repeat({\n *      delay: (count) => timer(Math.min(60000, 2 ^ count * 1000))\n *    })\n * )\n * ```\n *\n * @see {@link repeatWhen}\n * @see {@link retry}\n *\n * @param count The number of times the source Observable items are repeated, a count of 0 will yield\n * an empty Observable.\n */\nexport function repeat<T>(countOrConfig?: number | RepeatConfig): MonoTypeOperatorFunction<T> {\n  let count = Infinity;\n  let delay: RepeatConfig['delay'];\n\n  if (countOrConfig != null) {\n    if (typeof countOrConfig === 'object') {\n      ({ count = Infinity, delay } = countOrConfig);\n    } else {\n      count = countOrConfig;\n    }\n  }\n\n  return count <= 0\n    ? () => EMPTY\n    : operate((source, subscriber) => {\n        let soFar = 0;\n        let sourceSub: Subscription | null;\n\n        const resubscribe = () => {\n          sourceSub?.unsubscribe();\n          sourceSub = null;\n          if (delay != null) {\n            const notifier = typeof delay === 'number' ? timer(delay) : innerFrom(delay(soFar));\n            const notifierSubscriber = createOperatorSubscriber(subscriber, () => {\n              notifierSubscriber.unsubscribe();\n              subscribeToSource();\n            });\n            notifier.subscribe(notifierSubscriber);\n          } else {\n            subscribeToSource();\n          }\n        };\n\n        const subscribeToSource = () => {\n          let syncUnsub = false;\n          sourceSub = source.subscribe(\n            createOperatorSubscriber(subscriber, undefined, () => {\n              if (++soFar < count) {\n                if (sourceSub) {\n                  resubscribe();\n                } else {\n                  syncUnsub = true;\n                }\n              } else {\n                subscriber.complete();\n              }\n            })\n          );\n\n          if (syncUnsub) {\n            resubscribe();\n          }\n        };\n\n        subscribeToSource();\n      });\n}\n", "import { OperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { scanInternals } from './scanInternals';\n\nexport function scan<V, A = V>(accumulator: (acc: A | V, value: V, index: number) => A): OperatorFunction<V, V | A>;\nexport function scan<V, A>(accumulator: (acc: A, value: V, index: number) => A, seed: A): OperatorFunction<V, A>;\nexport function scan<V, A, S>(accumulator: (acc: A | S, value: V, index: number) => A, seed: S): OperatorFunction<V, A>;\n\n// TODO: link to a \"redux pattern\" section in the guide (location TBD)\n\n/**\n * Useful for encapsulating and managing state. Applies an accumulator (or \"reducer function\")\n * to each value from the source after an initial state is established -- either via\n * a `seed` value (second argument), or from the first value from the source.\n *\n * <span class=\"informal\">It's like {@link reduce}, but emits the current\n * accumulation state after each update</span>\n *\n * ![](scan.png)\n *\n * This operator maintains an internal state and emits it after processing each value as follows:\n *\n * 1. First value arrives\n *   - If a `seed` value was supplied (as the second argument to `scan`), let `state = seed` and `value = firstValue`.\n *   - If NO `seed` value was supplied (no second argument), let `state = firstValue` and go to 3.\n * 2. Let `state = accumulator(state, value)`.\n *   - If an error is thrown by `accumulator`, notify the consumer of an error. The process ends.\n * 3. Emit `state`.\n * 4. Next value arrives, let `value = nextValue`, go to 2.\n *\n * ## Examples\n *\n * An average of previous numbers. This example shows how\n * not providing a `seed` can prime the stream with the\n * first value from the source.\n *\n * ```ts\n * import { of, scan, map } from 'rxjs';\n *\n * const numbers$ = of(1, 2, 3);\n *\n * numbers$\n *   .pipe(\n *     // Get the sum of the numbers coming in.\n *     scan((total, n) => total + n),\n *     // Get the average by dividing the sum by the total number\n *     // received so far (which is 1 more than the zero-based index).\n *     map((sum, index) => sum / (index + 1))\n *   )\n *   .subscribe(console.log);\n * ```\n *\n * The Fibonacci sequence. This example shows how you can use\n * a seed to prime accumulation process. Also... you know... Fibonacci.\n * So important to like, computers and stuff that its whiteboarded\n * in job interviews. Now you can show them the Rx version! (Please don't, haha)\n *\n * ```ts\n * import { interval, scan, map, startWith } from 'rxjs';\n *\n * const firstTwoFibs = [0, 1];\n * // An endless stream of Fibonacci numbers.\n * const fibonacci$ = interval(1000).pipe(\n *   // Scan to get the fibonacci numbers (after 0, 1)\n *   scan(([a, b]) => [b, a + b], firstTwoFibs),\n *   // Get the second number in the tuple, it's the one you calculated\n *   map(([, n]) => n),\n *   // Start with our first two digits :)\n *   startWith(...firstTwoFibs)\n * );\n *\n * fibonacci$.subscribe(console.log);\n * ```\n *\n * @see {@link expand}\n * @see {@link mergeScan}\n * @see {@link reduce}\n * @see {@link switchScan}\n *\n * @param accumulator A \"reducer function\". This will be called for each value after an initial state is\n * acquired.\n * @param seed The initial state. If this is not provided, the first value from the source will\n * be used as the initial state, and emitted without going through the accumulator. All subsequent values\n * will be processed by the accumulator function. If this is provided, all values will go through\n * the accumulator function.\n * @return A function that returns an Observable of the accumulated values.\n */\nexport function scan<V, A, S>(accumulator: (acc: V | A | S, value: V, index: number) => A, seed?: S): OperatorFunction<V, V | A> {\n  // providing a seed of `undefined` *should* be valid and trigger\n  // hasSeed! so don't use `seed !== undefined` checks!\n  // For this reason, we have to check it here at the original call site\n  // otherwise inside Operator/Subscriber we won't know if `undefined`\n  // means they didn't provide anything or if they literally provided `undefined`\n  return operate(scanInternals(accumulator, seed as S, arguments.length >= 2, true));\n}\n", "import { innerFrom } from '../observable/innerFrom';\nimport { Subject } from '../Subject';\nimport { SafeSubscriber } from '../Subscriber';\nimport { Subscription } from '../Subscription';\nimport { MonoTypeOperatorFunction, SubjectLike, ObservableInput } from '../types';\nimport { operate } from '../util/lift';\n\nexport interface ShareConfig<T> {\n  /**\n   * The factory used to create the subject that will connect the source observable to\n   * multicast consumers.\n   */\n  connector?: () => SubjectLike<T>;\n  /**\n   * If `true`, the resulting observable will reset internal state on error from source and return to a \"cold\" state. This\n   * allows the resulting observable to be \"retried\" in the event of an error.\n   * If `false`, when an error comes from the source it will push the error into the connecting subject, and the subject\n   * will remain the connecting subject, meaning the resulting observable will not go \"cold\" again, and subsequent retries\n   * or resubscriptions will resubscribe to that same subject. In all cases, RxJS subjects will emit the same error again, however\n   * {@link ReplaySubject} will also push its buffered values before pushing the error.\n   * It is also possible to pass a notifier factory returning an `ObservableInput` instead which grants more fine-grained\n   * control over how and when the reset should happen. This allows behaviors like conditional or delayed resets.\n   */\n  resetOnError?: boolean | ((error: any) => ObservableInput<any>);\n  /**\n   * If `true`, the resulting observable will reset internal state on completion from source and return to a \"cold\" state. This\n   * allows the resulting observable to be \"repeated\" after it is done.\n   * If `false`, when the source completes, it will push the completion through the connecting subject, and the subject\n   * will remain the connecting subject, meaning the resulting observable will not go \"cold\" again, and subsequent repeats\n   * or resubscriptions will resubscribe to that same subject.\n   * It is also possible to pass a notifier factory returning an `ObservableInput` instead which grants more fine-grained\n   * control over how and when the reset should happen. This allows behaviors like conditional or delayed resets.\n   */\n  resetOnComplete?: boolean | (() => ObservableInput<any>);\n  /**\n   * If `true`, when the number of subscribers to the resulting observable reaches zero due to those subscribers unsubscribing, the\n   * internal state will be reset and the resulting observable will return to a \"cold\" state. This means that the next\n   * time the resulting observable is subscribed to, a new subject will be created and the source will be subscribed to\n   * again.\n   * If `false`, when the number of subscribers to the resulting observable reaches zero due to unsubscription, the subject\n   * will remain connected to the source, and new subscriptions to the result will be connected through that same subject.\n   * It is also possible to pass a notifier factory returning an `ObservableInput` instead which grants more fine-grained\n   * control over how and when the reset should happen. This allows behaviors like conditional or delayed resets.\n   */\n  resetOnRefCountZero?: boolean | (() => ObservableInput<any>);\n}\n\nexport function share<T>(): MonoTypeOperatorFunction<T>;\n\nexport function share<T>(options: ShareConfig<T>): MonoTypeOperatorFunction<T>;\n\n/**\n * Returns a new Observable that multicasts (shares) the original Observable. As long as there is at least one\n * Subscriber this Observable will be subscribed and emitting data. When all subscribers have unsubscribed it will\n * unsubscribe from the source Observable. Because the Observable is multicasting it makes the stream `hot`.\n * This is an alias for `multicast(() => new Subject()), refCount()`.\n *\n * The subscription to the underlying source Observable can be reset (unsubscribe and resubscribe for new subscribers),\n * if the subscriber count to the shared observable drops to 0, or if the source Observable errors or completes. It is\n * possible to use notifier factories for the resets to allow for behaviors like conditional or delayed resets. Please\n * note that resetting on error or complete of the source Observable does not behave like a transparent retry or restart\n * of the source because the error or complete will be forwarded to all subscribers and their subscription will be\n * closed. Only new subscribers after a reset on error or complete happened will cause a fresh subscription to the\n * source. To achieve transparent retries or restarts pipe the source through appropriate operators before sharing.\n *\n * ![](share.png)\n *\n * ## Example\n *\n * Generate new multicast Observable from the `source` Observable value\n *\n * ```ts\n * import { interval, tap, map, take, share } from 'rxjs';\n *\n * const source = interval(1000).pipe(\n *   tap(x => console.log('Processing: ', x)),\n *   map(x => x * x),\n *   take(6),\n *   share()\n * );\n *\n * source.subscribe(x => console.log('subscription 1: ', x));\n * source.subscribe(x => console.log('subscription 2: ', x));\n *\n * // Logs:\n * // Processing: 0\n * // subscription 1: 0\n * // subscription 2: 0\n * // Processing: 1\n * // subscription 1: 1\n * // subscription 2: 1\n * // Processing: 2\n * // subscription 1: 4\n * // subscription 2: 4\n * // Processing: 3\n * // subscription 1: 9\n * // subscription 2: 9\n * // Processing: 4\n * // subscription 1: 16\n * // subscription 2: 16\n * // Processing: 5\n * // subscription 1: 25\n * // subscription 2: 25\n * ```\n *\n * ## Example with notifier factory: Delayed reset\n *\n * ```ts\n * import { interval, take, share, timer } from 'rxjs';\n *\n * const source = interval(1000).pipe(\n *   take(3),\n *   share({\n *     resetOnRefCountZero: () => timer(1000)\n *   })\n * );\n *\n * const subscriptionOne = source.subscribe(x => console.log('subscription 1: ', x));\n * setTimeout(() => subscriptionOne.unsubscribe(), 1300);\n *\n * setTimeout(() => source.subscribe(x => console.log('subscription 2: ', x)), 1700);\n *\n * setTimeout(() => source.subscribe(x => console.log('subscription 3: ', x)), 5000);\n *\n * // Logs:\n * // subscription 1:  0\n * // (subscription 1 unsubscribes here)\n * // (subscription 2 subscribes here ~400ms later, source was not reset)\n * // subscription 2:  1\n * // subscription 2:  2\n * // (subscription 2 unsubscribes here)\n * // (subscription 3 subscribes here ~2000ms later, source did reset before)\n * // subscription 3:  0\n * // subscription 3:  1\n * // subscription 3:  2\n * ```\n *\n * @see {@link shareReplay}\n *\n * @return A function that returns an Observable that mirrors the source.\n */\nexport function share<T>(options: ShareConfig<T> = {}): MonoTypeOperatorFunction<T> {\n  const { connector = () => new Subject<T>(), resetOnError = true, resetOnComplete = true, resetOnRefCountZero = true } = options;\n  // It's necessary to use a wrapper here, as the _operator_ must be\n  // referentially transparent. Otherwise, it cannot be used in calls to the\n  // static `pipe` function - to create a partial pipeline.\n  //\n  // The _operator function_ - the function returned by the _operator_ - will\n  // not be referentially transparent - as it shares its source - but the\n  // _operator function_ is called when the complete pipeline is composed via a\n  // call to a source observable's `pipe` method - not when the static `pipe`\n  // function is called.\n  return (wrapperSource) => {\n    let connection: SafeSubscriber<T> | undefined;\n    let resetConnection: Subscription | undefined;\n    let subject: SubjectLike<T> | undefined;\n    let refCount = 0;\n    let hasCompleted = false;\n    let hasErrored = false;\n\n    const cancelReset = () => {\n      resetConnection?.unsubscribe();\n      resetConnection = undefined;\n    };\n    // Used to reset the internal state to a \"cold\"\n    // state, as though it had never been subscribed to.\n    const reset = () => {\n      cancelReset();\n      connection = subject = undefined;\n      hasCompleted = hasErrored = false;\n    };\n    const resetAndUnsubscribe = () => {\n      // We need to capture the connection before\n      // we reset (if we need to reset).\n      const conn = connection;\n      reset();\n      conn?.unsubscribe();\n    };\n\n    return operate<T, T>((source, subscriber) => {\n      refCount++;\n      if (!hasErrored && !hasCompleted) {\n        cancelReset();\n      }\n\n      // Create the subject if we don't have one yet. Grab a local reference to\n      // it as well, which avoids non-null assertions when using it and, if we\n      // connect to it now, then error/complete need a reference after it was\n      // reset.\n      const dest = (subject = subject ?? connector());\n\n      // Add the finalization directly to the subscriber - instead of returning it -\n      // so that the handling of the subscriber's unsubscription will be wired\n      // up _before_ the subscription to the source occurs. This is done so that\n      // the assignment to the source connection's `closed` property will be seen\n      // by synchronous firehose sources.\n      subscriber.add(() => {\n        refCount--;\n\n        // If we're resetting on refCount === 0, and it's 0, we only want to do\n        // that on \"unsubscribe\", really. Resetting on error or completion is a different\n        // configuration.\n        if (refCount === 0 && !hasErrored && !hasCompleted) {\n          resetConnection = handleReset(resetAndUnsubscribe, resetOnRefCountZero);\n        }\n      });\n\n      // The following line adds the subscription to the subscriber passed.\n      // Basically, `subscriber === dest.subscribe(subscriber)` is `true`.\n      dest.subscribe(subscriber);\n\n      if (\n        !connection &&\n        // Check this shareReplay is still activate - it can be reset to 0\n        // and be \"unsubscribed\" _before_ it actually subscribes.\n        // If we were to subscribe then, it'd leak and get stuck.\n        refCount > 0\n      ) {\n        // We need to create a subscriber here - rather than pass an observer and\n        // assign the returned subscription to connection - because it's possible\n        // for reentrant subscriptions to the shared observable to occur and in\n        // those situations we want connection to be already-assigned so that we\n        // don't create another connection to the source.\n        connection = new SafeSubscriber({\n          next: (value) => dest.next(value),\n          error: (err) => {\n            hasErrored = true;\n            cancelReset();\n            resetConnection = handleReset(reset, resetOnError, err);\n            dest.error(err);\n          },\n          complete: () => {\n            hasCompleted = true;\n            cancelReset();\n            resetConnection = handleReset(reset, resetOnComplete);\n            dest.complete();\n          },\n        });\n        innerFrom(source).subscribe(connection);\n      }\n    })(wrapperSource);\n  };\n}\n\nfunction handleReset<T extends unknown[] = never[]>(\n  reset: () => void,\n  on: boolean | ((...args: T) => ObservableInput<any>),\n  ...args: T\n): Subscription | undefined {\n  if (on === true) {\n    reset();\n    return;\n  }\n\n  if (on === false) {\n    return;\n  }\n\n  const onSubscriber = new SafeSubscriber({\n    next: () => {\n      onSubscriber.unsubscribe();\n      reset();\n    },\n  });\n\n  return innerFrom(on(...args)).subscribe(onSubscriber);\n}\n", "import { ReplaySubject } from '../ReplaySubject';\nimport { MonoTypeOperatorFunction, SchedulerLike } from '../types';\nimport { share } from './share';\n\nexport interface ShareReplayConfig {\n  bufferSize?: number;\n  windowTime?: number;\n  refCount: boolean;\n  scheduler?: SchedulerLike;\n}\n\nexport function shareReplay<T>(config: ShareReplayConfig): MonoTypeOperatorFunction<T>;\nexport function shareReplay<T>(bufferSize?: number, windowTime?: number, scheduler?: SchedulerLike): MonoTypeOperatorFunction<T>;\n\n/**\n * Share source and replay specified number of emissions on subscription.\n *\n * This operator is a specialization of `replay` that connects to a source observable\n * and multicasts through a `ReplaySubject` constructed with the specified arguments.\n * A successfully completed source will stay cached in the `shareReplay`ed observable forever,\n * but an errored source can be retried.\n *\n * ## Why use `shareReplay`?\n *\n * You generally want to use `shareReplay` when you have side-effects or taxing computations\n * that you do not wish to be executed amongst multiple subscribers.\n * It may also be valuable in situations where you know you will have late subscribers to\n * a stream that need access to previously emitted values.\n * This ability to replay values on subscription is what differentiates {@link share} and `shareReplay`.\n *\n * ## Reference counting\n *\n * By default `shareReplay` will use `refCount` of false, meaning that it will _not_ unsubscribe the\n * source when the reference counter drops to zero, i.e. the inner `ReplaySubject` will _not_ be unsubscribed\n * (and potentially run for ever).\n * This is the default as it is expected that `shareReplay` is often used to keep around expensive to setup\n * observables which we want to keep running instead of having to do the expensive setup again.\n *\n * As of RXJS version 6.4.0 a new overload signature was added to allow for manual control over what\n * happens when the operators internal reference counter drops to zero.\n * If `refCount` is true, the source will be unsubscribed from once the reference count drops to zero, i.e.\n * the inner `ReplaySubject` will be unsubscribed. All new subscribers will receive value emissions from a\n * new `ReplaySubject` which in turn will cause a new subscription to the source observable.\n *\n * ## Examples\n *\n * Example with a third subscriber coming late to the party\n *\n * ```ts\n * import { interval, take, shareReplay } from 'rxjs';\n *\n * const shared$ = interval(2000).pipe(\n *   take(6),\n *   shareReplay(3)\n * );\n *\n * shared$.subscribe(x => console.log('sub A: ', x));\n * shared$.subscribe(y => console.log('sub B: ', y));\n *\n * setTimeout(() => {\n *   shared$.subscribe(y => console.log('sub C: ', y));\n * }, 11000);\n *\n * // Logs:\n * // (after ~2000 ms)\n * // sub A: 0\n * // sub B: 0\n * // (after ~4000 ms)\n * // sub A: 1\n * // sub B: 1\n * // (after ~6000 ms)\n * // sub A: 2\n * // sub B: 2\n * // (after ~8000 ms)\n * // sub A: 3\n * // sub B: 3\n * // (after ~10000 ms)\n * // sub A: 4\n * // sub B: 4\n * // (after ~11000 ms, sub C gets the last 3 values)\n * // sub C: 2\n * // sub C: 3\n * // sub C: 4\n * // (after ~12000 ms)\n * // sub A: 5\n * // sub B: 5\n * // sub C: 5\n * ```\n *\n * Example for `refCount` usage\n *\n * ```ts\n * import { Observable, tap, interval, shareReplay, take } from 'rxjs';\n *\n * const log = <T>(name: string, source: Observable<T>) => source.pipe(\n *   tap({\n *     subscribe: () => console.log(`${ name }: subscribed`),\n *     next: value => console.log(`${ name }: ${ value }`),\n *     complete: () => console.log(`${ name }: completed`),\n *     finalize: () => console.log(`${ name }: unsubscribed`)\n *   })\n * );\n *\n * const obs$ = log('source', interval(1000));\n *\n * const shared$ = log('shared', obs$.pipe(\n *   shareReplay({ bufferSize: 1, refCount: true }),\n *   take(2)\n * ));\n *\n * shared$.subscribe(x => console.log('sub A: ', x));\n * shared$.subscribe(y => console.log('sub B: ', y));\n *\n * // PRINTS:\n * // shared: subscribed <-- reference count = 1\n * // source: subscribed\n * // shared: subscribed <-- reference count = 2\n * // source: 0\n * // shared: 0\n * // sub A: 0\n * // shared: 0\n * // sub B: 0\n * // source: 1\n * // shared: 1\n * // sub A: 1\n * // shared: completed <-- take(2) completes the subscription for sub A\n * // shared: unsubscribed <-- reference count = 1\n * // shared: 1\n * // sub B: 1\n * // shared: completed <-- take(2) completes the subscription for sub B\n * // shared: unsubscribed <-- reference count = 0\n * // source: unsubscribed <-- replaySubject unsubscribes from source observable because the reference count dropped to 0 and refCount is true\n *\n * // In case of refCount being false, the unsubscribe is never called on the source and the source would keep on emitting, even if no subscribers\n * // are listening.\n * // source: 2\n * // source: 3\n * // source: 4\n * // ...\n * ```\n *\n * @see {@link publish}\n * @see {@link share}\n * @see {@link publishReplay}\n *\n * @param configOrBufferSize Maximum element count of the replay buffer or {@link ShareReplayConfig configuration}\n * object.\n * @param windowTime Maximum time length of the replay buffer in milliseconds.\n * @param scheduler Scheduler where connected observers within the selector function\n * will be invoked on.\n * @return A function that returns an Observable sequence that contains the\n * elements of a sequence produced by multicasting the source sequence within a\n * selector function.\n */\nexport function shareReplay<T>(\n  configOrBufferSize?: ShareReplayConfig | number,\n  windowTime?: number,\n  scheduler?: SchedulerLike\n): MonoTypeOperatorFunction<T> {\n  let bufferSize: number;\n  let refCount = false;\n  if (configOrBufferSize && typeof configOrBufferSize === 'object') {\n    ({ bufferSize = Infinity, windowTime = Infinity, refCount = false, scheduler } = configOrBufferSize);\n  } else {\n    bufferSize = (configOrBufferSize ?? Infinity) as number;\n  }\n  return share<T>({\n    connector: () => new ReplaySubject(bufferSize, windowTime, scheduler),\n    resetOnError: true,\n    resetOnComplete: false,\n    resetOnRefCountZero: refCount,\n  });\n}\n", "import { MonoTypeOperatorFunction } from '../types';\nimport { filter } from './filter';\n\n/**\n * Returns an Observable that skips the first `count` items emitted by the source Observable.\n *\n * ![](skip.png)\n *\n * Skips the values until the sent notifications are equal or less than provided skip count. It raises\n * an error if skip count is equal or more than the actual number of emits and source raises an error.\n *\n * ## Example\n *\n * Skip the values before the emission\n *\n * ```ts\n * import { interval, skip } from 'rxjs';\n *\n * // emit every half second\n * const source = interval(500);\n * // skip the first 10 emitted values\n * const result = source.pipe(skip(10));\n *\n * result.subscribe(value => console.log(value));\n * // output: 10...11...12...13...\n * ```\n *\n * @see {@link last}\n * @see {@link skipWhile}\n * @see {@link skipUntil}\n * @see {@link skipLast}\n *\n * @param {Number} count - The number of times, items emitted by source Observable should be skipped.\n * @return A function that returns an Observable that skips the first `count`\n * values emitted by the source Observable.\n */\nexport function skip<T>(count: number): MonoTypeOperatorFunction<T> {\n  return filter((_, index) => count <= index);\n}\n", "import { MonoTypeOperatorFunction, ObservableInput } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { innerFrom } from '../observable/innerFrom';\nimport { noop } from '../util/noop';\n\n/**\n * Returns an Observable that skips items emitted by the source Observable until a second Observable emits an item.\n *\n * The `skipUntil` operator causes the observable stream to skip the emission of values until the passed in observable\n * emits the first value. This can be particularly useful in combination with user interactions, responses of HTTP\n * requests or waiting for specific times to pass by.\n *\n * ![](skipUntil.png)\n *\n * Internally, the `skipUntil` operator subscribes to the passed in `notifier` `ObservableInput` (which gets converted\n * to an Observable) in order to recognize the emission of its first value. When `notifier` emits next, the operator\n * unsubscribes from it and starts emitting the values of the *source* observable until it completes or errors. It\n * will never let the *source* observable emit any values if the `notifier` completes or throws an error without\n * emitting a value before.\n *\n * ## Example\n *\n * In the following example, all emitted values of the interval observable are skipped until the user clicks anywhere\n * within the page\n *\n * ```ts\n * import { interval, fromEvent, skipUntil } from 'rxjs';\n *\n * const intervalObservable = interval(1000);\n * const click = fromEvent(document, 'click');\n *\n * const emitAfterClick = intervalObservable.pipe(\n *   skipUntil(click)\n * );\n * // clicked at 4.6s. output: 5...6...7...8........ or\n * // clicked at 7.3s. output: 8...9...10..11.......\n * emitAfterClick.subscribe(value => console.log(value));\n * ```\n *\n * @see {@link last}\n * @see {@link skip}\n * @see {@link skipWhile}\n * @see {@link skipLast}\n *\n * @param notifier An `ObservableInput` that has to emit an item before the source Observable elements begin to\n * be mirrored by the resulting Observable.\n * @return A function that returns an Observable that skips items from the\n * source Observable until the `notifier` Observable emits an item, then emits the\n * remaining items.\n */\nexport function skipUntil<T>(notifier: ObservableInput<any>): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    let taking = false;\n\n    const skipSubscriber = createOperatorSubscriber(\n      subscriber,\n      () => {\n        skipSubscriber?.unsubscribe();\n        taking = true;\n      },\n      noop\n    );\n\n    innerFrom(notifier).subscribe(skipSubscriber);\n\n    source.subscribe(createOperatorSubscriber(subscriber, (value) => taking && subscriber.next(value)));\n  });\n}\n", "import { concat } from '../observable/concat';\nimport { OperatorFunction, SchedulerLike, ValueFromArray } from '../types';\nimport { popScheduler } from '../util/args';\nimport { operate } from '../util/lift';\n\n// Devs are more likely to pass null or undefined than they are a scheduler\n// without accompanying values. To make things easier for (naughty) devs who\n// use the `strictNullChecks: false` TypeScript compiler option, these\n// overloads with explicit null and undefined values are included.\n\nexport function startWith<T>(value: null): OperatorFunction<T, T | null>;\nexport function startWith<T>(value: undefined): OperatorFunction<T, T | undefined>;\n\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `concatAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function startWith<T, A extends readonly unknown[] = T[]>(\n  ...valuesAndScheduler: [...A, SchedulerLike]\n): OperatorFunction<T, T | ValueFromArray<A>>;\nexport function startWith<T, A extends readonly unknown[] = T[]>(...values: A): OperatorFunction<T, T | ValueFromArray<A>>;\n\n/**\n * Returns an observable that, at the moment of subscription, will synchronously emit all\n * values provided to this operator, then subscribe to the source and mirror all of its emissions\n * to subscribers.\n *\n * This is a useful way to know when subscription has occurred on an existing observable.\n *\n * <span class=\"informal\">First emits its arguments in order, and then any\n * emissions from the source.</span>\n *\n * ![](startWith.png)\n *\n * ## Examples\n *\n * Emit a value when a timer starts.\n *\n * ```ts\n * import { timer, map, startWith } from 'rxjs';\n *\n * timer(1000)\n *   .pipe(\n *     map(() => 'timer emit'),\n *     startWith('timer start')\n *   )\n *   .subscribe(x => console.log(x));\n *\n * // results:\n * // 'timer start'\n * // 'timer emit'\n * ```\n *\n * @param values Items you want the modified Observable to emit first.\n * @return A function that returns an Observable that synchronously emits\n * provided values before subscribing to the source Observable.\n *\n * @see {@link endWith}\n * @see {@link finalize}\n * @see {@link concat}\n */\nexport function startWith<T, D>(...values: D[]): OperatorFunction<T, T | D> {\n  const scheduler = popScheduler(values);\n  return operate((source, subscriber) => {\n    // Here we can't pass `undefined` as a scheduler, because if we did, the\n    // code inside of `concat` would be confused by the `undefined`, and treat it\n    // like an invalid observable. So we have to split it two different ways.\n    (scheduler ? concat(values, source, scheduler) : concat(values, source)).subscribe(subscriber);\n  });\n}\n", "import { Subscriber } from '../Subscriber';\nimport { ObservableInput, OperatorFunction, ObservedValueOf } from '../types';\nimport { innerFrom } from '../observable/innerFrom';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/* tslint:disable:max-line-length */\nexport function switchMap<T, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O\n): OperatorFunction<T, ObservedValueOf<O>>;\n/** @deprecated The `resultSelector` parameter will be removed in v8. Use an inner `map` instead. Details: https://rxjs.dev/deprecations/resultSelector */\nexport function switchMap<T, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O,\n  resultSelector: undefined\n): OperatorFunction<T, ObservedValueOf<O>>;\n/** @deprecated The `resultSelector` parameter will be removed in v8. Use an inner `map` instead. Details: https://rxjs.dev/deprecations/resultSelector */\nexport function switchMap<T, R, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O,\n  resultSelector: (outerValue: T, innerValue: ObservedValueOf<O>, outerIndex: number, innerIndex: number) => R\n): OperatorFunction<T, R>;\n/* tslint:enable:max-line-length */\n\n/**\n * Projects each source value to an Observable which is merged in the output\n * Observable, emitting values only from the most recently projected Observable.\n *\n * <span class=\"informal\">Maps each value to an Observable, then flattens all of\n * these inner Observables using {@link switchAll}.</span>\n *\n * ![](switchMap.png)\n *\n * Returns an Observable that emits items based on applying a function that you\n * supply to each item emitted by the source Observable, where that function\n * returns an (so-called \"inner\") Observable. Each time it observes one of these\n * inner Observables, the output Observable begins emitting the items emitted by\n * that inner Observable. When a new inner Observable is emitted, `switchMap`\n * stops emitting items from the earlier-emitted inner Observable and begins\n * emitting items from the new one. It continues to behave like this for\n * subsequent inner Observables.\n *\n * ## Example\n *\n * Generate new Observable according to source Observable values\n *\n * ```ts\n * import { of, switchMap } from 'rxjs';\n *\n * const switched = of(1, 2, 3).pipe(switchMap(x => of(x, x ** 2, x ** 3)));\n * switched.subscribe(x => console.log(x));\n * // outputs\n * // 1\n * // 1\n * // 1\n * // 2\n * // 4\n * // 8\n * // 3\n * // 9\n * // 27\n * ```\n *\n * Restart an interval Observable on every click event\n *\n * ```ts\n * import { fromEvent, switchMap, interval } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(switchMap(() => interval(1000)));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link concatMap}\n * @see {@link exhaustMap}\n * @see {@link mergeMap}\n * @see {@link switchAll}\n * @see {@link switchMapTo}\n *\n * @param {function(value: T, index: number): ObservableInput} project A function\n * that, when applied to an item emitted by the source Observable, returns an\n * Observable.\n * @return A function that returns an Observable that emits the result of\n * applying the projection function (and the optional deprecated\n * `resultSelector`) to each item emitted by the source Observable and taking\n * only the values from the most recently projected inner Observable.\n */\nexport function switchMap<T, R, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O,\n  resultSelector?: (outerValue: T, innerValue: ObservedValueOf<O>, outerIndex: number, innerIndex: number) => R\n): OperatorFunction<T, ObservedValueOf<O> | R> {\n  return operate((source, subscriber) => {\n    let innerSubscriber: Subscriber<ObservedValueOf<O>> | null = null;\n    let index = 0;\n    // Whether or not the source subscription has completed\n    let isComplete = false;\n\n    // We only complete the result if the source is complete AND we don't have an active inner subscription.\n    // This is called both when the source completes and when the inners complete.\n    const checkComplete = () => isComplete && !innerSubscriber && subscriber.complete();\n\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value) => {\n          // Cancel the previous inner subscription if there was one\n          innerSubscriber?.unsubscribe();\n          let innerIndex = 0;\n          const outerIndex = index++;\n          // Start the next inner subscription\n          innerFrom(project(value, outerIndex)).subscribe(\n            (innerSubscriber = createOperatorSubscriber(\n              subscriber,\n              // When we get a new inner value, next it through. Note that this is\n              // handling the deprecate result selector here. This is because with this architecture\n              // it ends up being smaller than using the map operator.\n              (innerValue) => subscriber.next(resultSelector ? resultSelector(value, innerValue, outerIndex, innerIndex++) : innerValue),\n              () => {\n                // The inner has completed. Null out the inner subscriber to\n                // free up memory and to signal that we have no inner subscription\n                // currently.\n                innerSubscriber = null!;\n                checkComplete();\n              }\n            ))\n          );\n        },\n        () => {\n          isComplete = true;\n          checkComplete();\n        }\n      )\n    );\n  });\n}\n", "import { MonoTypeOperatorFunction, ObservableInput } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { innerFrom } from '../observable/innerFrom';\nimport { noop } from '../util/noop';\n\n/**\n * Emits the values emitted by the source Observable until a `notifier`\n * Observable emits a value.\n *\n * <span class=\"informal\">Lets values pass until a second Observable,\n * `notifier`, emits a value. Then, it completes.</span>\n *\n * ![](takeUntil.png)\n *\n * `takeUntil` subscribes and begins mirroring the source Observable. It also\n * monitors a second Observable, `notifier` that you provide. If the `notifier`\n * emits a value, the output Observable stops mirroring the source Observable\n * and completes. If the `notifier` doesn't emit any value and completes\n * then `takeUntil` will pass all values.\n *\n * ## Example\n *\n * Tick every second until the first click happens\n *\n * ```ts\n * import { interval, fromEvent, takeUntil } from 'rxjs';\n *\n * const source = interval(1000);\n * const clicks = fromEvent(document, 'click');\n * const result = source.pipe(takeUntil(clicks));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link take}\n * @see {@link takeLast}\n * @see {@link takeWhile}\n * @see {@link skip}\n *\n * @param {Observable} notifier The Observable whose first emitted value will\n * cause the output Observable of `takeUntil` to stop emitting values from the\n * source Observable.\n * @return A function that returns an Observable that emits the values from the\n * source Observable until `notifier` emits its first value.\n */\nexport function takeUntil<T>(notifier: ObservableInput<any>): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    innerFrom(notifier).subscribe(createOperatorSubscriber(subscriber, () => subscriber.complete(), noop));\n    !subscriber.closed && source.subscribe(subscriber);\n  });\n}\n", "import { OperatorFunction, MonoTypeOperatorFunction, TruthyTypesOf } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\nexport function takeWhile<T>(predicate: BooleanConstructor, inclusive: true): MonoTypeOperatorFunction<T>;\nexport function takeWhile<T>(predicate: BooleanConstructor, inclusive: false): OperatorFunction<T, TruthyTypesOf<T>>;\nexport function takeWhile<T>(predicate: BooleanConstructor): OperatorFunction<T, TruthyTypesOf<T>>;\nexport function takeWhile<T, S extends T>(predicate: (value: T, index: number) => value is S): OperatorFunction<T, S>;\nexport function takeWhile<T, S extends T>(predicate: (value: T, index: number) => value is S, inclusive: false): OperatorFunction<T, S>;\nexport function takeWhile<T>(predicate: (value: T, index: number) => boolean, inclusive?: boolean): MonoTypeOperatorFunction<T>;\n\n/**\n * Emits values emitted by the source Observable so long as each value satisfies\n * the given `predicate`, and then completes as soon as this `predicate` is not\n * satisfied.\n *\n * <span class=\"informal\">Takes values from the source only while they pass the\n * condition given. When the first value does not satisfy, it completes.</span>\n *\n * ![](takeWhile.png)\n *\n * `takeWhile` subscribes and begins mirroring the source Observable. Each value\n * emitted on the source is given to the `predicate` function which returns a\n * boolean, representing a condition to be satisfied by the source values. The\n * output Observable emits the source values until such time as the `predicate`\n * returns false, at which point `takeWhile` stops mirroring the source\n * Observable and completes the output Observable.\n *\n * ## Example\n *\n * Emit click events only while the clientX property is greater than 200\n *\n * ```ts\n * import { fromEvent, takeWhile } from 'rxjs';\n *\n * const clicks = fromEvent<PointerEvent>(document, 'click');\n * const result = clicks.pipe(takeWhile(ev => ev.clientX > 200));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link take}\n * @see {@link takeLast}\n * @see {@link takeUntil}\n * @see {@link skip}\n *\n * @param {function(value: T, index: number): boolean} predicate A function that\n * evaluates a value emitted by the source Observable and returns a boolean.\n * Also takes the (zero-based) index as the second argument.\n * @param {boolean} inclusive When set to `true` the value that caused\n * `predicate` to return `false` will also be emitted.\n * @return A function that returns an Observable that emits values from the\n * source Observable so long as each value satisfies the condition defined by\n * the `predicate`, then completes.\n */\nexport function takeWhile<T>(predicate: (value: T, index: number) => boolean, inclusive = false): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    let index = 0;\n    source.subscribe(\n      createOperatorSubscriber(subscriber, (value) => {\n        const result = predicate(value, index++);\n        (result || inclusive) && subscriber.next(value);\n        !result && subscriber.complete();\n      })\n    );\n  });\n}\n", "import { MonoTypeOperatorFunction, Observer } from '../types';\nimport { isFunction } from '../util/isFunction';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { identity } from '../util/identity';\n\n/**\n * An extension to the {@link Observer} interface used only by the {@link tap} operator.\n *\n * It provides a useful set of callbacks a user can register to do side-effects in\n * cases other than what the usual {@link Observer} callbacks are\n * ({@link guide/glossary-and-semantics#next next},\n * {@link guide/glossary-and-semantics#error error} and/or\n * {@link guide/glossary-and-semantics#complete complete}).\n *\n * ## Example\n *\n * ```ts\n * import { fromEvent, switchMap, tap, interval, take } from 'rxjs';\n *\n * const source$ = fromEvent(document, 'click');\n * const result$ = source$.pipe(\n *   switchMap((_, i) => i % 2 === 0\n *     ? fromEvent(document, 'mousemove').pipe(\n *         tap({\n *           subscribe: () => console.log('Subscribed to the mouse move events after click #' + i),\n *           unsubscribe: () => console.log('Mouse move events #' + i + ' unsubscribed'),\n *           finalize: () => console.log('Mouse move events #' + i + ' finalized')\n *         })\n *       )\n *     : interval(1_000).pipe(\n *         take(5),\n *         tap({\n *           subscribe: () => console.log('Subscribed to the 1-second interval events after click #' + i),\n *           unsubscribe: () => console.log('1-second interval events #' + i + ' unsubscribed'),\n *           finalize: () => console.log('1-second interval events #' + i + ' finalized')\n *         })\n *       )\n *   )\n * );\n *\n * const subscription = result$.subscribe({\n *   next: console.log\n * });\n *\n * setTimeout(() => {\n *   console.log('Unsubscribe after 60 seconds');\n *   subscription.unsubscribe();\n * }, 60_000);\n * ```\n */\nexport interface TapObserver<T> extends Observer<T> {\n  /**\n   * The callback that `tap` operator invokes at the moment when the source Observable\n   * gets subscribed to.\n   */\n  subscribe: () => void;\n  /**\n   * The callback that `tap` operator invokes when an explicit\n   * {@link guide/glossary-and-semantics#unsubscription unsubscribe} happens. It won't get invoked on\n   * `error` or `complete` events.\n   */\n  unsubscribe: () => void;\n  /**\n   * The callback that `tap` operator invokes when any kind of\n   * {@link guide/glossary-and-semantics#finalization finalization} happens - either when\n   * the source Observable `error`s or `complete`s or when it gets explicitly unsubscribed\n   * by the user. There is no difference in using this callback or the {@link finalize}\n   * operator, but if you're already using `tap` operator, you can use this callback\n   * instead. You'd get the same result in either case.\n   */\n  finalize: () => void;\n}\nexport function tap<T>(observerOrNext?: Partial<TapObserver<T>> | ((value: T) => void)): MonoTypeOperatorFunction<T>;\n/** @deprecated Instead of passing separate callback arguments, use an observer argument. Signatures taking separate callback arguments will be removed in v8. Details: https://rxjs.dev/deprecations/subscribe-arguments */\nexport function tap<T>(\n  next?: ((value: T) => void) | null,\n  error?: ((error: any) => void) | null,\n  complete?: (() => void) | null\n): MonoTypeOperatorFunction<T>;\n\n/**\n * Used to perform side-effects for notifications from the source observable\n *\n * <span class=\"informal\">Used when you want to affect outside state with a notification without altering the notification</span>\n *\n * ![](tap.png)\n *\n * Tap is designed to allow the developer a designated place to perform side effects. While you _could_ perform side-effects\n * inside of a `map` or a `mergeMap`, that would make their mapping functions impure, which isn't always a big deal, but will\n * make it so you can't do things like memoize those functions. The `tap` operator is designed solely for such side-effects to\n * help you remove side-effects from other operations.\n *\n * For any notification, next, error, or complete, `tap` will call the appropriate callback you have provided to it, via a function\n * reference, or a partial observer, then pass that notification down the stream.\n *\n * The observable returned by `tap` is an exact mirror of the source, with one exception: Any error that occurs -- synchronously -- in a handler\n * provided to `tap` will be emitted as an error from the returned observable.\n *\n * > Be careful! You can mutate objects as they pass through the `tap` operator's handlers.\n *\n * The most common use of `tap` is actually for debugging. You can place a `tap(console.log)` anywhere\n * in your observable `pipe`, log out the notifications as they are emitted by the source returned by the previous\n * operation.\n *\n * ## Examples\n *\n * Check a random number before it is handled. Below is an observable that will use a random number between 0 and 1,\n * and emit `'big'` or `'small'` depending on the size of that number. But we wanted to log what the original number\n * was, so we have added a `tap(console.log)`.\n *\n * ```ts\n * import { of, tap, map } from 'rxjs';\n *\n * of(Math.random()).pipe(\n *   tap(console.log),\n *   map(n => n > 0.5 ? 'big' : 'small')\n * ).subscribe(console.log);\n * ```\n *\n * Using `tap` to analyze a value and force an error. Below is an observable where in our system we only\n * want to emit numbers 3 or less we get from another source. We can force our observable to error\n * using `tap`.\n *\n * ```ts\n * import { of, tap } from 'rxjs';\n *\n * const source = of(1, 2, 3, 4, 5);\n *\n * source.pipe(\n *   tap(n => {\n *     if (n > 3) {\n *       throw new TypeError(`Value ${ n } is greater than 3`);\n *     }\n *   })\n * )\n * .subscribe({ next: console.log, error: err => console.log(err.message) });\n * ```\n *\n * We want to know when an observable completes before moving on to the next observable. The system\n * below will emit a random series of `'X'` characters from 3 different observables in sequence. The\n * only way we know when one observable completes and moves to the next one, in this case, is because\n * we have added a `tap` with the side effect of logging to console.\n *\n * ```ts\n * import { of, concatMap, interval, take, map, tap } from 'rxjs';\n *\n * of(1, 2, 3).pipe(\n *   concatMap(n => interval(1000).pipe(\n *     take(Math.round(Math.random() * 10)),\n *     map(() => 'X'),\n *     tap({ complete: () => console.log(`Done with ${ n }`) })\n *   ))\n * )\n * .subscribe(console.log);\n * ```\n *\n * @see {@link finalize}\n * @see {@link TapObserver}\n *\n * @param observerOrNext A next handler or partial observer\n * @param error An error handler\n * @param complete A completion handler\n * @return A function that returns an Observable identical to the source, but\n * runs the specified Observer or callback(s) for each item.\n */\nexport function tap<T>(\n  observerOrNext?: Partial<TapObserver<T>> | ((value: T) => void) | null,\n  error?: ((e: any) => void) | null,\n  complete?: (() => void) | null\n): MonoTypeOperatorFunction<T> {\n  // We have to check to see not only if next is a function,\n  // but if error or complete were passed. This is because someone\n  // could technically call tap like `tap(null, fn)` or `tap(null, null, fn)`.\n  const tapObserver =\n    isFunction(observerOrNext) || error || complete\n      ? // tslint:disable-next-line: no-object-literal-type-assertion\n        ({ next: observerOrNext as Exclude<typeof observerOrNext, Partial<TapObserver<T>>>, error, complete } as Partial<TapObserver<T>>)\n      : observerOrNext;\n\n  return tapObserver\n    ? operate((source, subscriber) => {\n        tapObserver.subscribe?.();\n        let isUnsub = true;\n        source.subscribe(\n          createOperatorSubscriber(\n            subscriber,\n            (value) => {\n              tapObserver.next?.(value);\n              subscriber.next(value);\n            },\n            () => {\n              isUnsub = false;\n              tapObserver.complete?.();\n              subscriber.complete();\n            },\n            (err) => {\n              isUnsub = false;\n              tapObserver.error?.(err);\n              subscriber.error(err);\n            },\n            () => {\n              if (isUnsub) {\n                tapObserver.unsubscribe?.();\n              }\n              tapObserver.finalize?.();\n            }\n          )\n        );\n      })\n    : // Tap was called with no valid tap observer or handler\n      // (e.g. `tap(null, null, null)` or `tap(null)` or `tap()`)\n      // so we're going to just mirror the source.\n      identity;\n}\n", "import { Subscription } from '../Subscription';\n\nimport { MonoTypeOperatorFunction, ObservableInput } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { innerFrom } from '../observable/innerFrom';\n\n/**\n * An object interface used by {@link throttle} or {@link throttleTime} that ensure\n * configuration options of these operators.\n *\n * @see {@link throttle}\n * @see {@link throttleTime}\n */\nexport interface ThrottleConfig {\n  /**\n   * If `true`, the resulting Observable will emit the first value from the source\n   * Observable at the **start** of the \"throttling\" process (when starting an\n   * internal timer that prevents other emissions from the source to pass through).\n   * If `false`, it will not emit the first value from the source Observable at the\n   * start of the \"throttling\" process.\n   *\n   * If not provided, defaults to: `true`.\n   */\n  leading?: boolean;\n  /**\n   * If `true`, the resulting Observable will emit the last value from the source\n   * Observable at the **end** of the \"throttling\" process (when ending an internal\n   * timer that prevents other emissions from the source to pass through).\n   * If `false`, it will not emit the last value from the source Observable at the\n   * end of the \"throttling\" process.\n   *\n   * If not provided, defaults to: `false`.\n   */\n  trailing?: boolean;\n}\n\n/**\n * Emits a value from the source Observable, then ignores subsequent source\n * values for a duration determined by another Observable, then repeats this\n * process.\n *\n * <span class=\"informal\">It's like {@link throttleTime}, but the silencing\n * duration is determined by a second Observable.</span>\n *\n * ![](throttle.svg)\n *\n * `throttle` emits the source Observable values on the output Observable\n * when its internal timer is disabled, and ignores source values when the timer\n * is enabled. Initially, the timer is disabled. As soon as the first source\n * value arrives, it is forwarded to the output Observable, and then the timer\n * is enabled by calling the `durationSelector` function with the source value,\n * which returns the \"duration\" Observable. When the duration Observable emits a\n * value, the timer is disabled, and this process repeats for the\n * next source value.\n *\n * ## Example\n *\n * Emit clicks at a rate of at most one click per second\n *\n * ```ts\n * import { fromEvent, throttle, interval } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(throttle(() => interval(1000)));\n *\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link audit}\n * @see {@link debounce}\n * @see {@link delayWhen}\n * @see {@link sample}\n * @see {@link throttleTime}\n *\n * @param durationSelector A function that receives a value from the source\n * Observable, for computing the silencing duration for each source value,\n * returned as an `ObservableInput`.\n * @param config A configuration object to define `leading` and `trailing`\n * behavior. Defaults to `{ leading: true, trailing: false }`.\n * @return A function that returns an Observable that performs the throttle\n * operation to limit the rate of emissions from the source.\n */\nexport function throttle<T>(durationSelector: (value: T) => ObservableInput<any>, config?: ThrottleConfig): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    const { leading = true, trailing = false } = config ?? {};\n    let hasValue = false;\n    let sendValue: T | null = null;\n    let throttled: Subscription | null = null;\n    let isComplete = false;\n\n    const endThrottling = () => {\n      throttled?.unsubscribe();\n      throttled = null;\n      if (trailing) {\n        send();\n        isComplete && subscriber.complete();\n      }\n    };\n\n    const cleanupThrottling = () => {\n      throttled = null;\n      isComplete && subscriber.complete();\n    };\n\n    const startThrottle = (value: T) =>\n      (throttled = innerFrom(durationSelector(value)).subscribe(createOperatorSubscriber(subscriber, endThrottling, cleanupThrottling)));\n\n    const send = () => {\n      if (hasValue) {\n        // Ensure we clear out our value and hasValue flag\n        // before we emit, otherwise reentrant code can cause\n        // issues here.\n        hasValue = false;\n        const value = sendValue!;\n        sendValue = null;\n        // Emit the value.\n        subscriber.next(value);\n        !isComplete && startThrottle(value);\n      }\n    };\n\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        // Regarding the presence of throttled.closed in the following\n        // conditions, if a synchronous duration selector is specified - weird,\n        // but legal - an already-closed subscription will be assigned to\n        // throttled, so the subscription's closed property needs to be checked,\n        // too.\n        (value) => {\n          hasValue = true;\n          sendValue = value;\n          !(throttled && !throttled.closed) && (leading ? send() : startThrottle(value));\n        },\n        () => {\n          isComplete = true;\n          !(trailing && hasValue && throttled && !throttled.closed) && subscriber.complete();\n        }\n      )\n    );\n  });\n}\n", "import { asyncScheduler } from '../scheduler/async';\nimport { throttle, ThrottleConfig } from './throttle';\nimport { MonoTypeOperatorFunction, SchedulerLike } from '../types';\nimport { timer } from '../observable/timer';\n\n/**\n * Emits a value from the source Observable, then ignores subsequent source\n * values for `duration` milliseconds, then repeats this process.\n *\n * <span class=\"informal\">Lets a value pass, then ignores source values for the\n * next `duration` milliseconds.</span>\n *\n * ![](throttleTime.png)\n *\n * `throttleTime` emits the source Observable values on the output Observable\n * when its internal timer is disabled, and ignores source values when the timer\n * is enabled. Initially, the timer is disabled. As soon as the first source\n * value arrives, it is forwarded to the output Observable, and then the timer\n * is enabled. After `duration` milliseconds (or the time unit determined\n * internally by the optional `scheduler`) has passed, the timer is disabled,\n * and this process repeats for the next source value. Optionally takes a\n * {@link SchedulerLike} for managing timers.\n *\n * ## Examples\n *\n * ### Limit click rate\n *\n * Emit clicks at a rate of at most one click per second\n *\n * ```ts\n * import { fromEvent, throttleTime } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(throttleTime(1000));\n *\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link auditTime}\n * @see {@link debounceTime}\n * @see {@link delay}\n * @see {@link sampleTime}\n * @see {@link throttle}\n *\n * @param duration Time to wait before emitting another value after\n * emitting the last value, measured in milliseconds or the time unit determined\n * internally by the optional `scheduler`.\n * @param scheduler The {@link SchedulerLike} to use for\n * managing the timers that handle the throttling. Defaults to {@link asyncScheduler}.\n * @param config A configuration object to define `leading` and\n * `trailing` behavior. Defaults to `{ leading: true, trailing: false }`.\n * @return A function that returns an Observable that performs the throttle\n * operation to limit the rate of emissions from the source.\n */\nexport function throttleTime<T>(\n  duration: number,\n  scheduler: SchedulerLike = asyncScheduler,\n  config?: ThrottleConfig\n): MonoTypeOperatorFunction<T> {\n  const duration$ = timer(duration, scheduler);\n  return throttle(() => duration$, config);\n}\n", "import { OperatorFunction, ObservableInputTuple } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { innerFrom } from '../observable/innerFrom';\nimport { identity } from '../util/identity';\nimport { noop } from '../util/noop';\nimport { popResultSelector } from '../util/args';\n\nexport function withLatestFrom<T, O extends unknown[]>(...inputs: [...ObservableInputTuple<O>]): OperatorFunction<T, [T, ...O]>;\n\nexport function withLatestFrom<T, O extends unknown[], R>(\n  ...inputs: [...ObservableInputTuple<O>, (...value: [T, ...O]) => R]\n): OperatorFunction<T, R>;\n\n/**\n * Combines the source Observable with other Observables to create an Observable\n * whose values are calculated from the latest values of each, only when the\n * source emits.\n *\n * <span class=\"informal\">Whenever the source Observable emits a value, it\n * computes a formula using that value plus the latest values from other input\n * Observables, then emits the output of that formula.</span>\n *\n * ![](withLatestFrom.png)\n *\n * `withLatestFrom` combines each value from the source Observable (the\n * instance) with the latest values from the other input Observables only when\n * the source emits a value, optionally using a `project` function to determine\n * the value to be emitted on the output Observable. All input Observables must\n * emit at least one value before the output Observable will emit a value.\n *\n * ## Example\n *\n * On every click event, emit an array with the latest timer event plus the click event\n *\n * ```ts\n * import { fromEvent, interval, withLatestFrom } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const timer = interval(1000);\n * const result = clicks.pipe(withLatestFrom(timer));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link combineLatest}\n *\n * @param {ObservableInput} other An input Observable to combine with the source\n * Observable. More than one input Observables may be given as argument.\n * @param {Function} [project] Projection function for combining values\n * together. Receives all values in order of the Observables passed, where the\n * first parameter is a value from the source Observable. (e.g.\n * `a.pipe(withLatestFrom(b, c), map(([a1, b1, c1]) => a1 + b1 + c1))`). If this is not\n * passed, arrays will be emitted on the output Observable.\n * @return A function that returns an Observable of projected values from the\n * most recent values from each input Observable, or an array of the most\n * recent values from each input Observable.\n */\nexport function withLatestFrom<T, R>(...inputs: any[]): OperatorFunction<T, R | any[]> {\n  const project = popResultSelector(inputs) as ((...args: any[]) => R) | undefined;\n\n  return operate((source, subscriber) => {\n    const len = inputs.length;\n    const otherValues = new Array(len);\n    // An array of whether or not the other sources have emitted. Matched with them by index.\n    // TODO: At somepoint, we should investigate the performance implications here, and look\n    // into using a `Set()` and checking the `size` to see if we're ready.\n    let hasValue = inputs.map(() => false);\n    // Flipped true when we have at least one value from all other sources and\n    // we are ready to start emitting values.\n    let ready = false;\n\n    // Other sources. Note that here we are not checking `subscriber.closed`,\n    // this causes all inputs to be subscribed to, even if nothing can be emitted\n    // from them. This is an important distinction because subscription constitutes\n    // a side-effect.\n    for (let i = 0; i < len; i++) {\n      innerFrom(inputs[i]).subscribe(\n        createOperatorSubscriber(\n          subscriber,\n          (value) => {\n            otherValues[i] = value;\n            if (!ready && !hasValue[i]) {\n              // If we're not ready yet, flag to show this observable has emitted.\n              hasValue[i] = true;\n              // Intentionally terse code.\n              // If all of our other observables have emitted, set `ready` to `true`,\n              // so we know we can start emitting values, then clean up the `hasValue` array,\n              // because we don't need it anymore.\n              (ready = hasValue.every(identity)) && (hasValue = null!);\n            }\n          },\n          // Completing one of the other sources has\n          // no bearing on the completion of our result.\n          noop\n        )\n      );\n    }\n\n    // Source subscription\n    source.subscribe(\n      createOperatorSubscriber(subscriber, (value) => {\n        if (ready) {\n          // We have at least one value from the other sources. Go ahead and emit.\n          const values = [value, ...otherValues];\n          subscriber.next(project ? project(...values) : values);\n        }\n      })\n    );\n  });\n}\n", "import { zip as zipStatic } from '../observable/zip';\nimport { ObservableInput, ObservableInputTuple, OperatorFunction, Cons } from '../types';\nimport { operate } from '../util/lift';\n\n/** @deprecated Replaced with {@link zipWith}. Will be removed in v8. */\nexport function zip<T, A extends readonly unknown[]>(otherInputs: [...ObservableInputTuple<A>]): OperatorFunction<T, Cons<T, A>>;\n/** @deprecated Replaced with {@link zipWith}. Will be removed in v8. */\nexport function zip<T, A extends readonly unknown[], R>(\n  otherInputsAndProject: [...ObservableInputTuple<A>],\n  project: (...values: Cons<T, A>) => R\n): OperatorFunction<T, R>;\n/** @deprecated Replaced with {@link zipWith}. Will be removed in v8. */\nexport function zip<T, A extends readonly unknown[]>(...otherInputs: [...ObservableInputTuple<A>]): OperatorFunction<T, Cons<T, A>>;\n/** @deprecated Replaced with {@link zipWith}. Will be removed in v8. */\nexport function zip<T, A extends readonly unknown[], R>(\n  ...otherInputsAndProject: [...ObservableInputTuple<A>, (...values: Cons<T, A>) => R]\n): OperatorFunction<T, R>;\n\n/**\n * @deprecated Replaced with {@link zipWith}. Will be removed in v8.\n */\nexport function zip<T, R>(...sources: Array<ObservableInput<any> | ((...values: Array<any>) => R)>): OperatorFunction<T, any> {\n  return operate((source, subscriber) => {\n    zipStatic(source as ObservableInput<any>, ...(sources as Array<ObservableInput<any>>)).subscribe(subscriber);\n  });\n}\n", "import { ObservableInputTuple, OperatorFunction, Cons } from '../types';\nimport { zip } from './zip';\n\n/**\n * Subscribes to the source, and the observable inputs provided as arguments, and combines their values, by index, into arrays.\n *\n * What is meant by \"combine by index\": The first value from each will be made into a single array, then emitted,\n * then the second value from each will be combined into a single array and emitted, then the third value\n * from each will be combined into a single array and emitted, and so on.\n *\n * This will continue until it is no longer able to combine values of the same index into an array.\n *\n * After the last value from any one completed source is emitted in an array, the resulting observable will complete,\n * as there is no way to continue \"zipping\" values together by index.\n *\n * Use-cases for this operator are limited. There are memory concerns if one of the streams is emitting\n * values at a much faster rate than the others. Usage should likely be limited to streams that emit\n * at a similar pace, or finite streams of known length.\n *\n * In many cases, authors want `combineLatestWith` and not `zipWith`.\n *\n * @param otherInputs other observable inputs to collate values from.\n * @return A function that returns an Observable that emits items by index\n * combined from the source Observable and provided Observables, in form of an\n * array.\n */\nexport function zipWith<T, A extends readonly unknown[]>(...otherInputs: [...ObservableInputTuple<A>]): OperatorFunction<T, Cons<T, A>> {\n  return zip(...otherInputs);\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  ReplaySubject,\n  Subject,\n  fromEvent\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch document\n *\n * Documents are implemented as subjects, so all downstream observables are\n * automatically updated when a new document is emitted.\n *\n * @returns Document subject\n */\nexport function watchDocument(): Subject<Document> {\n  const document$ = new ReplaySubject<Document>(1)\n  fromEvent(document, \"DOMContentLoaded\", { once: true })\n    .subscribe(() => document$.next(document))\n\n  /* Return document */\n  return document$\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve all elements matching the query selector\n *\n * @template T - Element type\n *\n * @param selector - Query selector\n * @param node - Node of reference\n *\n * @returns Elements\n */\nexport function getElements<T extends keyof HTMLElementTagNameMap>(\n  selector: T, node?: ParentNode\n): HTMLElementTagNameMap[T][]\n\nexport function getElements<T extends HTMLElement>(\n  selector: string, node?: ParentNode\n): T[]\n\nexport function getElements<T extends HTMLElement>(\n  selector: string, node: ParentNode = document\n): T[] {\n  return Array.from(node.querySelectorAll<T>(selector))\n}\n\n/**\n * Retrieve an element matching a query selector or throw a reference error\n *\n * Note that this function assumes that the element is present. If unsure if an\n * element is existent, use the `getOptionalElement` function instead.\n *\n * @template T - Element type\n *\n * @param selector - Query selector\n * @param node - Node of reference\n *\n * @returns Element\n */\nexport function getElement<T extends keyof HTMLElementTagNameMap>(\n  selector: T, node?: ParentNode\n): HTMLElementTagNameMap[T]\n\nexport function getElement<T extends HTMLElement>(\n  selector: string, node?: ParentNode\n): T\n\nexport function getElement<T extends HTMLElement>(\n  selector: string, node: ParentNode = document\n): T {\n  const el = getOptionalElement<T>(selector, node)\n  if (typeof el === \"undefined\")\n    throw new ReferenceError(\n      `Missing element: expected \"${selector}\" to be present`\n    )\n\n  /* Return element */\n  return el\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Retrieve an optional element matching the query selector\n *\n * @template T - Element type\n *\n * @param selector - Query selector\n * @param node - Node of reference\n *\n * @returns Element or nothing\n */\nexport function getOptionalElement<T extends keyof HTMLElementTagNameMap>(\n  selector: T, node?: ParentNode\n): HTMLElementTagNameMap[T] | undefined\n\nexport function getOptionalElement<T extends HTMLElement>(\n  selector: string, node?: ParentNode\n): T | undefined\n\nexport function getOptionalElement<T extends HTMLElement>(\n  selector: string, node: ParentNode = document\n): T | undefined {\n  return node.querySelector<T>(selector) || undefined\n}\n\n/**\n * Retrieve the currently active element\n *\n * @returns Element or nothing\n */\nexport function getActiveElement(): HTMLElement | undefined {\n  return (\n    document.activeElement?.shadowRoot?.activeElement as HTMLElement ??\n    document.activeElement as HTMLElement ??\n    undefined\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  debounceTime,\n  distinctUntilChanged,\n  fromEvent,\n  map,\n  merge,\n  shareReplay,\n  startWith\n} from \"rxjs\"\n\nimport { getActiveElement } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Focus observable\n *\n * Previously, this observer used `focus` and `blur` events to determine whether\n * an element is focused, but this doesn't work if there are focusable elements\n * within the elements itself. A better solutions are `focusin` and `focusout`\n * events, which bubble up the tree and allow for more fine-grained control.\n *\n * `debounceTime` is necessary, because when a focus change happens inside an\n * element, the observable would first emit `false` and then `true` again.\n */\nconst observer$ = merge(\n  fromEvent(document.body, \"focusin\"),\n  fromEvent(document.body, \"focusout\")\n)\n  .pipe(\n    debounceTime(1),\n    startWith(undefined),\n    map(() => getActiveElement() || document.body),\n    shareReplay(1)\n  )\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch element focus\n *\n * @param el - Element\n *\n * @returns Element focus observable\n */\nexport function watchElementFocus(\n  el: HTMLElement\n): Observable<boolean> {\n  return observer$\n    .pipe(\n      map(active => el.contains(active)),\n      distinctUntilChanged()\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  debounce,\n  defer,\n  fromEvent,\n  identity,\n  map,\n  merge,\n  startWith,\n  timer\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch element hover\n *\n * The second parameter allows to specify a timeout in milliseconds after which\n * the hover state will be reset to `false`. This is useful for tooltips which\n * should disappear after a certain amount of time, in order to allow the user\n * to move the cursor from the host to the tooltip.\n *\n * @param el - Element\n * @param timeout - Timeout\n *\n * @returns Element hover observable\n */\nexport function watchElementHover(\n  el: HTMLElement, timeout?: number\n): Observable<boolean> {\n  return defer(() => merge(\n    fromEvent(el, \"mouseenter\").pipe(map(() => true)),\n    fromEvent(el, \"mouseleave\").pipe(map(() => false))\n  )\n    .pipe(\n      timeout ? debounce(active => timer(+!active * timeout)) : identity,\n      startWith(el.matches(\":hover\"))\n    )\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { JSX as JSXInternal } from \"preact\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * HTML attributes\n */\ntype Attributes =\n  & JSXInternal.HTMLAttributes\n  & JSXInternal.SVGAttributes\n  & Record<string, any>\n\n/**\n * Child element\n */\ntype Child =\n  | ChildNode\n  | HTMLElement\n  | Text\n  | string\n  | number\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Append a child node to an element\n *\n * @param el - Element\n * @param child - Child node(s)\n */\nfunction appendChild(el: HTMLElement, child: Child | Child[]): void {\n\n  /* Handle primitive types (including raw HTML) */\n  if (typeof child === \"string\" || typeof child === \"number\") {\n    el.innerHTML += child.toString()\n\n  /* Handle nodes */\n  } else if (child instanceof Node) {\n    el.appendChild(child)\n\n  /* Handle nested children */\n  } else if (Array.isArray(child)) {\n    for (const node of child)\n      appendChild(el, node)\n  }\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * JSX factory\n *\n * @template T - Element type\n *\n * @param tag - HTML tag\n * @param attributes - HTML attributes\n * @param children - Child elements\n *\n * @returns Element\n */\nexport function h<T extends keyof HTMLElementTagNameMap>(\n  tag: T, attributes?: Attributes | null, ...children: Child[]\n): HTMLElementTagNameMap[T]\n\nexport function h<T extends h.JSX.Element>(\n  tag: string, attributes?: Attributes | null, ...children: Child[]\n): T\n\nexport function h<T extends h.JSX.Element>(\n  tag: string, attributes?: Attributes | null, ...children: Child[]\n): T {\n  const el = document.createElement(tag)\n\n  /* Set attributes, if any */\n  if (attributes)\n    for (const attr of Object.keys(attributes)) {\n      if (typeof attributes[attr] === \"undefined\")\n        continue\n\n      /* Set default attribute or boolean */\n      if (typeof attributes[attr] !== \"boolean\")\n        el.setAttribute(attr, attributes[attr])\n      else\n        el.setAttribute(attr, \"\")\n    }\n\n  /* Append child nodes */\n  for (const child of children)\n    appendChild(el, child)\n\n  /* Return element */\n  return el as T\n}\n\n/* ----------------------------------------------------------------------------\n * Namespace\n * ------------------------------------------------------------------------- */\n\nexport declare namespace h {\n  namespace JSX {\n    type Element = HTMLElement\n    type IntrinsicElements = JSXInternal.IntrinsicElements\n  }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Round a number for display with repository facts\n *\n * This is a reverse-engineered version of GitHub's weird rounding algorithm\n * for stars, forks and all other numbers. While all numbers below `1,000` are\n * returned as-is, bigger numbers are converted to fixed numbers:\n *\n * - `1,049` => `1k`\n * - `1,050` => `1.1k`\n * - `1,949` => `1.9k`\n * - `1,950` => `2k`\n *\n * @param value - Original value\n *\n * @returns Rounded value\n */\nexport function round(value: number): string {\n  if (value > 999) {\n    const digits = +((value - 950) % 1000 > 99)\n    return `${((value + 0.000001) / 1000).toFixed(digits)}k`\n  } else {\n    return value.toString()\n  }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  defer,\n  finalize,\n  fromEvent,\n  map,\n  merge,\n  switchMap,\n  take,\n  throwError\n} from \"rxjs\"\n\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Create and load a `script` element\n *\n * This function returns an observable that will emit when the script was\n * successfully loaded, or throw an error if it wasn't.\n *\n * @param src - Script URL\n *\n * @returns Script observable\n */\nexport function watchScript(src: string): Observable<void> {\n  const script = h(\"script\", { src })\n  return defer(() => {\n    document.head.appendChild(script)\n    return merge(\n      fromEvent(script, \"load\"),\n      fromEvent(script, \"error\")\n        .pipe(\n          switchMap(() => (\n            throwError(() => new ReferenceError(`Invalid script: ${src}`))\n          ))\n        )\n    )\n      .pipe(\n        map(() => undefined),\n        finalize(() => document.head.removeChild(script)),\n        take(1)\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  NEVER,\n  Observable,\n  Subject,\n  defer,\n  filter,\n  finalize,\n  map,\n  merge,\n  of,\n  shareReplay,\n  startWith,\n  switchMap,\n  tap\n} from \"rxjs\"\n\nimport { watchScript } from \"../../../script\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Element offset\n */\nexport interface ElementSize {\n  width: number                        /* Element width */\n  height: number                       /* Element height */\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Resize observer entry subject\n */\nconst entry$ = new Subject<ResizeObserverEntry>()\n\n/**\n * Resize observer observable\n *\n * This observable will create a `ResizeObserver` on the first subscription\n * and will automatically terminate it when there are no more subscribers.\n * It's quite important to centralize observation in a single `ResizeObserver`,\n * as the performance difference can be quite dramatic, as the link shows.\n *\n * If the browser doesn't have a `ResizeObserver` implementation available, a\n * polyfill is automatically downloaded from unpkg.com. This is also compatible\n * with the built-in privacy plugin, which will download the polyfill and put\n * it alongside the built site for self-hosting.\n *\n * @see https://bit.ly/3iIYfEm - Google Groups on performance\n */\nconst observer$ = defer(() => (\n  typeof ResizeObserver === \"undefined\"\n    ? watchScript(\"https://unpkg.com/resize-observer-polyfill\")\n    : of(undefined)\n))\n  .pipe(\n    map(() => new ResizeObserver(entries => (\n      entries.forEach(entry => entry$.next(entry))\n    ))),\n    switchMap(observer => merge(NEVER, of(observer)).pipe(\n      finalize(() => observer.disconnect())\n    )),\n    shareReplay(1)\n  )\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve element size\n *\n * @param el - Element\n *\n * @returns Element size\n */\nexport function getElementSize(\n  el: HTMLElement\n): ElementSize {\n  return {\n    width:  el.offsetWidth,\n    height: el.offsetHeight\n  }\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch element size\n *\n * This function returns an observable that subscribes to a single internal\n * instance of `ResizeObserver` upon subscription, and emit resize events until\n * termination. Note that this function should not be called with the same\n * element twice, as the first unsubscription will terminate observation.\n *\n * Sadly, we can't use the `DOMRect` objects returned by the observer, because\n * we need the emitted values to be consistent with `getElementSize`, which will\n * return the used values (rounded) and not actual values (unrounded). Thus, we\n * use the `offset*` properties. See the linked GitHub issue.\n *\n * @see https://bit.ly/3m0k3he - GitHub issue\n *\n * @param el - Element\n *\n * @returns Element size observable\n */\nexport function watchElementSize(\n  el: HTMLElement\n): Observable<ElementSize> {\n\n  // Compute target element - since inline elements cannot be observed by the\n  // current `ResizeObserver` implementation as provided by browsers, we need\n  // to determine the first containing parent element and use that one as a\n  // target, while we always compute the actual size from the element.\n  let target = el\n  while (target.clientWidth === 0)\n    if (target.parentElement)\n      target = target.parentElement\n    else\n      break\n\n  // Observe target element and recompute element size on resize - as described\n  // above, the target element is not necessarily the element of interest\n  return observer$.pipe(\n    tap(observer => observer.observe(target)),\n    switchMap(observer => entry$.pipe(\n      filter(entry => entry.target === target),\n      finalize(() => observer.unobserve(target))\n    )),\n    map(() => getElementSize(el)),\n    startWith(getElementSize(el))\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { ElementSize } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve element content size (= scroll width and height)\n *\n * @param el - Element\n *\n * @returns Element content size\n */\nexport function getElementContentSize(\n  el: HTMLElement\n): ElementSize {\n  return {\n    width:  el.scrollWidth,\n    height: el.scrollHeight\n  }\n}\n\n/**\n * Retrieve the overflowing container of an element, if any\n *\n * @param el - Element\n *\n * @returns Overflowing container or nothing\n */\nexport function getElementContainer(\n  el: HTMLElement\n): HTMLElement | undefined {\n  let parent = el.parentElement\n  while (parent)\n    if (\n      el.scrollWidth  <= parent.scrollWidth &&\n      el.scrollHeight <= parent.scrollHeight\n    )\n      parent = (el = parent).parentElement\n    else\n      break\n\n  /* Return overflowing container */\n  return parent ? el : undefined\n}\n\n/**\n * Retrieve all overflowing containers of an element, if any\n *\n * Note that this function has a slightly different behavior, so we should at\n * some point consider refactoring how overflowing containers are handled.\n *\n * @param el - Element\n *\n * @returns Overflowing containers\n */\nexport function getElementContainers(\n  el: HTMLElement\n): HTMLElement[] {\n  const containers: HTMLElement[] = []\n\n  // Walk up the DOM tree until we find an overflowing container\n  let parent = el.parentElement\n  while (parent) {\n    if (\n      el.clientWidth  > parent.clientWidth ||\n      el.clientHeight > parent.clientHeight\n    )\n      containers.push(parent)\n\n    // Continue with parent element\n    parent = (el = parent).parentElement\n  }\n\n  // If the page is short, the body might not be overflowing and there might be\n  // no other containers, which is why we need to make sure the body is present\n  if (containers.length === 0)\n    containers.push(document.documentElement)\n\n  // Return overflowing containers\n  return containers\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  animationFrameScheduler,\n  auditTime,\n  fromEvent,\n  map,\n  merge,\n  startWith\n} from \"rxjs\"\n\nimport { watchElementSize } from \"../../size\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Element offset\n */\nexport interface ElementOffset {\n  x: number                            /* Horizontal offset */\n  y: number                            /* Vertical offset */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve element offset\n *\n * @param el - Element\n *\n * @returns Element offset\n */\nexport function getElementOffset(\n  el: HTMLElement\n): ElementOffset {\n  return {\n    x: el.offsetLeft,\n    y: el.offsetTop\n  }\n}\n\n/**\n * Retrieve absolute element offset\n *\n * @param el - Element\n *\n * @returns Element offset\n */\nexport function getElementOffsetAbsolute(\n  el: HTMLElement\n): ElementOffset {\n  const rect = el.getBoundingClientRect()\n  return {\n    x: rect.x + window.scrollX,\n    y: rect.y + window.scrollY\n  }\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch element offset\n *\n * @param el - Element\n *\n * @returns Element offset observable\n */\nexport function watchElementOffset(\n  el: HTMLElement\n): Observable<ElementOffset> {\n  return merge(\n    fromEvent(window, \"load\"),\n    fromEvent(window, \"resize\")\n  )\n    .pipe(\n      auditTime(0, animationFrameScheduler),\n      map(() => getElementOffset(el)),\n      startWith(getElementOffset(el))\n    )\n}\n\n/**\n * Watch absolute element offset\n *\n * @param el - Element\n *\n * @returns Element offset observable\n */\nexport function watchElementOffsetAbsolute(\n  el: HTMLElement\n): Observable<ElementOffset> {\n  return merge(\n    watchElementOffset(el),\n    watchElementSize(document.body) // @todo find a better way for this\n  )\n    .pipe(\n      map(() => getElementOffsetAbsolute(el)),\n      startWith(getElementOffsetAbsolute(el))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  animationFrameScheduler,\n  auditTime,\n  fromEvent,\n  map,\n  merge,\n  startWith\n} from \"rxjs\"\n\nimport { ElementOffset } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve element content offset (= scroll offset)\n *\n * @param el - Element\n *\n * @returns Element content offset\n */\nexport function getElementContentOffset(\n  el: HTMLElement\n): ElementOffset {\n  return {\n    x: el.scrollLeft,\n    y: el.scrollTop\n  }\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch element content offset\n *\n * @param el - Element\n *\n * @returns Element content offset observable\n */\nexport function watchElementContentOffset(\n  el: HTMLElement\n): Observable<ElementOffset> {\n  return merge(\n    fromEvent(el, \"scroll\"),\n    fromEvent(window, \"scroll\"),\n    fromEvent(window, \"resize\")\n  )\n    .pipe(\n      auditTime(0, animationFrameScheduler),\n      map(() => getElementContentOffset(el)),\n      startWith(getElementContentOffset(el))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  NEVER,\n  Observable,\n  Subject,\n  defer,\n  distinctUntilChanged,\n  filter,\n  finalize,\n  map,\n  merge,\n  of,\n  shareReplay,\n  switchMap,\n  tap\n} from \"rxjs\"\n\nimport {\n  getElementContentSize,\n  getElementSize,\n  watchElementContentOffset\n} from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Intersection observer entry subject\n */\nconst entry$ = new Subject<IntersectionObserverEntry>()\n\n/**\n * Intersection observer observable\n *\n * This observable will create an `IntersectionObserver` on first subscription\n * and will automatically terminate it when there are no more subscribers.\n *\n * @see https://bit.ly/3iIYfEm - Google Groups on performance\n */\nconst observer$ = defer(() => of(\n  new IntersectionObserver(entries => {\n    for (const entry of entries)\n      entry$.next(entry)\n  }, {\n    threshold: 0\n  })\n))\n  .pipe(\n    switchMap(observer => merge(NEVER, of(observer))\n      .pipe(\n        finalize(() => observer.disconnect())\n      )\n    ),\n    shareReplay(1)\n  )\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch element visibility\n *\n * @param el - Element\n *\n * @returns Element visibility observable\n */\nexport function watchElementVisibility(\n  el: HTMLElement\n): Observable<boolean> {\n  return observer$\n    .pipe(\n      tap(observer => observer.observe(el)),\n      switchMap(observer => entry$\n        .pipe(\n          filter(({ target }) => target === el),\n          finalize(() => observer.unobserve(el)),\n          map(({ isIntersecting }) => isIntersecting)\n        )\n      )\n    )\n}\n\n/**\n * Watch element boundary\n *\n * This function returns an observable which emits whether the bottom content\n * boundary (= scroll offset) of an element is within a certain threshold.\n *\n * @param el - Element\n * @param threshold - Threshold\n *\n * @returns Element boundary observable\n */\nexport function watchElementBoundary(\n  el: HTMLElement, threshold = 16\n): Observable<boolean> {\n  return watchElementContentOffset(el)\n    .pipe(\n      map(({ y }) => {\n        const visible = getElementSize(el)\n        const content = getElementContentSize(el)\n        return y >= (\n          content.height - visible.height - threshold\n        )\n      }),\n      distinctUntilChanged()\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  fromEvent,\n  map,\n  startWith\n} from \"rxjs\"\n\nimport { getElement } from \"../element\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Toggle\n */\nexport type Toggle =\n  | \"drawer\"                           /* Toggle for drawer */\n  | \"search\"                           /* Toggle for search */\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Toggle map\n */\nconst toggles: Record<Toggle, HTMLInputElement> = {\n  drawer: getElement(\"[data-md-toggle=drawer]\"),\n  search: getElement(\"[data-md-toggle=search]\")\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve the value of a toggle\n *\n * @param name - Toggle\n *\n * @returns Toggle value\n */\nexport function getToggle(name: Toggle): boolean {\n  return toggles[name].checked\n}\n\n/**\n * Set toggle\n *\n * Simulating a click event seems to be the most cross-browser compatible way\n * of changing the value while also emitting a `change` event. Before, Material\n * used `CustomEvent` to programmatically change the value of a toggle, but this\n * is a much simpler and cleaner solution which doesn't require a polyfill.\n *\n * @param name - Toggle\n * @param value - Toggle value\n */\nexport function setToggle(name: Toggle, value: boolean): void {\n  if (toggles[name].checked !== value)\n    toggles[name].click()\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch toggle\n *\n * @param name - Toggle\n *\n * @returns Toggle value observable\n */\nexport function watchToggle(name: Toggle): Observable<boolean> {\n  const el = toggles[name]\n  return fromEvent(el, \"change\")\n    .pipe(\n      map(() => el.checked),\n      startWith(el.checked)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  filter,\n  fromEvent,\n  map,\n  merge,\n  share,\n  startWith,\n  switchMap\n} from \"rxjs\"\n\nimport { getActiveElement } from \"../element\"\nimport { getToggle } from \"../toggle\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Keyboard mode\n */\nexport type KeyboardMode =\n  | \"global\"                           /* Global */\n  | \"search\"                           /* Search is open */\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Keyboard\n */\nexport interface Keyboard {\n  mode: KeyboardMode                   /* Keyboard mode */\n  type: string                         /* Key type */\n  claim(): void                        /* Key claim */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Check whether an element may receive keyboard input\n *\n * @param el - Element\n * @param type - Key type\n *\n * @returns Test result\n */\nfunction isSusceptibleToKeyboard(\n  el: HTMLElement, type: string\n): boolean {\n  switch (el.constructor) {\n\n    /* Input elements */\n    case HTMLInputElement:\n      /* @ts-expect-error - omit unnecessary type cast */\n      if (el.type === \"radio\")\n        return /^Arrow/.test(type)\n      else\n        return true\n\n    /* Select element and textarea */\n    case HTMLSelectElement:\n    case HTMLTextAreaElement:\n      return true\n\n    /* Everything else */\n    default:\n      return el.isContentEditable\n  }\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch composition events\n *\n * @returns Composition observable\n */\nexport function watchComposition(): Observable<boolean> {\n  return merge(\n    fromEvent(window, \"compositionstart\").pipe(map(() => true)),\n    fromEvent(window, \"compositionend\").pipe(map(() => false))\n  )\n    .pipe(\n      startWith(false)\n    )\n}\n\n/**\n * Watch keyboard\n *\n * @returns Keyboard observable\n */\nexport function watchKeyboard(): Observable<Keyboard> {\n  const keyboard$ = fromEvent<KeyboardEvent>(window, \"keydown\")\n    .pipe(\n      filter(ev => !(ev.metaKey || ev.ctrlKey)),\n      map(ev => ({\n        mode: getToggle(\"search\") ? \"search\" : \"global\",\n        type: ev.key,\n        claim() {\n          ev.preventDefault()\n          ev.stopPropagation()\n        }\n      } as Keyboard)),\n      filter(({ mode, type }) => {\n        if (mode === \"global\") {\n          const active = getActiveElement()\n          if (typeof active !== \"undefined\")\n            return !isSusceptibleToKeyboard(active, type)\n        }\n        return true\n      }),\n      share()\n    )\n\n  /* Don't emit during composition events - see https://bit.ly/3te3Wl8 */\n  return watchComposition()\n    .pipe(\n      switchMap(active => !active ? keyboard$ : EMPTY)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { Subject } from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve location\n *\n * This function returns a `URL` object (and not `Location`) to normalize the\n * typings across the application. Furthermore, locations need to be tracked\n * without setting them and `Location` is a singleton which represents the\n * current location.\n *\n * @returns URL\n */\nexport function getLocation(): URL {\n  return new URL(location.href)\n}\n\n/**\n * Set location\n *\n * If instant navigation is enabled, this function creates a temporary anchor\n * element, sets the `href` attribute, appends it to the body, clicks it, and\n * then removes it again. The event will bubble up the DOM and trigger be\n * intercepted by the instant loading business logic.\n *\n * Note that we must append and remove the anchor element, or the event will\n * not bubble up the DOM, making it impossible to intercept it.\n *\n * @param url - URL to navigate to\n * @param navigate - Force navigation\n */\nexport function setLocation(\n  url: URL | HTMLLinkElement, navigate = false\n): void {\n  if (feature(\"navigation.instant\") && !navigate) {\n    const el = h(\"a\", { href: url.href })\n    document.body.appendChild(el)\n    el.click()\n    el.remove()\n\n  // If we're not using instant navigation, and the page should not be reloaded\n  // just instruct the browser to navigate to the given URL\n  } else {\n    location.href = url.href\n  }\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch location\n *\n * @returns Location subject\n */\nexport function watchLocation(): Subject<URL> {\n  return new Subject<URL>()\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  filter,\n  fromEvent,\n  map,\n  merge,\n  shareReplay,\n  startWith\n} from \"rxjs\"\n\nimport { getOptionalElement } from \"~/browser\"\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve location hash\n *\n * @returns Location hash\n */\nexport function getLocationHash(): string {\n  return location.hash.slice(1)\n}\n\n/**\n * Set location hash\n *\n * Setting a new fragment identifier via `location.hash` will have no effect\n * if the value doesn't change. When a new fragment identifier is set, we want\n * the browser to target the respective element at all times, which is why we\n * use this dirty little trick.\n *\n * @param hash - Location hash\n */\nexport function setLocationHash(hash: string): void {\n  const el = h(\"a\", { href: hash })\n  el.addEventListener(\"click\", ev => ev.stopPropagation())\n  el.click()\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch location hash\n *\n * @param location$ - Location observable\n *\n * @returns Location hash observable\n */\nexport function watchLocationHash(\n  location$: Observable<URL>\n): Observable<string> {\n  return merge(\n    fromEvent<HashChangeEvent>(window, \"hashchange\"),\n    location$\n  )\n    .pipe(\n      map(getLocationHash),\n      startWith(getLocationHash()),\n      filter(hash => hash.length > 0),\n      shareReplay(1)\n    )\n}\n\n/**\n * Watch location target\n *\n * @param location$ - Location observable\n *\n * @returns Location target observable\n */\nexport function watchLocationTarget(\n  location$: Observable<URL>\n): Observable<HTMLElement> {\n  return watchLocationHash(location$)\n    .pipe(\n      map(id => getOptionalElement(`[id=\"${id}\"]`)!),\n      filter(el => typeof el !== \"undefined\")\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  fromEvent,\n  fromEventPattern,\n  map,\n  merge,\n  startWith,\n  switchMap\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch media query\n *\n * Note that although `MediaQueryList.addListener` is deprecated we have to\n * use it, because it's the only way to ensure proper downward compatibility.\n *\n * @see https://bit.ly/3dUBH2m - GitHub issue\n *\n * @param query - Media query\n *\n * @returns Media observable\n */\nexport function watchMedia(query: string): Observable<boolean> {\n  const media = matchMedia(query)\n  return fromEventPattern<boolean>(next => (\n    media.addListener(() => next(media.matches))\n  ))\n    .pipe(\n      startWith(media.matches)\n    )\n}\n\n/**\n * Watch print mode\n *\n * @returns Print observable\n */\nexport function watchPrint(): Observable<boolean> {\n  const media = matchMedia(\"print\")\n  return merge(\n    fromEvent(window, \"beforeprint\").pipe(map(() => true)),\n    fromEvent(window, \"afterprint\").pipe(map(() => false))\n  )\n    .pipe(\n      startWith(media.matches)\n    )\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Toggle an observable with a media observable\n *\n * @template T - Data type\n *\n * @param query$ - Media observable\n * @param factory - Observable factory\n *\n * @returns Toggled observable\n */\nexport function at<T>(\n  query$: Observable<boolean>, factory: () => Observable<T>\n): Observable<T> {\n  return query$\n    .pipe(\n      switchMap(active => active ? factory() : EMPTY)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  map,\n  shareReplay,\n  switchMap\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Options\n */\ninterface Options {\n  progress$?: Subject<number>          // Progress subject\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch the given URL\n *\n * This function returns an observable that emits the response as a blob and\n * completes, or emits an error if the request failed. The caller can cancel\n * the request by unsubscribing at any time, which will automatically abort\n * the inflight request and complete the observable.\n *\n * Note that we use `XMLHTTPRequest` not because we're nostalgic, but because\n * it's the only way to get progress events for downloads and also allow for\n * cancellation of requests, as the official Fetch API does not support this\n * yet, even though we're already in 2024.\n *\n * @param url - Request URL\n * @param options - Options\n *\n * @returns Data observable\n */\nexport function request(\n  url: URL | string, options?: Options\n): Observable<Blob> {\n  return new Observable<Blob>(observer => {\n    const req = new XMLHttpRequest()\n    req.open(\"GET\", `${url}`)\n    req.responseType = \"blob\"\n\n    // Handle response\n    req.addEventListener(\"load\", () => {\n      if (req.status >= 200 && req.status < 300) {\n        observer.next(req.response)\n        observer.complete()\n\n      // Every response that is not in the 2xx range is considered an error\n      } else {\n        observer.error(new Error(req.statusText))\n      }\n    })\n\n    // Handle network errors\n    req.addEventListener(\"error\", () => {\n      observer.error(new Error(\"Network error\"))\n    })\n\n    // Handle aborted requests\n    req.addEventListener(\"abort\", () => {\n      observer.complete()\n    })\n\n    // Handle download progress\n    if (typeof options?.progress$ !== \"undefined\") {\n      req.addEventListener(\"progress\", event => {\n        if (event.lengthComputable) {\n          options.progress$!.next((event.loaded / event.total) * 100)\n\n        // Hack: Chromium doesn't report the total number of bytes if content\n        // is compressed, so we need this fallback - see https://t.ly/ZXofI\n        } else {\n          const length = req.getResponseHeader(\"Content-Length\") ?? 0\n          options.progress$!.next((event.loaded / +length) * 100)\n        }\n      })\n\n      // Immediately set progress to 5% to indicate that we're loading\n      options.progress$.next(5)\n    }\n\n    // Send request and automatically abort request upon unsubscription\n    req.send()\n    return () => req.abort()\n  })\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Fetch JSON from the given URL\n *\n * @template T - Data type\n *\n * @param url - Request URL\n * @param options - Options\n *\n * @returns Data observable\n */\nexport function requestJSON<T>(\n  url: URL | string, options?: Options\n): Observable<T> {\n  return request(url, options)\n    .pipe(\n      switchMap(res => res.text()),\n      map(body => JSON.parse(body) as T),\n      shareReplay(1)\n    )\n}\n\n/**\n * Fetch HTML from the given URL\n *\n * @param url - Request URL\n * @param options - Options\n *\n * @returns Data observable\n */\nexport function requestHTML(\n  url: URL | string, options?: Options\n): Observable<Document> {\n  const dom = new DOMParser()\n  return request(url, options)\n    .pipe(\n      switchMap(res => res.text()),\n      map(res => dom.parseFromString(res, \"text/html\")),\n      shareReplay(1)\n    )\n}\n\n/**\n * Fetch XML from the given URL\n *\n * @param url - Request URL\n * @param options - Options\n *\n * @returns Data observable\n */\nexport function requestXML(\n  url: URL | string, options?: Options\n): Observable<Document> {\n  const dom = new DOMParser()\n  return request(url, options)\n    .pipe(\n      switchMap(res => res.text()),\n      map(res => dom.parseFromString(res, \"text/xml\")),\n      shareReplay(1)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  fromEvent,\n  map,\n  merge,\n  startWith\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Viewport offset\n */\nexport interface ViewportOffset {\n  x: number                            /* Horizontal offset */\n  y: number                            /* Vertical offset */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve viewport offset\n *\n * On iOS Safari, viewport offset can be negative due to overflow scrolling.\n * As this may induce strange behaviors downstream, we'll just limit it to 0.\n *\n * @returns Viewport offset\n */\nexport function getViewportOffset(): ViewportOffset {\n  return {\n    x: Math.max(0, scrollX),\n    y: Math.max(0, scrollY)\n  }\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch viewport offset\n *\n * @returns Viewport offset observable\n */\nexport function watchViewportOffset(): Observable<ViewportOffset> {\n  return merge(\n    fromEvent(window, \"scroll\", { passive: true }),\n    fromEvent(window, \"resize\", { passive: true })\n  )\n    .pipe(\n      map(getViewportOffset),\n      startWith(getViewportOffset())\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  fromEvent,\n  map,\n  startWith\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Viewport size\n */\nexport interface ViewportSize {\n  width: number                        /* Viewport width */\n  height: number                       /* Viewport height */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve viewport size\n *\n * @returns Viewport size\n */\nexport function getViewportSize(): ViewportSize {\n  return {\n    width:  innerWidth,\n    height: innerHeight\n  }\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch viewport size\n *\n * @returns Viewport size observable\n */\nexport function watchViewportSize(): Observable<ViewportSize> {\n  return fromEvent(window, \"resize\", { passive: true })\n    .pipe(\n      map(getViewportSize),\n      startWith(getViewportSize())\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  combineLatest,\n  map,\n  shareReplay\n} from \"rxjs\"\n\nimport {\n  ViewportOffset,\n  watchViewportOffset\n} from \"../offset\"\nimport {\n  ViewportSize,\n  watchViewportSize\n} from \"../size\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Viewport\n */\nexport interface Viewport {\n  offset: ViewportOffset               /* Viewport offset */\n  size: ViewportSize                   /* Viewport size */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch viewport\n *\n * @returns Viewport observable\n */\nexport function watchViewport(): Observable<Viewport> {\n  return combineLatest([\n    watchViewportOffset(),\n    watchViewportSize()\n  ])\n    .pipe(\n      map(([offset, size]) => ({ offset, size })),\n      shareReplay(1)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  combineLatest,\n  distinctUntilKeyChanged,\n  map\n} from \"rxjs\"\n\nimport { Header } from \"~/components\"\n\nimport { getElementOffset } from \"../../element\"\nimport { Viewport } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch viewport relative to element\n *\n * @param el - Element\n * @param options - Options\n *\n * @returns Viewport observable\n */\nexport function watchViewportAt(\n  el: HTMLElement, { viewport$, header$ }: WatchOptions\n): Observable<Viewport> {\n  const size$ = viewport$\n    .pipe(\n      distinctUntilKeyChanged(\"size\")\n    )\n\n  /* Compute element offset */\n  const offset$ = combineLatest([size$, header$])\n    .pipe(\n      map(() => getElementOffset(el))\n    )\n\n  /* Compute relative viewport, return hot observable */\n  return combineLatest([header$, viewport$, offset$])\n    .pipe(\n      map(([{ height }, { offset, size }, { x, y }]) => ({\n        offset: {\n          x: offset.x - x,\n          y: offset.y - y + height\n        },\n        size\n      }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  endWith,\n  fromEvent,\n  ignoreElements,\n  mergeWith,\n  share,\n  takeUntil\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Worker message\n */\nexport interface WorkerMessage {\n  type: unknown                        /* Message type */\n  data?: unknown                       /* Message data */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Create an observable for receiving from a web worker\n *\n * @template T - Data type\n *\n * @param worker - Web worker\n *\n * @returns Message observable\n */\nfunction recv<T>(worker: Worker): Observable<T> {\n  return fromEvent<MessageEvent<T>, T>(worker, \"message\", ev => ev.data)\n}\n\n/**\n * Create a subject for sending to a web worker\n *\n * @template T - Data type\n *\n * @param worker - Web worker\n *\n * @returns Message subject\n */\nfunction send<T>(worker: Worker): Subject<T> {\n  const send$ = new Subject<T>()\n  send$.subscribe(data => worker.postMessage(data))\n\n  /* Return message subject */\n  return send$\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Create a bidirectional communication channel to a web worker\n *\n * @template T - Data type\n *\n * @param url - Worker URL\n * @param worker - Worker\n *\n * @returns Worker subject\n */\nexport function watchWorker<T extends WorkerMessage>(\n  url: string, worker = new Worker(url)\n): Subject<T> {\n  const recv$ = recv<T>(worker)\n  const send$ = send<T>(worker)\n\n  /* Create worker subject and forward messages */\n  const worker$ = new Subject<T>()\n  worker$.subscribe(send$)\n\n  /* Return worker subject */\n  const done$ = send$.pipe(ignoreElements(), endWith(true))\n  return worker$\n    .pipe(\n      ignoreElements(),\n      mergeWith(recv$.pipe(takeUntil(done$))),\n      share()\n    ) as Subject<T>\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { getElement, getLocation } from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Feature flag\n */\nexport type Flag =\n  | \"announce.dismiss\"                 /* Dismissable announcement bar */\n  | \"content.code.annotate\"            /* Code annotations */\n  | \"content.code.copy\"                /* Code copy button */\n  | \"content.lazy\"                     /* Lazy content elements */\n  | \"content.tabs.link\"                /* Link content tabs */\n  | \"content.tooltips\"                 /* Tooltips */\n  | \"header.autohide\"                  /* Hide header */\n  | \"navigation.expand\"                /* Automatic expansion */\n  | \"navigation.indexes\"               /* Section pages */\n  | \"navigation.instant\"               /* Instant navigation */\n  | \"navigation.instant.progress\"      /* Instant navigation progress */\n  | \"navigation.sections\"              /* Section navigation */\n  | \"navigation.tabs\"                  /* Tabs navigation */\n  | \"navigation.tabs.sticky\"           /* Tabs navigation (sticky) */\n  | \"navigation.top\"                   /* Back-to-top button */\n  | \"navigation.tracking\"              /* Anchor tracking */\n  | \"search.highlight\"                 /* Search highlighting */\n  | \"search.share\"                     /* Search sharing */\n  | \"search.suggest\"                   /* Search suggestions */\n  | \"toc.follow\"                       /* Following table of contents */\n  | \"toc.integrate\"                    /* Integrated table of contents */\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Translation\n */\nexport type Translation =\n  | \"clipboard.copy\"                   /* Copy to clipboard */\n  | \"clipboard.copied\"                 /* Copied to clipboard */\n  | \"search.result.placeholder\"        /* Type to start searching */\n  | \"search.result.none\"               /* No matching documents */\n  | \"search.result.one\"                /* 1 matching document */\n  | \"search.result.other\"              /* # matching documents */\n  | \"search.result.more.one\"           /* 1 more on this page */\n  | \"search.result.more.other\"         /* # more on this page */\n  | \"search.result.term.missing\"       /* Missing */\n  | \"select.version\"                   /* Version selector */\n\n/**\n * Translations\n */\nexport type Translations =\n  Record<Translation, string>\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Versioning\n */\nexport interface Versioning {\n  provider: \"mike\"                     /* Version provider */\n  default?: string | string[]          /* Default version */\n  alias?: boolean                      /* Show alias */\n}\n\n/**\n * Configuration\n */\nexport interface Config {\n  base: string                         /* Base URL */\n  features: Flag[]                     /* Feature flags */\n  translations: Translations           /* Translations */\n  search: string                       /* Search worker URL */\n  tags?: Record<string, string>        /* Tags mapping */\n  version?: Versioning                 /* Versioning */\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve global configuration and make base URL absolute\n */\nconst script = getElement(\"#__config\")\nconst config: Config = JSON.parse(script.textContent!)\nconfig.base = `${new URL(config.base, getLocation())}`\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve global configuration\n *\n * @returns Global configuration\n */\nexport function configuration(): Config {\n  return config\n}\n\n/**\n * Check whether a feature flag is enabled\n *\n * @param flag - Feature flag\n *\n * @returns Test result\n */\nexport function feature(flag: Flag): boolean {\n  return config.features.includes(flag)\n}\n\n/**\n * Retrieve the translation for the given key\n *\n * @param key - Key to be translated\n * @param value - Positional value, if any\n *\n * @returns Translation\n */\nexport function translation(\n  key: Translation, value?: string | number\n): string {\n  return typeof value !== \"undefined\"\n    ? config.translations[key].replace(\"#\", value.toString())\n    : config.translations[key]\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { getElement, getElements } from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Component type\n */\nexport type ComponentType =\n  | \"announce\"                         /* Announcement bar */\n  | \"container\"                        /* Container */\n  | \"consent\"                          /* Consent */\n  | \"content\"                          /* Content */\n  | \"dialog\"                           /* Dialog */\n  | \"header\"                           /* Header */\n  | \"header-title\"                     /* Header title */\n  | \"header-topic\"                     /* Header topic */\n  | \"main\"                             /* Main area */\n  | \"outdated\"                         /* Version warning */\n  | \"palette\"                          /* Color palette */\n  | \"progress\"                         /* Progress indicator */\n  | \"search\"                           /* Search */\n  | \"search-query\"                     /* Search input */\n  | \"search-result\"                    /* Search results */\n  | \"search-share\"                     /* Search sharing */\n  | \"search-suggest\"                   /* Search suggestions */\n  | \"sidebar\"                          /* Sidebar */\n  | \"skip\"                             /* Skip link */\n  | \"source\"                           /* Repository information */\n  | \"tabs\"                             /* Navigation tabs */\n  | \"toc\"                              /* Table of contents */\n  | \"top\"                              /* Back-to-top button */\n\n/**\n * Component\n *\n * @template T - Component type\n * @template U - Reference type\n */\nexport type Component<\n  T extends {} = {},\n  U extends HTMLElement = HTMLElement\n> =\n  T & {\n    ref: U                             /* Component reference */\n  }\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Component type map\n */\ninterface ComponentTypeMap {\n  \"announce\": HTMLElement              /* Announcement bar */\n  \"container\": HTMLElement             /* Container */\n  \"consent\": HTMLElement               /* Consent */\n  \"content\": HTMLElement               /* Content */\n  \"dialog\": HTMLElement                /* Dialog */\n  \"header\": HTMLElement                /* Header */\n  \"header-title\": HTMLElement          /* Header title */\n  \"header-topic\": HTMLElement          /* Header topic */\n  \"main\": HTMLElement                  /* Main area */\n  \"outdated\": HTMLElement              /* Version warning */\n  \"palette\": HTMLElement               /* Color palette */\n  \"progress\": HTMLElement              /* Progress indicator */\n  \"search\": HTMLElement                /* Search */\n  \"search-query\": HTMLInputElement     /* Search input */\n  \"search-result\": HTMLElement         /* Search results */\n  \"search-share\": HTMLAnchorElement    /* Search sharing */\n  \"search-suggest\": HTMLElement        /* Search suggestions */\n  \"sidebar\": HTMLElement               /* Sidebar */\n  \"skip\": HTMLAnchorElement            /* Skip link */\n  \"source\": HTMLAnchorElement          /* Repository information */\n  \"tabs\": HTMLElement                  /* Navigation tabs */\n  \"toc\": HTMLElement                   /* Table of contents */\n  \"top\": HTMLAnchorElement             /* Back-to-top button */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve the element for a given component or throw a reference error\n *\n * @template T - Component type\n *\n * @param type - Component type\n * @param node - Node of reference\n *\n * @returns Element\n */\nexport function getComponentElement<T extends ComponentType>(\n  type: T, node: ParentNode = document\n): ComponentTypeMap[T] {\n  return getElement(`[data-md-component=${type}]`, node)\n}\n\n/**\n * Retrieve all elements for a given component\n *\n * @template T - Component type\n *\n * @param type - Component type\n * @param node - Node of reference\n *\n * @returns Elements\n */\nexport function getComponentElements<T extends ComponentType>(\n  type: T, node: ParentNode = document\n): ComponentTypeMap[T][] {\n  return getElements(`[data-md-component=${type}]`, node)\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  defer,\n  finalize,\n  fromEvent,\n  map,\n  tap\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport { getElement } from \"~/browser\"\n\nimport { Component } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Announcement bar\n */\nexport interface Announce {\n  hash: number                        /* Content hash */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch announcement bar\n *\n * @param el - Announcement bar element\n *\n * @returns Announcement bar observable\n */\nexport function watchAnnounce(\n  el: HTMLElement\n): Observable<Announce> {\n  const button = getElement(\".md-typeset > :first-child\", el)\n  return fromEvent(button, \"click\", { once: true })\n    .pipe(\n      map(() => getElement(\".md-typeset\", el)),\n      map(content => ({ hash: __md_hash(content.innerHTML) }))\n    )\n}\n\n/**\n * Mount announcement bar\n *\n * @param el - Announcement bar element\n *\n * @returns Announcement bar component observable\n */\nexport function mountAnnounce(\n  el: HTMLElement\n): Observable<Component<Announce>> {\n  if (!feature(\"announce.dismiss\") || !el.childElementCount)\n    return EMPTY\n\n  /* Support instant navigation - see https://t.ly/3FTme */\n  if (!el.hidden) {\n    const content = getElement(\".md-typeset\", el)\n    if (__md_hash(content.innerHTML) === __md_get(\"__announce\"))\n      el.hidden = true\n  }\n\n  /* Mount component on subscription */\n  return defer(() => {\n    const push$ = new Subject<Announce>()\n    push$.subscribe(({ hash }) => {\n      el.hidden = true\n\n      /* Persist preference in local storage */\n      __md_set<number>(\"__announce\", hash)\n    })\n\n    /* Create and return component */\n    return watchAnnounce(el)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  finalize,\n  map,\n  tap\n} from \"rxjs\"\n\nimport { Component } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Consent\n */\nexport interface Consent {\n  hidden: boolean                      /* Consent is hidden */\n}\n\n/**\n * Consent defaults\n */\nexport interface ConsentDefaults {\n  analytics?: boolean                  /* Consent for Analytics */\n  github?: boolean                     /* Consent for GitHub */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  target$: Observable<HTMLElement>     /* Target observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  target$: Observable<HTMLElement>     /* Target observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch consent\n *\n * @param el - Consent element\n * @param options - Options\n *\n * @returns Consent observable\n */\nexport function watchConsent(\n  el: HTMLElement, { target$ }: WatchOptions\n): Observable<Consent> {\n  return target$\n    .pipe(\n      map(target => ({ hidden: target !== el }))\n    )\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Mount consent\n *\n * @param el - Consent element\n * @param options - Options\n *\n * @returns Consent component observable\n */\nexport function mountConsent(\n  el: HTMLElement, options: MountOptions\n): Observable<Component<Consent>> {\n  const internal$ = new Subject<Consent>()\n  internal$.subscribe(({ hidden }) => {\n    el.hidden = hidden\n  })\n\n  /* Create and return component */\n  return watchConsent(el, options)\n    .pipe(\n      tap(state => internal$.next(state)),\n      finalize(() => internal$.complete()),\n      map(state => ({ ref: el, ...state }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { ComponentChild } from \"preact\"\n\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Tooltip style\n */\nexport type TooltipStyle =\n  | \"inline\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a tooltip\n *\n * @param id - Tooltip identifier\n * @param style - Tooltip style\n *\n * @returns Element\n */\nexport function renderTooltip(\n  id?: string, style?: TooltipStyle\n): HTMLElement {\n  if (style === \"inline\") { // @todo refactor control flow\n    return (\n      <div class=\"md-tooltip md-tooltip--inline\" id={id} role=\"tooltip\">\n        <div class=\"md-tooltip__inner md-typeset\"></div>\n      </div>\n    )\n  } else {\n    return (\n      <div class=\"md-tooltip\" id={id} role=\"tooltip\">\n        <div class=\"md-tooltip__inner md-typeset\"></div>\n      </div>\n    )\n  }\n}\n\n// @todo: rename\nexport function renderInlineTooltip2(\n  ...children: ComponentChild[]\n): HTMLElement {\n  return (\n    <div class=\"md-tooltip2\" role=\"tooltip\">\n      <div class=\"md-tooltip2__inner md-typeset\">\n        {children}\n      </div>\n    </div>\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { h } from \"~/utilities\"\n\nimport { renderTooltip } from \"../tooltip\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render an annotation\n *\n * @param id - Annotation identifier\n * @param prefix - Tooltip identifier prefix\n *\n * @returns Element\n */\nexport function renderAnnotation(\n  id: string | number, prefix?: string\n): HTMLElement {\n  prefix = prefix ? `${prefix}_annotation_${id}` : undefined\n\n  /* Render tooltip with anchor, if given */\n  if (prefix) {\n    const anchor = prefix ? `#${prefix}` : undefined\n    return (\n      <aside class=\"md-annotation\" tabIndex={0}>\n        {renderTooltip(prefix)}\n        <a href={anchor} class=\"md-annotation__index\" tabIndex={-1}>\n          <span data-md-annotation-id={id}></span>\n        </a>\n      </aside>\n    )\n  } else {\n    return (\n      <aside class=\"md-annotation\" tabIndex={0}>\n        {renderTooltip(prefix)}\n        <span class=\"md-annotation__index\" tabIndex={-1}>\n          <span data-md-annotation-id={id}></span>\n        </span>\n      </aside>\n    )\n  }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { translation } from \"~/_\"\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a 'copy-to-clipboard' button\n *\n * @param id - Unique identifier\n *\n * @returns Element\n */\nexport function renderClipboardButton(id: string): HTMLElement {\n  return (\n    <button\n      class=\"md-clipboard md-icon\"\n      title={translation(\"clipboard.copy\")}\n      data-clipboard-target={`#${id} > code`}\n    ></button>\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { ComponentChild } from \"preact\"\n\nimport { configuration, feature, translation } from \"~/_\"\nimport { SearchItem } from \"~/integrations/search\"\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Render flag\n */\nconst enum Flag {\n  TEASER = 1,                          /* Render teaser */\n  PARENT = 2                           /* Render as parent */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper function\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a search document\n *\n * @param document - Search document\n * @param flag - Render flags\n *\n * @returns Element\n */\nfunction renderSearchDocument(\n  document: SearchItem, flag: Flag\n): HTMLElement {\n  const parent = flag & Flag.PARENT\n  const teaser = flag & Flag.TEASER\n\n  /* Render missing query terms */\n  const missing = Object.keys(document.terms)\n    .filter(key => !document.terms[key])\n    .reduce<ComponentChild[]>((list, key) => [\n      ...list, <del>{key}</del>, \" \"\n    ], [])\n    .slice(0, -1)\n\n  /* Assemble query string for highlighting */\n  const config = configuration()\n  const url = new URL(document.location, config.base)\n  if (feature(\"search.highlight\"))\n    url.searchParams.set(\"h\", Object.entries(document.terms)\n      .filter(([, match]) => match)\n      .reduce((highlight, [value]) => `${highlight} ${value}`.trim(), \"\")\n    )\n\n  /* Render article or section, depending on flags */\n  const { tags } = configuration()\n  return (\n    <a href={`${url}`} class=\"md-search-result__link\" tabIndex={-1}>\n      <article\n        class=\"md-search-result__article md-typeset\"\n        data-md-score={document.score.toFixed(2)}\n      >\n        {parent > 0 && <div class=\"md-search-result__icon md-icon\"></div>}\n        {parent > 0 && <h1>{document.title}</h1>}\n        {parent <= 0 && <h2>{document.title}</h2>}\n        {teaser > 0 && document.text.length > 0 &&\n          document.text\n        }\n        {document.tags && document.tags.map(tag => {\n          const type = tags\n            ? tag in tags\n              ? `md-tag-icon md-tag--${tags[tag]}`\n              : \"md-tag-icon\"\n            : \"\"\n          return (\n            <span class={`md-tag ${type}`}>{tag}</span>\n          )\n        })}\n        {teaser > 0 && missing.length > 0 &&\n          <p class=\"md-search-result__terms\">\n            {translation(\"search.result.term.missing\")}: {...missing}\n          </p>\n        }\n      </article>\n    </a>\n  )\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a search result\n *\n * @param result - Search result\n *\n * @returns Element\n */\nexport function renderSearchResultItem(\n  result: SearchItem[]\n): HTMLElement {\n  const threshold = result[0].score\n  const docs = [...result]\n\n  const config = configuration()\n\n  /* Find and extract parent article */\n  const parent = docs.findIndex(doc => {\n    const l = `${new URL(doc.location, config.base)}` // @todo hacky\n    return !l.includes(\"#\")\n  })\n  const [article] = docs.splice(parent, 1)\n\n  /* Determine last index above threshold */\n  let index = docs.findIndex(doc => doc.score < threshold)\n  if (index === -1)\n    index = docs.length\n\n  /* Partition sections */\n  const best = docs.slice(0, index)\n  const more = docs.slice(index)\n\n  /* Render children */\n  const children = [\n    renderSearchDocument(article, Flag.PARENT | +(!parent && index === 0)),\n    ...best.map(section => renderSearchDocument(section, Flag.TEASER)),\n    ...more.length ? [\n      <details class=\"md-search-result__more\">\n        <summary tabIndex={-1}>\n          <div>\n            {more.length > 0 && more.length === 1\n              ? translation(\"search.result.more.one\")\n              : translation(\"search.result.more.other\", more.length)\n            }\n          </div>\n        </summary>\n        {...more.map(section => renderSearchDocument(section, Flag.TEASER))}\n      </details>\n    ] : []\n  ]\n\n  /* Render search result */\n  return (\n    <li class=\"md-search-result__item\">\n      {children}\n    </li>\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { SourceFacts } from \"~/components\"\nimport { h, round } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render repository facts\n *\n * @param facts - Repository facts\n *\n * @returns Element\n */\nexport function renderSourceFacts(facts: SourceFacts): HTMLElement {\n  return (\n    <ul class=\"md-source__facts\">\n      {Object.entries(facts).map(([key, value]) => (\n        <li class={`md-source__fact md-source__fact--${key}`}>\n          {typeof value === \"number\" ? round(value) : value}\n        </li>\n      ))}\n    </ul>\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Tabbed control type\n */\ntype TabbedControlType =\n  | \"prev\"\n  | \"next\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render control for content tabs\n *\n * @param type - Control type\n *\n * @returns Element\n */\nexport function renderTabbedControl(\n  type: TabbedControlType\n): HTMLElement {\n  const classes = `tabbed-control tabbed-control--${type}`\n  return (\n    <div class={classes} hidden>\n      <button class=\"tabbed-button\" tabIndex={-1} aria-hidden=\"true\"></button>\n    </div>\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a table inside a wrapper to improve scrolling on mobile\n *\n * @param table - Table element\n *\n * @returns Element\n */\nexport function renderTable(table: HTMLElement): HTMLElement {\n  return (\n    <div class=\"md-typeset__scrollwrap\">\n      <div class=\"md-typeset__table\">\n        {table}\n      </div>\n    </div>\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { configuration, translation } from \"~/_\"\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Version properties\n */\nexport interface VersionProperties {\n  hidden?: boolean                     /* Version is hidden */\n}\n\n/**\n * Version\n */\nexport interface Version {\n  version: string                      /* Version identifier */\n  title: string                        /* Version title */\n  aliases: string[]                    /* Version aliases */\n  properties?: VersionProperties       /* Version properties */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a version\n *\n * @param version - Version\n *\n * @returns Element\n */\nfunction renderVersion(version: Version): HTMLElement {\n  const config = configuration()\n\n  /* Ensure trailing slash - see https://bit.ly/3rL5u3f */\n  const url = new URL(`../${version.version}/`, config.base)\n  return (\n    <li class=\"md-version__item\">\n      <a href={`${url}`} class=\"md-version__link\">\n        {version.title}\n        {config.version?.alias && version.aliases.length > 0 && (\n          <span class=\"md-version__alias\">\n            {version.aliases[0]}\n          </span>\n        )}\n      </a>\n    </li>\n  )\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a version selector\n *\n * @param versions - Versions\n * @param active - Active version\n *\n * @returns Element\n */\nexport function renderVersionSelector(\n  versions: Version[], active: Version\n): HTMLElement {\n  const config = configuration()\n  versions = versions.filter(version => !version.properties?.hidden)\n  return (\n    <div class=\"md-version\">\n      <button\n        class=\"md-version__current\"\n        aria-label={translation(\"select.version\")}\n      >\n        {active.title}\n        {config.version?.alias && active.aliases.length > 0 && (\n          <span class=\"md-version__alias\">\n            {active.aliases[0]}\n          </span>\n        )}\n      </button>\n      <ul class=\"md-version__list\">\n        {versions.map(renderVersion)}\n      </ul>\n    </div>\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  BehaviorSubject,\n  EMPTY,\n  Observable,\n  Subject,\n  animationFrameScheduler,\n  combineLatest,\n  debounce,\n  defer,\n  distinctUntilChanged,\n  endWith,\n  filter,\n  finalize,\n  first,\n  ignoreElements,\n  map,\n  mergeMap,\n  observeOn,\n  queueScheduler,\n  share,\n  startWith,\n  switchMap,\n  tap,\n  throttleTime,\n  timer,\n  withLatestFrom\n} from \"rxjs\"\n\nimport {\n  ElementOffset,\n  Viewport,\n  getElement,\n  getElementContainers,\n  getElementOffsetAbsolute,\n  getElementSize,\n  watchElementContentOffset,\n  watchElementFocus,\n  watchElementHover\n} from \"~/browser\"\nimport { renderInlineTooltip2 } from \"~/templates\"\n\nimport { Component } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Tooltip\n */\nexport interface Tooltip {\n  active: boolean                      // Tooltip is active\n  offset: ElementOffset                // Tooltip offset\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Dependencies\n */\ninterface Dependencies {\n  content$: Observable<HTMLElement>    // Tooltip content observable\n  viewport$: Observable<Viewport>      // Viewport observable\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Global sequence number for tooltips\n */\nlet sequence = 0\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch tooltip\n *\n * This function tracks the tooltip host element, and deduces the active state\n * and offset of the tooltip from it. The active state is determined by whether\n * the host element is focused or hovered, and the offset is determined by the\n * host element's absolute position in the document.\n *\n * @param el - Tooltip host element\n *\n * @returns Tooltip observable\n */\nexport function watchTooltip2(\n  el: HTMLElement\n): Observable<Tooltip> {\n\n  // Compute whether tooltip should be shown - we need to watch both focus and\n  // hover events on the host element and emit if one of them is active. In case\n  // of a hover event, we keep the element visible for a short amount of time\n  // after the pointer left the host element for a better user experience.\n  const active$ =\n    combineLatest([\n      watchElementFocus(el),\n      watchElementHover(el)\n    ])\n      .pipe(\n        map(([focus, hover]) => focus || hover),\n        distinctUntilChanged()\n      )\n\n  // We need to determine all parent elements of the host element that are\n  // currently scrollable, as they might affect the position of the tooltip\n  // depending on their horizontal of vertical offset. We must track all of\n  // them and recompute the position of the tooltip if they change.\n  const offset$ =\n    defer(() => getElementContainers(el)).pipe(\n      mergeMap(watchElementContentOffset),\n      throttleTime(1),\n      map(() => getElementOffsetAbsolute(el))\n    )\n\n  // Only track parent elements and compute offset of the tooltip host if the\n  // tooltip should be shown - we defer the computation of the offset until the\n  // tooltip becomes active for the first time. This is necessary, because we\n  // must also keep the tooltip active as long as it is focused or hovered.\n  return active$.pipe(\n    first(active => active),\n    switchMap(() => combineLatest([active$, offset$])),\n    map(([active, offset]) => ({ active, offset })),\n    share()\n  )\n}\n\n/**\n * Mount tooltip\n *\n * This function renders a tooltip with the content from the provided `content$`\n * observable as passed via the dependencies. If the returned element has a role\n * of type `dialog`, the tooltip is considered to be interactive, and rendered\n * either above or below the host element, depending on the available space.\n *\n * If the returned element has a role of type `tooltip`, the tooltip is always\n * rendered below the host element and considered to be non-interactive. This\n * allows us to reuse the same positioning logic for both interactive and\n * non-interactive tooltips, as it is largely the same.\n *\n * @param el - Tooltip host element\n * @param dependencies - Dependencies\n *\n * @returns Tooltip component observable\n */\nexport function mountTooltip2(\n  el: HTMLElement, dependencies: Dependencies\n): Observable<Component<Tooltip>> {\n  const { content$, viewport$ } = dependencies\n\n  // Compute unique tooltip id - this is necessary to associate the tooltip host\n  // element with the tooltip element for ARIA purposes\n  const id = `__tooltip2_${sequence++}`\n\n  // Create component on subscription\n  return defer(() => {\n    const push$ = new Subject<Tooltip>()\n\n    // Create subject to track tooltip presence and visibility - we use another\n    // purely internal subject to track the tooltip's presence and visibility,\n    // as the tooltip should be visible if the host element or tooltip itself\n    // is focused or hovered to allow for smooth pointer migration\n    const show$ = new BehaviorSubject(false)\n    push$.pipe(ignoreElements(), endWith(false))\n      .subscribe(show$)\n\n    // Create observable controlling tooltip element - we create and attach the\n    // tooltip only if it is actually present, in order to keep the number of\n    // elements low. We need to keep the tooltip visible for a short time after\n    // the pointer left the host element or tooltip itself. For this, we use an\n    // inner subscription to the tooltip observable, which we terminate when the\n    // tooltip should not be shown, automatically removing the element. Moreover\n    // we use the queue scheduler, which will schedule synchronously in case the\n    // tooltip should be shown, and asynchronously if it should be hidden.\n    const node$ = show$.pipe(\n      debounce(active => timer(+!active * 250, queueScheduler)),\n      distinctUntilChanged(),\n      switchMap(active => active ? content$ : EMPTY),\n      tap(node => node.id = id),\n      share()\n    )\n\n    // Compute tooltip presence and visibility - the tooltip should be shown if\n    // the host element or the tooltip itself is focused or hovered\n    combineLatest([\n      push$.pipe(map(({ active }) => active)),\n      node$.pipe(\n        switchMap(node => watchElementHover(node, 250)),\n        startWith(false)\n      )\n    ])\n      .pipe(map(states => states.some(active => active)))\n      .subscribe(show$)\n\n    // Compute tooltip origin - we need to compute the tooltip origin depending\n    // on the position of the host element, the viewport size, as well as the\n    // actual size of the tooltip, if positioned above. The tooltip must about\n    // to be rendered for this to be correct, which is why we do it here.\n    const origin$ = show$.pipe(\n      filter(active => active),\n      withLatestFrom(node$, viewport$),\n      map(([_, node, { size }]) => {\n        const host = el.getBoundingClientRect()\n        const x = host.width / 2\n\n        // If the tooltip is non-interactive, we always render it below the\n        // actual element because all operating systems do it that way\n        if (node.role === \"tooltip\") {\n          return { x, y: 8 + host.height }\n\n        // Otherwise, we determine where there is more space, and render the\n        // tooltip either above or below the host element\n        } else if (host.y >= size.height / 2) {\n          const { height } = getElementSize(node)\n          return { x, y: -16 - height }\n        } else {\n          return { x, y: +16 + host.height }\n        }\n      })\n    )\n\n    // Update tooltip position - we always need to update the position of the\n    // tooltip, as it might change depending on the viewport offset of the host\n    combineLatest([node$, push$, origin$])\n      .subscribe(([node, { offset }, origin]) => {\n        node.style.setProperty(\"--md-tooltip-host-x\", `${offset.x}px`)\n        node.style.setProperty(\"--md-tooltip-host-y\", `${offset.y}px`)\n\n        // Update tooltip origin - this is mainly set to determine the position\n        // of the tooltip tail, to show the direction it is originating from\n        node.style.setProperty(\"--md-tooltip-x\", `${origin.x}px`)\n        node.style.setProperty(\"--md-tooltip-y\", `${origin.y}px`)\n\n        // Update tooltip render location, i.e., whether the tooltip is shown\n        // above or below the host element, depending on the available space\n        node.classList.toggle(\"md-tooltip2--top\",    origin.y <  0)\n        node.classList.toggle(\"md-tooltip2--bottom\", origin.y >= 0)\n      })\n\n    // Update tooltip width - we only explicitly set the width of the tooltip\n    // if it is non-interactive, in case it should always be rendered centered\n    show$.pipe(\n      filter(active => active),\n      withLatestFrom(node$, (_, node) => node),\n      filter(node => node.role === \"tooltip\")\n    )\n      .subscribe(node => {\n        const size = getElementSize(getElement(\":scope > *\", node))\n\n        // Set tooltip width and remove tail by setting it to a width of zero -\n        // if authors want to keep the tail, we can move this to CSS later\n        node.style.setProperty(\"--md-tooltip-width\", `${size.width}px`)\n        node.style.setProperty(\"--md-tooltip-tail\",  `${0}px`)\n      })\n\n    // Update tooltip visibility - we defer to the next animation frame, because\n    // the tooltip must first be added to the document before we make it appear,\n    // or it will appear instantly without delay. Additionally, we need to keep\n    // the tooltip visible for a short time after the pointer left the host.\n    show$.pipe(\n      distinctUntilChanged(),\n      observeOn(animationFrameScheduler),\n      withLatestFrom(node$)\n    )\n      .subscribe(([active, node]) => {\n        node.classList.toggle(\"md-tooltip2--active\", active)\n      })\n\n    // Set up ARIA attributes when tooltip is visible\n    combineLatest([\n      show$.pipe(filter(active => active)),\n      node$\n    ])\n      .subscribe(([_, node]) => {\n        if (node.role === \"dialog\") {\n          el.setAttribute(\"aria-controls\", id)\n          el.setAttribute(\"aria-haspopup\", \"dialog\")\n        } else {\n          el.setAttribute(\"aria-describedby\", id)\n        }\n      })\n\n    // Remove ARIA attributes when tooltip is hidden\n    show$.pipe(filter(active => !active))\n      .subscribe(() => {\n        el.removeAttribute(\"aria-controls\")\n        el.removeAttribute(\"aria-describedby\")\n        el.removeAttribute(\"aria-haspopup\")\n      })\n\n    // Create and return component\n    return watchTooltip2(el)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n\n// ----------------------------------------------------------------------------\n\n/**\n * Mount inline tooltip\n *\n * @todo refactor this function\n *\n * @param el - Tooltip host element\n * @param dependencies - Dependencies\n * @param container - Container\n *\n * @returns Tooltip component observable\n */\nexport function mountInlineTooltip2(\n  el: HTMLElement, { viewport$ }: { viewport$: Observable<Viewport> },\n  container = document.body\n): Observable<Component<Tooltip>> {\n  return mountTooltip2(el, {\n    content$: new Observable<HTMLElement>(observer => {\n      const title = el.title\n      const node = renderInlineTooltip2(title)\n      observer.next(node)\n      el.removeAttribute(\"title\")\n      // Append tooltip and remove on unsubscription\n      container.append(node)\n      return () => {\n        node.remove()\n        el.setAttribute(\"title\", title)\n      }\n    }),\n    viewport$\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  animationFrameScheduler,\n  auditTime,\n  combineLatest,\n  debounceTime,\n  defer,\n  delay,\n  endWith,\n  filter,\n  finalize,\n  fromEvent,\n  ignoreElements,\n  map,\n  merge,\n  switchMap,\n  take,\n  takeUntil,\n  tap,\n  throttleTime,\n  withLatestFrom\n} from \"rxjs\"\n\nimport {\n  ElementOffset,\n  getActiveElement,\n  getElementSize,\n  watchElementContentOffset,\n  watchElementFocus,\n  watchElementOffset,\n  watchElementVisibility\n} from \"~/browser\"\n\nimport { Component } from \"../../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Annotation\n */\nexport interface Annotation {\n  active: boolean                      /* Annotation is active */\n  offset: ElementOffset                /* Annotation offset */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  target$: Observable<HTMLElement>     /* Location target observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch annotation\n *\n * @param el - Annotation element\n * @param container - Containing element\n *\n * @returns Annotation observable\n */\nexport function watchAnnotation(\n  el: HTMLElement, container: HTMLElement\n): Observable<Annotation> {\n  const offset$ = defer(() => combineLatest([\n    watchElementOffset(el),\n    watchElementContentOffset(container)\n  ]))\n    .pipe(\n      map(([{ x, y }, scroll]): ElementOffset => {\n        const { width, height } = getElementSize(el)\n        return ({\n          x: x - scroll.x + width  / 2,\n          y: y - scroll.y + height / 2\n        })\n      })\n    )\n\n  /* Actively watch annotation on focus */\n  return watchElementFocus(el)\n    .pipe(\n      switchMap(active => offset$\n        .pipe(\n          map(offset => ({ active, offset })),\n          take(+!active || Infinity)\n        )\n      )\n    )\n}\n\n/**\n * Mount annotation\n *\n * @param el - Annotation element\n * @param container - Containing element\n * @param options - Options\n *\n * @returns Annotation component observable\n */\nexport function mountAnnotation(\n  el: HTMLElement, container: HTMLElement, { target$ }: MountOptions\n): Observable<Component<Annotation>> {\n  const [tooltip, index] = Array.from(el.children)\n\n  /* Mount component on subscription */\n  return defer(() => {\n    const push$ = new Subject<Annotation>()\n    const done$ = push$.pipe(ignoreElements(), endWith(true))\n    push$.subscribe({\n\n      /* Handle emission */\n      next({ offset }) {\n        el.style.setProperty(\"--md-tooltip-x\", `${offset.x}px`)\n        el.style.setProperty(\"--md-tooltip-y\", `${offset.y}px`)\n      },\n\n      /* Handle complete */\n      complete() {\n        el.style.removeProperty(\"--md-tooltip-x\")\n        el.style.removeProperty(\"--md-tooltip-y\")\n      }\n    })\n\n    /* Start animation only when annotation is visible */\n    watchElementVisibility(el)\n      .pipe(\n        takeUntil(done$)\n      )\n        .subscribe(visible => {\n          el.toggleAttribute(\"data-md-visible\", visible)\n        })\n\n    /* Toggle tooltip presence to mitigate empty lines when copying */\n    merge(\n      push$.pipe(filter(({ active }) => active)),\n      push$.pipe(debounceTime(250), filter(({ active }) => !active))\n    )\n      .subscribe({\n\n        /* Handle emission */\n        next({ active }) {\n          if (active)\n            el.prepend(tooltip)\n          else\n            tooltip.remove()\n        },\n\n        /* Handle complete */\n        complete() {\n          el.prepend(tooltip)\n        }\n      })\n\n    /* Toggle tooltip visibility */\n    push$\n      .pipe(\n        auditTime(16, animationFrameScheduler)\n      )\n        .subscribe(({ active }) => {\n          tooltip.classList.toggle(\"md-tooltip--active\", active)\n        })\n\n    /* Track relative origin of tooltip */\n    push$\n      .pipe(\n        throttleTime(125, animationFrameScheduler),\n        filter(() => !!el.offsetParent),\n        map(() => el.offsetParent!.getBoundingClientRect()),\n        map(({ x }) => x)\n      )\n        .subscribe({\n\n          /* Handle emission */\n          next(origin) {\n            if (origin)\n              el.style.setProperty(\"--md-tooltip-0\", `${-origin}px`)\n            else\n              el.style.removeProperty(\"--md-tooltip-0\")\n          },\n\n          /* Handle complete */\n          complete() {\n            el.style.removeProperty(\"--md-tooltip-0\")\n          }\n        })\n\n    /* Allow to copy link without scrolling to anchor */\n    fromEvent<MouseEvent>(index, \"click\")\n      .pipe(\n        takeUntil(done$),\n        filter(ev => !(ev.metaKey || ev.ctrlKey))\n      )\n        .subscribe(ev => {\n          ev.stopPropagation()\n          ev.preventDefault()\n        })\n\n    /* Allow to open link in new tab or blur on close */\n    fromEvent<MouseEvent>(index, \"mousedown\")\n      .pipe(\n        takeUntil(done$),\n        withLatestFrom(push$)\n      )\n        .subscribe(([ev, { active }]) => {\n\n          /* Open in new tab */\n          if (ev.button !== 0 || ev.metaKey || ev.ctrlKey) {\n            ev.preventDefault()\n\n          /* Close annotation */\n          } else if (active) {\n            ev.preventDefault()\n\n            /* Focus parent annotation, if any */\n            const parent = el.parentElement!.closest(\".md-annotation\")\n            if (parent instanceof HTMLElement)\n              parent.focus()\n            else\n              getActiveElement()?.blur()\n          }\n        })\n\n    /* Open and focus annotation on location target */\n    target$\n      .pipe(\n        takeUntil(done$),\n        filter(target => target === tooltip),\n        delay(125)\n      )\n        .subscribe(() => el.focus())\n\n    /* Create and return component */\n    return watchAnnotation(el, container)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  defer,\n  endWith,\n  finalize,\n  ignoreElements,\n  merge,\n  share,\n  takeUntil\n} from \"rxjs\"\n\nimport {\n  getElement,\n  getElements,\n  getOptionalElement\n} from \"~/browser\"\nimport { renderAnnotation } from \"~/templates\"\n\nimport { Component } from \"../../../_\"\nimport {\n  Annotation,\n  mountAnnotation\n} from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  target$: Observable<HTMLElement>     /* Location target observable */\n  print$: Observable<boolean>          /* Media print observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Find all annotation hosts in the containing element\n *\n * @param container - Containing element\n *\n * @returns Annotation hosts\n */\nfunction findHosts(container: HTMLElement): HTMLElement[] {\n  return container.tagName === \"CODE\"\n    ? getElements(\".c, .c1, .cm\", container)\n    : [container]\n}\n\n/**\n * Find all annotation markers in the containing element\n *\n * @param container - Containing element\n *\n * @returns Annotation markers\n */\nfunction findMarkers(container: HTMLElement): Text[] {\n  const markers: Text[] = []\n  for (const el of findHosts(container)) {\n    const nodes: Text[] = []\n\n    /* Find all text nodes in current element */\n    const it = document.createNodeIterator(el, NodeFilter.SHOW_TEXT)\n    for (let node = it.nextNode(); node; node = it.nextNode())\n      nodes.push(node as Text)\n\n    /* Find all markers in each text node */\n    for (let text of nodes) {\n      let match: RegExpExecArray | null\n\n      /* Split text at marker and add to list */\n      while ((match = /(\\(\\d+\\))(!)?/.exec(text.textContent!))) {\n        const [, id, force] = match\n        if (typeof force === \"undefined\") {\n          const marker = text.splitText(match.index)\n          text = marker.splitText(id.length)\n          markers.push(marker)\n\n        /* Replace entire text with marker */\n        } else {\n          text.textContent = id\n          markers.push(text)\n          break\n        }\n      }\n    }\n  }\n  return markers\n}\n\n/**\n * Swap the child nodes of two elements\n *\n * @param source - Source element\n * @param target - Target element\n */\nfunction swap(source: HTMLElement, target: HTMLElement): void {\n  target.append(...Array.from(source.childNodes))\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount annotation list\n *\n * This function analyzes the containing code block and checks for markers\n * referring to elements in the given annotation list. If no markers are found,\n * the list is left untouched. Otherwise, list elements are rendered as\n * annotations inside the code block.\n *\n * @param el - Annotation list element\n * @param container - Containing element\n * @param options - Options\n *\n * @returns Annotation component observable\n */\nexport function mountAnnotationList(\n  el: HTMLElement, container: HTMLElement, { target$, print$ }: MountOptions\n): Observable<Component<Annotation>> {\n\n  /* Compute prefix for tooltip anchors */\n  const parent = container.closest(\"[id]\")\n  const prefix = parent?.id\n\n  /* Find and replace all markers with empty annotations */\n  const annotations = new Map<string, HTMLElement>()\n  for (const marker of findMarkers(container)) {\n    const [, id] = marker.textContent!.match(/\\((\\d+)\\)/)!\n    if (getOptionalElement(`:scope > li:nth-child(${id})`, el)) {\n      annotations.set(id, renderAnnotation(id, prefix))\n      marker.replaceWith(annotations.get(id)!)\n    }\n  }\n\n  /* Keep list if there are no annotations to render */\n  if (annotations.size === 0)\n    return EMPTY\n\n  /* Mount component on subscription */\n  return defer(() => {\n    const push$ = new Subject()\n    const done$ = push$.pipe(ignoreElements(), endWith(true))\n\n    /* Retrieve container pairs for swapping */\n    const pairs: [HTMLElement, HTMLElement][] = []\n    for (const [id, annotation] of annotations)\n      pairs.push([\n        getElement(\".md-typeset\", annotation),\n        getElement(`:scope > li:nth-child(${id})`, el)\n      ])\n\n    /* Handle print mode - see https://bit.ly/3rgPdpt */\n    print$.pipe(takeUntil(done$))\n      .subscribe(active => {\n        el.hidden = !active\n\n        /* Add class to discern list element */\n        el.classList.toggle(\"md-annotation-list\", active)\n\n        /* Show annotations in code block or list (print) */\n        for (const [inner, child] of pairs)\n          if (!active)\n            swap(child, inner)\n          else\n            swap(inner, child)\n      })\n\n    /* Create and return component */\n    return merge(...[...annotations]\n      .map(([, annotation]) => (\n        mountAnnotation(annotation, container, { target$ })\n      ))\n    )\n      .pipe(\n        finalize(() => push$.complete()),\n        share()\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { EMPTY, Observable, defer } from \"rxjs\"\n\nimport { Component } from \"../../../_\"\nimport { Annotation } from \"../_\"\nimport { mountAnnotationList } from \"../list\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  target$: Observable<HTMLElement>     /* Location target observable */\n  print$: Observable<boolean>          /* Media print observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Find list element directly following a block\n *\n * @param el - Annotation block element\n *\n * @returns List element or nothing\n */\nfunction findList(el: HTMLElement): HTMLElement | undefined {\n  if (el.nextElementSibling) {\n    const sibling = el.nextElementSibling as HTMLElement\n    if (sibling.tagName === \"OL\")\n      return sibling\n\n    /* Skip empty paragraphs - see https://bit.ly/3r4ZJ2O */\n    else if (sibling.tagName === \"P\" && !sibling.children.length)\n      return findList(sibling)\n  }\n\n  /* Everything else */\n  return undefined\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount annotation block\n *\n * @param el - Annotation block element\n * @param options - Options\n *\n * @returns Annotation component observable\n */\nexport function mountAnnotationBlock(\n  el: HTMLElement, options: MountOptions\n): Observable<Component<Annotation>> {\n  return defer(() => {\n    const list = findList(el)\n    return typeof list !== \"undefined\"\n      ? mountAnnotationList(list, el, options)\n      : EMPTY\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport ClipboardJS from \"clipboard\"\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  defer,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  filter,\n  finalize,\n  map,\n  mergeWith,\n  switchMap,\n  take,\n  takeLast,\n  takeUntil,\n  tap\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport {\n  getElementContentSize,\n  getElements,\n  watchElementSize,\n  watchElementVisibility\n} from \"~/browser\"\nimport {\n  Tooltip,\n  mountInlineTooltip2\n} from \"~/components/tooltip2\"\nimport { renderClipboardButton } from \"~/templates\"\n\nimport { Component } from \"../../../_\"\nimport {\n  Annotation,\n  mountAnnotationList\n} from \"../../annotation\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Code block overflow\n */\nexport interface Overflow {\n  scrollable: boolean                  /* Code block overflows */\n}\n\n/**\n * Code block\n */\nexport type CodeBlock =\n  | Overflow\n  | Annotation\n  | Tooltip\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  target$: Observable<HTMLElement>     /* Location target observable */\n  print$: Observable<boolean>          /* Media print observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Global sequence number for code blocks\n */\nlet sequence = 0\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Find candidate list element directly following a code block\n *\n * @param el - Code block element\n *\n * @returns List element or nothing\n */\nfunction findCandidateList(el: HTMLElement): HTMLElement | undefined {\n  if (el.nextElementSibling) {\n    const sibling = el.nextElementSibling as HTMLElement\n    if (sibling.tagName === \"OL\")\n      return sibling\n\n    /* Skip empty paragraphs - see https://bit.ly/3r4ZJ2O */\n    else if (sibling.tagName === \"P\" && !sibling.children.length)\n      return findCandidateList(sibling)\n  }\n\n  /* Everything else */\n  return undefined\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch code block\n *\n * This function monitors size changes of the viewport, as well as switches of\n * content tabs with embedded code blocks, as both may trigger overflow.\n *\n * @param el - Code block element\n *\n * @returns Code block observable\n */\nexport function watchCodeBlock(\n  el: HTMLElement\n): Observable<Overflow> {\n  return watchElementSize(el)\n    .pipe(\n      map(({ width }) => {\n        const content = getElementContentSize(el)\n        return {\n          scrollable: content.width > width\n        }\n      }),\n      distinctUntilKeyChanged(\"scrollable\")\n    )\n}\n\n/**\n * Mount code block\n *\n * This function ensures that an overflowing code block is focusable through\n * keyboard, so it can be scrolled without a mouse to improve on accessibility.\n * Furthermore, if code annotations are enabled, they are mounted if and only\n * if the code block is currently visible, e.g., not in a hidden content tab.\n *\n * Note that code blocks may be mounted eagerly or lazily. If they're mounted\n * lazily (on first visibility), code annotation anchor links will not work,\n * as they are evaluated on initial page load, and code annotations in general\n * might feel a little bumpier.\n *\n * @param el - Code block element\n * @param options - Options\n *\n * @returns Code block and annotation component observable\n */\nexport function mountCodeBlock(\n  el: HTMLElement, options: MountOptions\n): Observable<Component<CodeBlock>> {\n  const { matches: hover } = matchMedia(\"(hover)\")\n\n  /* Defer mounting of code block - see https://bit.ly/3vHVoVD */\n  const factory$ = defer(() => {\n    const push$ = new Subject<Overflow>()\n    const done$ = push$.pipe(takeLast(1))\n    push$.subscribe(({ scrollable }) => {\n      if (scrollable && hover)\n        el.setAttribute(\"tabindex\", \"0\")\n      else\n        el.removeAttribute(\"tabindex\")\n    })\n\n    /* Render button for Clipboard.js integration */\n    const content$: Array<Observable<Component<CodeBlock>>> = []\n    if (ClipboardJS.isSupported()) {\n      if (el.closest(\".copy\") || (\n        feature(\"content.code.copy\") && !el.closest(\".no-copy\")\n      )) {\n        const parent = el.closest(\"pre\")!\n        parent.id = `__code_${sequence++}`\n\n        /* Mount tooltip, if enabled */\n        const button = renderClipboardButton(parent.id)\n        parent.insertBefore(button, el)\n        if (feature(\"content.tooltips\"))\n          content$.push(mountInlineTooltip2(button, { viewport$ }))\n      }\n    }\n\n    /* Handle code annotations */\n    const container = el.closest(\".highlight\")\n    if (container instanceof HTMLElement) {\n      const list = findCandidateList(container)\n\n      /* Mount code annotations, if enabled */\n      if (typeof list !== \"undefined\" && (\n        container.classList.contains(\"annotate\") ||\n        feature(\"content.code.annotate\")\n      )) {\n        const annotations$ = mountAnnotationList(list, el, options)\n        content$.push(\n          watchElementSize(container)\n            .pipe(\n              takeUntil(done$),\n              map(({ width, height }) => width && height),\n              distinctUntilChanged(),\n              switchMap(active => active ? annotations$ : EMPTY)\n            )\n        )\n      }\n    }\n\n    // If the code block has line spans, we can add this additional class to\n    // the code block element, which fixes the problem for highlighted code\n    // lines not stretching to the entirety of the screen when the code block\n    // overflows, e.g., on mobile - see\n    const spans = getElements(\":scope > span[id]\", el)\n    if (spans.length)\n      el.classList.add(\"md-code__content\")\n\n    /* Create and return component */\n    return watchCodeBlock(el)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state })),\n        mergeWith(...content$)\n      )\n  })\n\n  /* Mount code block lazily */\n  if (feature(\"content.lazy\"))\n    return watchElementVisibility(el)\n      .pipe(\n        filter(visible => visible),\n        take(1),\n        switchMap(() => factory$)\n      )\n\n  /* Mount code block */\n  return factory$\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  defer,\n  filter,\n  finalize,\n  map,\n  merge,\n  tap\n} from \"rxjs\"\n\nimport { Component } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Details\n */\nexport interface Details {\n  action: \"open\" | \"close\"             /* Details state */\n  reveal?: boolean                     /* Details is revealed */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  target$: Observable<HTMLElement>     /* Location target observable */\n  print$: Observable<boolean>          /* Media print observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  target$: Observable<HTMLElement>     /* Location target observable */\n  print$: Observable<boolean>          /* Media print observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch details\n *\n * @param el - Details element\n * @param options - Options\n *\n * @returns Details observable\n */\nexport function watchDetails(\n  el: HTMLDetailsElement, { target$, print$ }: WatchOptions\n): Observable<Details> {\n  let open = true\n  return merge(\n\n    /* Open and focus details on location target */\n    target$\n      .pipe(\n        map(target => target.closest(\"details:not([open])\")!),\n        filter(details => el === details),\n        map(() => ({\n          action: \"open\", reveal: true\n        }) as Details)\n      ),\n\n    /* Open details on print and close afterwards */\n    print$\n      .pipe(\n        filter(active => active || !open),\n        tap(() => open = el.open),\n        map(active => ({\n          action: active ? \"open\" : \"close\"\n        }) as Details)\n      )\n  )\n}\n\n/**\n * Mount details\n *\n * This function ensures that `details` tags are opened on anchor jumps and\n * prior to printing, so the whole content of the page is visible.\n *\n * @param el - Details element\n * @param options - Options\n *\n * @returns Details component observable\n */\nexport function mountDetails(\n  el: HTMLDetailsElement, options: MountOptions\n): Observable<Component<Details>> {\n  return defer(() => {\n    const push$ = new Subject<Details>()\n    push$.subscribe(({ action, reveal }) => {\n      el.toggleAttribute(\"open\", action === \"open\")\n      if (reveal)\n        el.scrollIntoView()\n    })\n\n    /* Create and return component */\n    return watchDetails(el, options)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", ".node circle,.node ellipse,.node path,.node polygon,.node rect{fill:var(--md-mermaid-node-bg-color);stroke:var(--md-mermaid-node-fg-color)}marker{fill:var(--md-mermaid-edge-color)!important}.edgeLabel .label rect{fill:#0000}.label{color:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}.label foreignObject{line-height:normal;overflow:visible}.label div .edgeLabel{color:var(--md-mermaid-label-fg-color)}.edgeLabel,.edgeLabel rect,.label div .edgeLabel{background-color:var(--md-mermaid-label-bg-color)}.edgeLabel,.edgeLabel rect{fill:var(--md-mermaid-label-bg-color);color:var(--md-mermaid-edge-color)}.edgePath .path,.flowchart-link{stroke:var(--md-mermaid-edge-color);stroke-width:.05rem}.edgePath .arrowheadPath{fill:var(--md-mermaid-edge-color);stroke:none}.cluster rect{fill:var(--md-default-fg-color--lightest);stroke:var(--md-default-fg-color--lighter)}.cluster span{color:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}g #flowchart-circleEnd,g #flowchart-circleStart,g #flowchart-crossEnd,g #flowchart-crossStart,g #flowchart-pointEnd,g #flowchart-pointStart{stroke:none}g.classGroup line,g.classGroup rect{fill:var(--md-mermaid-node-bg-color);stroke:var(--md-mermaid-node-fg-color)}g.classGroup text{fill:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}.classLabel .box{fill:var(--md-mermaid-label-bg-color);background-color:var(--md-mermaid-label-bg-color);opacity:1}.classLabel .label{fill:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}.node .divider{stroke:var(--md-mermaid-node-fg-color)}.relation{stroke:var(--md-mermaid-edge-color)}.cardinality{fill:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}.cardinality text{fill:inherit!important}defs #classDiagram-compositionEnd,defs #classDiagram-compositionStart,defs #classDiagram-dependencyEnd,defs #classDiagram-dependencyStart,defs #classDiagram-extensionEnd,defs #classDiagram-extensionStart{fill:var(--md-mermaid-edge-color)!important;stroke:var(--md-mermaid-edge-color)!important}defs #classDiagram-aggregationEnd,defs #classDiagram-aggregationStart{fill:var(--md-mermaid-label-bg-color)!important;stroke:var(--md-mermaid-edge-color)!important}g.stateGroup rect{fill:var(--md-mermaid-node-bg-color);stroke:var(--md-mermaid-node-fg-color)}g.stateGroup .state-title{fill:var(--md-mermaid-label-fg-color)!important;font-family:var(--md-mermaid-font-family)}g.stateGroup .composit{fill:var(--md-mermaid-label-bg-color)}.nodeLabel,.nodeLabel p{color:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}a .nodeLabel{text-decoration:underline}.node circle.state-end,.node circle.state-start,.start-state{fill:var(--md-mermaid-edge-color);stroke:none}.end-state-inner,.end-state-outer{fill:var(--md-mermaid-edge-color)}.end-state-inner,.node circle.state-end{stroke:var(--md-mermaid-label-bg-color)}.transition{stroke:var(--md-mermaid-edge-color)}[id^=state-fork] rect,[id^=state-join] rect{fill:var(--md-mermaid-edge-color)!important;stroke:none!important}.statediagram-cluster.statediagram-cluster .inner{fill:var(--md-default-bg-color)}.statediagram-cluster rect{fill:var(--md-mermaid-node-bg-color);stroke:var(--md-mermaid-node-fg-color)}.statediagram-state rect.divider{fill:var(--md-default-fg-color--lightest);stroke:var(--md-default-fg-color--lighter)}defs #statediagram-barbEnd{stroke:var(--md-mermaid-edge-color)}.attributeBoxEven,.attributeBoxOdd{fill:var(--md-mermaid-node-bg-color);stroke:var(--md-mermaid-node-fg-color)}.entityBox{fill:var(--md-mermaid-label-bg-color);stroke:var(--md-mermaid-node-fg-color)}.entityLabel{fill:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}.relationshipLabelBox{fill:var(--md-mermaid-label-bg-color);fill-opacity:1;background-color:var(--md-mermaid-label-bg-color);opacity:1}.relationshipLabel{fill:var(--md-mermaid-label-fg-color)}.relationshipLine{stroke:var(--md-mermaid-edge-color)}defs #ONE_OR_MORE_END *,defs #ONE_OR_MORE_START *,defs #ONLY_ONE_END *,defs #ONLY_ONE_START *,defs #ZERO_OR_MORE_END *,defs #ZERO_OR_MORE_START *,defs #ZERO_OR_ONE_END *,defs #ZERO_OR_ONE_START *{stroke:var(--md-mermaid-edge-color)!important}defs #ZERO_OR_MORE_END circle,defs #ZERO_OR_MORE_START circle{fill:var(--md-mermaid-label-bg-color)}.actor{fill:var(--md-mermaid-sequence-actor-bg-color);stroke:var(--md-mermaid-sequence-actor-border-color)}text.actor>tspan{fill:var(--md-mermaid-sequence-actor-fg-color);font-family:var(--md-mermaid-font-family)}line{stroke:var(--md-mermaid-sequence-actor-line-color)}.actor-man circle,.actor-man line{fill:var(--md-mermaid-sequence-actorman-bg-color);stroke:var(--md-mermaid-sequence-actorman-line-color)}.messageLine0,.messageLine1{stroke:var(--md-mermaid-sequence-message-line-color)}.note{fill:var(--md-mermaid-sequence-note-bg-color);stroke:var(--md-mermaid-sequence-note-border-color)}.loopText,.loopText>tspan,.messageText,.noteText>tspan{stroke:none;font-family:var(--md-mermaid-font-family)!important}.messageText{fill:var(--md-mermaid-sequence-message-fg-color)}.loopText,.loopText>tspan{fill:var(--md-mermaid-sequence-loop-fg-color)}.noteText>tspan{fill:var(--md-mermaid-sequence-note-fg-color)}#arrowhead path{fill:var(--md-mermaid-sequence-message-line-color);stroke:none}.loopLine{fill:var(--md-mermaid-sequence-loop-bg-color);stroke:var(--md-mermaid-sequence-loop-border-color)}.labelBox{fill:var(--md-mermaid-sequence-label-bg-color);stroke:none}.labelText,.labelText>span{fill:var(--md-mermaid-sequence-label-fg-color);font-family:var(--md-mermaid-font-family)}.sequenceNumber{fill:var(--md-mermaid-sequence-number-fg-color)}rect.rect{fill:var(--md-mermaid-sequence-box-bg-color);stroke:none}rect.rect+text.text{fill:var(--md-mermaid-sequence-box-fg-color)}defs #sequencenumber{fill:var(--md-mermaid-sequence-number-bg-color)!important}", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  map,\n  of,\n  shareReplay,\n  tap\n} from \"rxjs\"\n\nimport { watchScript } from \"~/browser\"\nimport { h } from \"~/utilities\"\n\nimport { Component } from \"../../_\"\n\nimport themeCSS from \"./index.css\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mermaid diagram\n */\nexport interface Mermaid {}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Mermaid instance observable\n */\nlet mermaid$: Observable<void>\n\n/**\n * Global sequence number for diagrams\n */\nlet sequence = 0\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch Mermaid script\n *\n * @returns Mermaid scripts observable\n */\nfunction fetchScripts(): Observable<void> {\n  return typeof mermaid === \"undefined\" || mermaid instanceof Element\n    ? watchScript(\"https://unpkg.com/mermaid@10/dist/mermaid.min.js\")\n    : of(undefined)\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount Mermaid diagram\n *\n * @param el - Code block element\n *\n * @returns Mermaid diagram component observable\n */\nexport function mountMermaid(\n  el: HTMLElement\n): Observable<Component<Mermaid>> {\n  el.classList.remove(\"mermaid\") // Hack: mitigate https://bit.ly/3CiN6Du\n  mermaid$ ||= fetchScripts()\n    .pipe(\n      tap(() => mermaid.initialize({\n        startOnLoad: false,\n        themeCSS,\n        sequence: {\n          actorFontSize: \"16px\", // Hack: mitigate https://bit.ly/3y0NEi3\n          messageFontSize: \"16px\",\n          noteFontSize: \"16px\"\n        }\n      })),\n      map(() => undefined),\n      shareReplay(1)\n    )\n\n  /* Render diagram */\n  mermaid$.subscribe(async () => {\n    el.classList.add(\"mermaid\") // Hack: mitigate https://bit.ly/3CiN6Du\n    const id = `__mermaid_${sequence++}`\n\n    /* Create host element to replace code block */\n    const host = h(\"div\", { class: \"mermaid\" })\n    const text = el.textContent\n\n    /* Render and inject diagram */\n    const { svg, fn } = await mermaid.render(id, text)\n\n    /* Create a shadow root and inject diagram */\n    const shadow = host.attachShadow({ mode: \"closed\" })\n    shadow.innerHTML = svg\n\n    /* Replace code block with diagram and bind functions */\n    el.replaceWith(host)\n    fn?.(shadow)\n  })\n\n  /* Create and return component */\n  return mermaid$\n    .pipe(\n      map(() => ({ ref: el }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { Observable, of } from \"rxjs\"\n\nimport { renderTable } from \"~/templates\"\nimport { h } from \"~/utilities\"\n\nimport { Component } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Data table\n */\nexport interface DataTable {}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Sentinel for replacement\n */\nconst sentinel = h(\"table\")\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount data table\n *\n * This function wraps a data table in another scrollable container, so it can\n * be smoothly scrolled on smaller screen sizes and won't break the layout.\n *\n * @param el - Data table element\n *\n * @returns Data table component observable\n */\nexport function mountDataTable(\n  el: HTMLElement\n): Observable<Component<DataTable>> {\n  el.replaceWith(sentinel)\n  sentinel.replaceWith(renderTable(el))\n\n  /* Create and return component */\n  return of({ ref: el })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  animationFrameScheduler,\n  asyncScheduler,\n  auditTime,\n  combineLatest,\n  defer,\n  endWith,\n  filter,\n  finalize,\n  fromEvent,\n  ignoreElements,\n  map,\n  merge,\n  skip,\n  startWith,\n  subscribeOn,\n  takeUntil,\n  tap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport {\n  Viewport,\n  getElement,\n  getElementContentOffset,\n  getElementContentSize,\n  getElementOffset,\n  getElementSize,\n  getElements,\n  watchElementContentOffset,\n  watchElementSize,\n  watchElementVisibility\n} from \"~/browser\"\nimport { renderTabbedControl } from \"~/templates\"\nimport { h } from \"~/utilities\"\n\nimport { Component } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Content tabs\n */\nexport interface ContentTabs {\n  active: HTMLLabelElement             /* Active tab label */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  target$: Observable<HTMLElement>     /* Location target observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch content tabs\n *\n * @param inputs - Content tabs input elements\n *\n * @returns Content tabs observable\n */\nexport function watchContentTabs(\n  inputs: HTMLInputElement[]\n): Observable<ContentTabs> {\n  const initial = inputs.find(input => input.checked) || inputs[0]\n  return merge(...inputs.map(input => fromEvent(input, \"change\")\n    .pipe(\n      map(() => getElement<HTMLLabelElement>(`label[for=\"${input.id}\"]`))\n    )\n  ))\n    .pipe(\n      startWith(getElement<HTMLLabelElement>(`label[for=\"${initial.id}\"]`)),\n      map(active => ({ active }))\n    )\n}\n\n/**\n * Mount content tabs\n *\n * @param el - Content tabs element\n * @param options - Options\n *\n * @returns Content tabs component observable\n */\nexport function mountContentTabs(\n  el: HTMLElement, { viewport$, target$ }: MountOptions\n): Observable<Component<ContentTabs>> {\n  const container = getElement(\".tabbed-labels\", el)\n  const inputs = getElements<HTMLInputElement>(\":scope > input\", el)\n\n  /* Render content tab previous button for pagination */\n  const prev = renderTabbedControl(\"prev\")\n  el.append(prev)\n\n  /* Render content tab next button for pagination */\n  const next = renderTabbedControl(\"next\")\n  el.append(next)\n\n  /* Mount component on subscription */\n  return defer(() => {\n    const push$ = new Subject<ContentTabs>()\n    const done$ = push$.pipe(ignoreElements(), endWith(true))\n    combineLatest([push$, watchElementSize(el), watchElementVisibility(el)])\n      .pipe(\n        takeUntil(done$),\n        auditTime(1, animationFrameScheduler)\n      )\n        .subscribe({\n\n          /* Handle emission */\n          next([{ active }, size]) {\n            const offset = getElementOffset(active)\n            const { width } = getElementSize(active)\n\n            /* Set tab indicator offset and width */\n            el.style.setProperty(\"--md-indicator-x\", `${offset.x}px`)\n            el.style.setProperty(\"--md-indicator-width\", `${width}px`)\n\n            /* Scroll container to active content tab */\n            const content = getElementContentOffset(container)\n            if (\n              offset.x         < content.x              ||\n              offset.x + width > content.x + size.width\n            )\n              container.scrollTo({\n                left: Math.max(0, offset.x - 16),\n                behavior: \"smooth\"\n              })\n          },\n\n          /* Handle complete */\n          complete() {\n            el.style.removeProperty(\"--md-indicator-x\")\n            el.style.removeProperty(\"--md-indicator-width\")\n          }\n        })\n\n    /* Hide content tab buttons on borders */\n    combineLatest([\n      watchElementContentOffset(container),\n      watchElementSize(container)\n    ])\n      .pipe(\n        takeUntil(done$)\n      )\n        .subscribe(([offset, size]) => {\n          const content = getElementContentSize(container)\n          prev.hidden = offset.x < 16\n          next.hidden = offset.x > content.width - size.width - 16\n        })\n\n    /* Paginate content tab container on click */\n    merge(\n      fromEvent(prev, \"click\").pipe(map(() => -1)),\n      fromEvent(next, \"click\").pipe(map(() => +1))\n    )\n      .pipe(\n        takeUntil(done$)\n      )\n        .subscribe(direction => {\n          const { width } = getElementSize(container)\n          container.scrollBy({\n            left: width * direction,\n            behavior: \"smooth\"\n          })\n        })\n\n    /* Switch to content tab target */\n    target$\n      .pipe(\n        takeUntil(done$),\n        filter(input => inputs.includes(input as HTMLInputElement))\n      )\n        .subscribe(input => input.click())\n\n    /* Add link to each content tab label */\n    container.classList.add(\"tabbed-labels--linked\")\n    for (const input of inputs) {\n      const label = getElement<HTMLLabelElement>(`label[for=\"${input.id}\"]`)\n      label.replaceChildren(h(\"a\", {\n        href: `#${label.htmlFor}`,\n        tabIndex: -1\n      }, ...Array.from(label.childNodes)))\n\n      /* Allow to copy link without scrolling to anchor */\n      fromEvent<MouseEvent>(label.firstElementChild!, \"click\")\n        .pipe(\n          takeUntil(done$),\n          filter(ev => !(ev.metaKey || ev.ctrlKey)),\n          tap(ev => {\n            ev.preventDefault()\n            ev.stopPropagation()\n          })\n        )\n          // @todo we might need to remove the anchor link on complete\n          .subscribe(() => {\n            history.replaceState({}, \"\", `#${label.htmlFor}`)\n            label.click()\n          })\n    }\n\n    /* Set up linking of content tabs, if enabled */\n    if (feature(\"content.tabs.link\"))\n      push$.pipe(\n        skip(1),\n        withLatestFrom(viewport$)\n      )\n        .subscribe(([{ active }, { offset }]) => {\n          const tab = active.innerText.trim()\n          if (active.hasAttribute(\"data-md-switching\")) {\n            active.removeAttribute(\"data-md-switching\")\n\n          /* Determine viewport offset of active tab */\n          } else {\n            const y = el.offsetTop - offset.y\n\n            /* Passively activate other tabs */\n            for (const set of getElements(\"[data-tabs]\"))\n              for (const input of getElements<HTMLInputElement>(\n                \":scope > input\", set\n              )) {\n                const label = getElement(`label[for=\"${input.id}\"]`)\n                if (\n                  label !== active &&\n                  label.innerText.trim() === tab\n                ) {\n                  label.setAttribute(\"data-md-switching\", \"\")\n                  input.click()\n                  break\n                }\n              }\n\n            /* Bring active tab into view */\n            window.scrollTo({\n              top: el.offsetTop - y\n            })\n\n            /* Persist active tabs in local storage */\n            const tabs = __md_get<string[]>(\"__tabs\") || []\n            __md_set(\"__tabs\", [...new Set([tab, ...tabs])])\n          }\n        })\n\n    /* Pause media (audio, video) on switch - see https://bit.ly/3Bk6cel */\n    push$.pipe(takeUntil(done$))\n      .subscribe(() => {\n        for (const media of getElements<HTMLAudioElement>(\"audio, video\", el))\n          media.pause()\n      })\n\n    /* Create and return component */\n    return watchContentTabs(inputs)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n    .pipe(\n      subscribeOn(asyncScheduler)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { Observable, merge } from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport { Viewport, getElements } from \"~/browser\"\n\nimport { Component } from \"../../_\"\nimport {\n  Tooltip,\n  mountInlineTooltip2\n} from \"../../tooltip2\"\nimport {\n  Annotation,\n  mountAnnotationBlock\n} from \"../annotation\"\nimport {\n  CodeBlock,\n  mountCodeBlock\n} from \"../code\"\nimport {\n  Details,\n  mountDetails\n} from \"../details\"\nimport {\n  Mermaid,\n  mountMermaid\n} from \"../mermaid\"\nimport {\n  DataTable,\n  mountDataTable\n} from \"../table\"\nimport {\n  ContentTabs,\n  mountContentTabs\n} from \"../tabs\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Content\n */\nexport type Content =\n  | Annotation\n  | CodeBlock\n  | ContentTabs\n  | DataTable\n  | Details\n  | Mermaid\n  | Tooltip\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  target$: Observable<HTMLElement>     /* Location target observable */\n  print$: Observable<boolean>          /* Media print observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount content\n *\n * This function mounts all components that are found in the content of the\n * actual article, including code blocks, data tables and details.\n *\n * @param el - Content element\n * @param options - Options\n *\n * @returns Content component observable\n */\nexport function mountContent(\n  el: HTMLElement, { viewport$, target$, print$ }: MountOptions\n): Observable<Component<Content>> {\n  return merge(\n\n    /* Annotations */\n    ...getElements(\".annotate:not(.highlight)\", el)\n      .map(child => mountAnnotationBlock(child, { target$, print$ })),\n\n    /* Code blocks */\n    ...getElements(\"pre:not(.mermaid) > code\", el)\n      .map(child => mountCodeBlock(child, { target$, print$ })),\n\n    /* Mermaid diagrams */\n    ...getElements(\"pre.mermaid\", el)\n      .map(child => mountMermaid(child)),\n\n    /* Data tables */\n    ...getElements(\"table:not([class])\", el)\n      .map(child => mountDataTable(child)),\n\n    /* Details */\n    ...getElements(\"details\", el)\n      .map(child => mountDetails(child, { target$, print$ })),\n\n    /* Content tabs */\n    ...getElements(\"[data-tabs]\", el)\n      .map(child => mountContentTabs(child, { viewport$, target$ })),\n\n    /* Tooltips */\n    ...getElements(\"[title]\", el)\n      .filter(() => feature(\"content.tooltips\"))\n      .map(child => mountInlineTooltip2(child, { viewport$ }))\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  defer,\n  delay,\n  finalize,\n  map,\n  merge,\n  of,\n  switchMap,\n  tap\n} from \"rxjs\"\n\nimport { getElement } from \"~/browser\"\n\nimport { Component } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Dialog\n */\nexport interface Dialog {\n  message: string                      /* Dialog message */\n  active: boolean                      /* Dialog is active */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  alert$: Subject<string>              /* Alert subject */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  alert$: Subject<string>              /* Alert subject */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch dialog\n *\n * @param _el - Dialog element\n * @param options - Options\n *\n * @returns Dialog observable\n */\nexport function watchDialog(\n  _el: HTMLElement, { alert$ }: WatchOptions\n): Observable<Dialog> {\n  return alert$\n    .pipe(\n      switchMap(message => merge(\n        of(true),\n        of(false).pipe(delay(2000))\n      )\n        .pipe(\n          map(active => ({ message, active }))\n        )\n      )\n    )\n}\n\n/**\n * Mount dialog\n *\n * This function reveals the dialog in the right corner when a new alert is\n * emitted through the subject that is passed as part of the options.\n *\n * @param el - Dialog element\n * @param options - Options\n *\n * @returns Dialog component observable\n */\nexport function mountDialog(\n  el: HTMLElement, options: MountOptions\n): Observable<Component<Dialog>> {\n  const inner = getElement(\".md-typeset\", el)\n  return defer(() => {\n    const push$ = new Subject<Dialog>()\n    push$.subscribe(({ message, active }) => {\n      el.classList.toggle(\"md-dialog--active\", active)\n      inner.textContent = message\n    })\n\n    /* Create and return component */\n    return watchDialog(el, options)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  animationFrameScheduler,\n  asyncScheduler,\n  auditTime,\n  combineLatest,\n  debounceTime,\n  defer,\n  distinctUntilChanged,\n  filter,\n  finalize,\n  map,\n  merge,\n  of,\n  subscribeOn,\n  tap,\n  throttleTime\n} from \"rxjs\"\n\nimport {\n  ElementOffset,\n  getElement,\n  getElementContainer,\n  getElementOffset,\n  getElementSize,\n  watchElementContentOffset,\n  watchElementFocus,\n  watchElementHover\n} from \"~/browser\"\nimport { renderTooltip } from \"~/templates\"\n\nimport { Component } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Tooltip\n */\nexport interface Tooltip {\n  active: boolean                      /* Tooltip is active */\n  offset: ElementOffset                /* Tooltip offset */\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Global sequence number for tooltips\n */\nlet sequence = 0\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch tooltip\n *\n * This function will append the tooltip temporarily to compute its width,\n * which is necessary for correct centering, and then removing it again.\n *\n * @param el - Tooltip element\n * @param host - Host element\n *\n * @returns Tooltip observable\n */\nexport function watchTooltip(\n  el: HTMLElement, host: HTMLElement\n): Observable<Tooltip> {\n  document.body.append(el)\n\n  /* Compute width and remove tooltip immediately */\n  const { width } = getElementSize(el)\n  el.style.setProperty(\"--md-tooltip-width\", `${width}px`)\n  el.remove()\n\n  /* Retrieve and watch containing element */\n  const container = getElementContainer(host)\n  const scroll$ =\n    typeof container !== \"undefined\"\n      ? watchElementContentOffset(container)\n      : of({ x: 0, y: 0 })\n\n  /* Compute tooltip visibility */\n  const active$ = merge(\n    watchElementFocus(host),\n    watchElementHover(host)\n  )\n    .pipe(\n      distinctUntilChanged()\n    )\n\n  /* Compute tooltip offset */\n  return combineLatest([active$, scroll$])\n    .pipe(\n      map(([active, scroll]) => {\n        let { x, y } = getElementOffset(host)\n        const size = getElementSize(host)\n\n        /**\n         * Experimental: fix handling of tables - see https://bit.ly/3TQEj5O\n         *\n         * If this proves to be a viable fix, we should refactor tooltip\n         * positioning and somehow streamline the current process. This might\n         * also fix positioning for annotations inside tables, which is another\n         * limitation.\n         */\n        const table = host.closest(\"table\")\n        if (table && host.parentElement) {\n          x += table.offsetLeft + host.parentElement.offsetLeft\n          y += table.offsetTop  + host.parentElement.offsetTop\n        }\n        return {\n          active,\n          offset: {\n            x: x - scroll.x + size.width  / 2 - width / 2,\n            y: y - scroll.y + size.height + 8\n          }\n        }\n      })\n    )\n}\n\n/**\n * Mount tooltip\n *\n * @param el - Host element\n *\n * @returns Tooltip component observable\n */\nexport function mountTooltip(\n  el: HTMLElement\n): Observable<Component<Tooltip>> {\n  const title = el.title\n  if (!title.length)\n    return EMPTY\n\n  /* Render tooltip and set title from host element */\n  const id = `__tooltip_${sequence++}`\n  const tooltip = renderTooltip(id, \"inline\")\n  const typeset = getElement(\".md-typeset\", tooltip)\n  typeset.innerHTML = title\n\n  /* Mount component on subscription */\n  return defer(() => {\n    const push$ = new Subject<Tooltip>()\n    push$.subscribe({\n\n      /* Handle emission */\n      next({ offset }) {\n        tooltip.style.setProperty(\"--md-tooltip-x\", `${offset.x}px`)\n        tooltip.style.setProperty(\"--md-tooltip-y\", `${offset.y}px`)\n      },\n\n      /* Handle complete */\n      complete() {\n        tooltip.style.removeProperty(\"--md-tooltip-x\")\n        tooltip.style.removeProperty(\"--md-tooltip-y\")\n      }\n    })\n\n    /* Toggle tooltip presence to mitigate empty lines when copying */\n    merge(\n      push$.pipe(filter(({ active }) => active)),\n      push$.pipe(debounceTime(250), filter(({ active }) => !active))\n    )\n      .subscribe({\n\n        /* Handle emission */\n        next({ active }) {\n          if (active) {\n            el.insertAdjacentElement(\"afterend\", tooltip)\n            el.setAttribute(\"aria-describedby\", id)\n            el.removeAttribute(\"title\")\n          } else {\n            tooltip.remove()\n            el.removeAttribute(\"aria-describedby\")\n            el.setAttribute(\"title\", title)\n          }\n        },\n\n        /* Handle complete */\n        complete() {\n          tooltip.remove()\n          el.removeAttribute(\"aria-describedby\")\n          el.setAttribute(\"title\", title)\n        }\n      })\n\n    /* Toggle tooltip visibility */\n    push$\n      .pipe(\n        auditTime(16, animationFrameScheduler)\n      )\n        .subscribe(({ active }) => {\n          tooltip.classList.toggle(\"md-tooltip--active\", active)\n        })\n\n    // @todo - refactor positioning together with annotations \u2013 there are\n    // several things that overlap and are identical in handling\n\n    /* Track relative origin of tooltip */\n    push$\n      .pipe(\n        throttleTime(125, animationFrameScheduler),\n        filter(() => !!el.offsetParent),\n        map(() => el.offsetParent!.getBoundingClientRect()),\n        map(({ x }) => x)\n      )\n      .subscribe({\n\n        /* Handle emission */\n        next(origin) {\n          if (origin)\n            tooltip.style.setProperty(\"--md-tooltip-0\", `${-origin}px`)\n          else\n            tooltip.style.removeProperty(\"--md-tooltip-0\")\n        },\n\n        /* Handle complete */\n        complete() {\n          tooltip.style.removeProperty(\"--md-tooltip-0\")\n        }\n      })\n\n    /* Create and return component */\n    return watchTooltip(tooltip, el)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n    .pipe(\n      subscribeOn(asyncScheduler)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  bufferCount,\n  combineLatest,\n  combineLatestWith,\n  defer,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  endWith,\n  filter,\n  from,\n  ignoreElements,\n  map,\n  mergeMap,\n  mergeWith,\n  of,\n  shareReplay,\n  startWith,\n  switchMap,\n  takeUntil\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport {\n  Viewport,\n  getElements,\n  watchElementSize,\n  watchToggle\n} from \"~/browser\"\n\nimport { Component } from \"../../_\"\nimport { Main } from \"../../main\"\nimport {\n  Tooltip,\n  mountTooltip\n} from \"../../tooltip\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Header\n */\nexport interface Header {\n  height: number                       /* Header visible height */\n  hidden: boolean                      /* Header is hidden */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n  main$: Observable<Main>              /* Main area observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Compute whether the header is hidden\n *\n * If the user scrolls past a certain threshold, the header can be hidden when\n * scrolling down, and shown when scrolling up.\n *\n * @param options - Options\n *\n * @returns Toggle observable\n */\nfunction isHidden({ viewport$ }: WatchOptions): Observable<boolean> {\n  if (!feature(\"header.autohide\"))\n    return of(false)\n\n  /* Compute direction and turning point */\n  const direction$ = viewport$\n    .pipe(\n      map(({ offset: { y } }) => y),\n      bufferCount(2, 1),\n      map(([a, b]) => [a < b, b] as const),\n      distinctUntilKeyChanged(0)\n    )\n\n  /* Compute whether header should be hidden */\n  const hidden$ = combineLatest([viewport$, direction$])\n    .pipe(\n      filter(([{ offset }, [, y]]) => Math.abs(y - offset.y) > 100),\n      map(([, [direction]]) => direction),\n      distinctUntilChanged()\n    )\n\n  /* Compute threshold for hiding */\n  const search$ = watchToggle(\"search\")\n  return combineLatest([viewport$, search$])\n    .pipe(\n      map(([{ offset }, search]) => offset.y > 400 && !search),\n      distinctUntilChanged(),\n      switchMap(active => active ? hidden$ : of(false)),\n      startWith(false)\n    )\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch header\n *\n * @param el - Header element\n * @param options - Options\n *\n * @returns Header observable\n */\nexport function watchHeader(\n  el: HTMLElement, options: WatchOptions\n): Observable<Header> {\n  return defer(() => combineLatest([\n    watchElementSize(el),\n    isHidden(options)\n  ]))\n    .pipe(\n      map(([{ height }, hidden]) => ({\n        height,\n        hidden\n      })),\n      distinctUntilChanged((a, b) => (\n        a.height === b.height &&\n        a.hidden === b.hidden\n      )),\n      shareReplay(1)\n    )\n}\n\n/**\n * Mount header\n *\n * This function manages the different states of the header, i.e. whether it's\n * hidden or rendered with a shadow. This depends heavily on the main area.\n *\n * @param el - Header element\n * @param options - Options\n *\n * @returns Header component observable\n */\nexport function mountHeader(\n  el: HTMLElement, { header$, main$ }: MountOptions\n): Observable<Component<Header | Tooltip>> {\n  return defer(() => {\n    const push$ = new Subject<Main>()\n    const done$ = push$.pipe(ignoreElements(), endWith(true))\n    push$\n      .pipe(\n        distinctUntilKeyChanged(\"active\"),\n        combineLatestWith(header$)\n      )\n        .subscribe(([{ active }, { hidden }]) => {\n          el.classList.toggle(\"md-header--shadow\", active && !hidden)\n          el.hidden = hidden\n        })\n\n    /* Mount tooltips, if enabled */\n    const tooltips = from(getElements(\"[title]\", el))\n      .pipe(\n        filter(() => feature(\"content.tooltips\")),\n        mergeMap(child => mountTooltip(child))\n      )\n\n    /* Link to main area */\n    main$.subscribe(push$)\n\n    /* Create and return component */\n    return header$\n      .pipe(\n        takeUntil(done$),\n        map(state => ({ ref: el, ...state })),\n        mergeWith(tooltips.pipe(takeUntil(done$)))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  defer,\n  distinctUntilKeyChanged,\n  finalize,\n  map,\n  tap\n} from \"rxjs\"\n\nimport {\n  Viewport,\n  getElementSize,\n  getOptionalElement,\n  watchViewportAt\n} from \"~/browser\"\n\nimport { Component } from \"../../_\"\nimport { Header } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Header\n */\nexport interface HeaderTitle {\n  active: boolean                      /* Header title is active */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch header title\n *\n * @param el - Heading element\n * @param options - Options\n *\n * @returns Header title observable\n */\nexport function watchHeaderTitle(\n  el: HTMLElement, { viewport$, header$ }: WatchOptions\n): Observable<HeaderTitle> {\n  return watchViewportAt(el, { viewport$, header$ })\n    .pipe(\n      map(({ offset: { y } }) => {\n        const { height } = getElementSize(el)\n        return {\n          active: y >= height\n        }\n      }),\n      distinctUntilKeyChanged(\"active\")\n    )\n}\n\n/**\n * Mount header title\n *\n * This function swaps the header title from the site title to the title of the\n * current page when the user scrolls past the first headline.\n *\n * @param el - Header title element\n * @param options - Options\n *\n * @returns Header title component observable\n */\nexport function mountHeaderTitle(\n  el: HTMLElement, options: MountOptions\n): Observable<Component<HeaderTitle>> {\n  return defer(() => {\n    const push$ = new Subject<HeaderTitle>()\n    push$.subscribe({\n\n      /* Handle emission */\n      next({ active }) {\n        el.classList.toggle(\"md-header__title--active\", active)\n      },\n\n      /* Handle complete */\n      complete() {\n        el.classList.remove(\"md-header__title--active\")\n      }\n    })\n\n    /* Obtain headline, if any */\n    const heading = getOptionalElement(\".md-content h1\")\n    if (typeof heading === \"undefined\")\n      return EMPTY\n\n    /* Create and return component */\n    return watchHeaderTitle(heading, options)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  combineLatest,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  map,\n  switchMap\n} from \"rxjs\"\n\nimport {\n  Viewport,\n  watchElementSize\n} from \"~/browser\"\n\nimport { Header } from \"../header\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Main area\n */\nexport interface Main {\n  offset: number                       /* Main area top offset */\n  height: number                       /* Main area visible height */\n  active: boolean                      /* Main area is active */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch main area\n *\n * This function returns an observable that computes the visual parameters of\n * the main area which depends on the viewport vertical offset and height, as\n * well as the height of the header element, if the header is fixed.\n *\n * @param el - Main area element\n * @param options - Options\n *\n * @returns Main area observable\n */\nexport function watchMain(\n  el: HTMLElement, { viewport$, header$ }: WatchOptions\n): Observable<Main> {\n\n  /* Compute necessary adjustment for header */\n  const adjust$ = header$\n    .pipe(\n      map(({ height }) => height),\n      distinctUntilChanged()\n    )\n\n  /* Compute the main area's top and bottom borders */\n  const border$ = adjust$\n    .pipe(\n      switchMap(() => watchElementSize(el)\n        .pipe(\n          map(({ height }) => ({\n            top:    el.offsetTop,\n            bottom: el.offsetTop + height\n          })),\n          distinctUntilKeyChanged(\"bottom\")\n        )\n      )\n    )\n\n  /* Compute the main area's offset, visible height and if we scrolled past */\n  return combineLatest([adjust$, border$, viewport$])\n    .pipe(\n      map(([header, { top, bottom }, { offset: { y }, size: { height } }]) => {\n        height = Math.max(0, height\n          - Math.max(0, top    - y,  header)\n          - Math.max(0, height + y - bottom)\n        )\n        return {\n          offset: top - header,\n          height,\n          active: top - header <= y\n        }\n      }),\n      distinctUntilChanged((a, b) => (\n        a.offset === b.offset &&\n        a.height === b.height &&\n        a.active === b.active\n      ))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  asyncScheduler,\n  defer,\n  filter,\n  finalize,\n  fromEvent,\n  map,\n  mergeMap,\n  observeOn,\n  of,\n  repeat,\n  shareReplay,\n  skip,\n  startWith,\n  takeUntil,\n  tap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport { getElements, watchMedia } from \"~/browser\"\nimport { h } from \"~/utilities\"\n\nimport {\n  Component,\n  getComponentElement\n} from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Palette colors\n */\nexport interface PaletteColor {\n  media?: string                       /* Media query */\n  scheme?: string                      /* Color scheme */\n  primary?: string                     /* Primary color */\n  accent?: string                      /* Accent color */\n}\n\n/**\n * Palette\n */\nexport interface Palette {\n  index: number                        /* Palette index */\n  color: PaletteColor                  /* Palette colors */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch color palette\n *\n * @param inputs - Color palette element\n *\n * @returns Color palette observable\n */\nexport function watchPalette(\n  inputs: HTMLInputElement[]\n): Observable<Palette> {\n  const current = __md_get<Palette>(\"__palette\") || {\n    index: inputs.findIndex(input => matchMedia(\n      input.getAttribute(\"data-md-color-media\")!\n    ).matches)\n  }\n\n  /* Emit changes in color palette */\n  const index = Math.max(0, Math.min(current.index, inputs.length - 1))\n  return of(...inputs)\n    .pipe(\n      mergeMap(input => fromEvent(input, \"change\").pipe(map(() => input))),\n      startWith(inputs[index]),\n      map(input => ({\n        index: inputs.indexOf(input),\n        color: {\n          media:   input.getAttribute(\"data-md-color-media\"),\n          scheme:  input.getAttribute(\"data-md-color-scheme\"),\n          primary: input.getAttribute(\"data-md-color-primary\"),\n          accent:  input.getAttribute(\"data-md-color-accent\")\n        }\n      } as Palette)),\n      shareReplay(1)\n    )\n}\n\n/**\n * Mount color palette\n *\n * @param el - Color palette element\n *\n * @returns Color palette component observable\n */\nexport function mountPalette(\n  el: HTMLElement\n): Observable<Component<Palette>> {\n  const inputs = getElements<HTMLInputElement>(\"input\", el)\n  const meta = h(\"meta\", { name: \"theme-color\" })\n  document.head.appendChild(meta)\n\n  // Add color scheme meta tag\n  const scheme = h(\"meta\", { name: \"color-scheme\" })\n  document.head.appendChild(scheme)\n\n  /* Mount component on subscription */\n  const media$ = watchMedia(\"(prefers-color-scheme: light)\")\n  return defer(() => {\n    const push$ = new Subject<Palette>()\n    push$.subscribe(palette => {\n      document.body.setAttribute(\"data-md-color-switching\", \"\")\n\n      /* Retrieve color palette for system preference */\n      if (palette.color.media === \"(prefers-color-scheme)\") {\n        const media = matchMedia(\"(prefers-color-scheme: light)\")\n        const input = document.querySelector(media.matches\n          ? \"[data-md-color-media='(prefers-color-scheme: light)']\"\n          : \"[data-md-color-media='(prefers-color-scheme: dark)']\"\n        )!\n\n        /* Retrieve colors for system preference */\n        palette.color.scheme  = input.getAttribute(\"data-md-color-scheme\")!\n        palette.color.primary = input.getAttribute(\"data-md-color-primary\")!\n        palette.color.accent  = input.getAttribute(\"data-md-color-accent\")!\n      }\n\n      /* Set color palette */\n      for (const [key, value] of Object.entries(palette.color))\n        document.body.setAttribute(`data-md-color-${key}`, value)\n\n      /* Set toggle visibility */\n      for (let index = 0; index < inputs.length; index++) {\n        const label = inputs[index].nextElementSibling\n        if (label instanceof HTMLElement)\n          label.hidden = palette.index !== index\n      }\n\n      /* Persist preference in local storage */\n      __md_set(\"__palette\", palette)\n    })\n\n    // Handle color switch on Enter or Space - see https://t.ly/YIhVj\n    fromEvent<KeyboardEvent>(el, \"keydown\").pipe(\n      filter(ev => ev.key === \"Enter\"),\n      withLatestFrom(push$, (_, palette) => palette)\n    )\n      .subscribe(({ index }) => {\n        index = (index + 1) % inputs.length\n        inputs[index].click()\n        inputs[index].focus()\n      })\n\n    /* Update theme-color meta tag */\n    push$\n      .pipe(\n        map(() => {\n          const header = getComponentElement(\"header\")\n          const style  = window.getComputedStyle(header)\n\n          // Set color scheme\n          scheme.content = style.colorScheme\n\n          /* Return color in hexadecimal format */\n          return style.backgroundColor.match(/\\d+/g)!\n            .map(value => (+value).toString(16).padStart(2, \"0\"))\n            .join(\"\")\n        })\n      )\n        .subscribe(color => meta.content = `#${color}`)\n\n    /* Revert transition durations after color switch */\n    push$.pipe(observeOn(asyncScheduler))\n      .subscribe(() => {\n        document.body.removeAttribute(\"data-md-color-switching\")\n      })\n\n    /* Create and return component */\n    return watchPalette(inputs)\n      .pipe(\n        takeUntil(media$.pipe(skip(1))),\n        repeat(),\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  defer,\n  finalize,\n  map,\n  tap\n} from \"rxjs\"\n\nimport { Component } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Progress indicator\n */\nexport interface Progress {\n  value: number                        // Progress value\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  progress$: Subject<number>           // Progress subject\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount progress indicator\n *\n * @param el - Progress indicator element\n * @param options - Options\n *\n * @returns Progress indicator component observable\n */\nexport function mountProgress(\n  el: HTMLElement, { progress$ }: MountOptions\n): Observable<Component<Progress>> {\n\n  // Mount component on subscription\n  return defer(() => {\n    const push$ = new Subject<Progress>()\n    push$.subscribe(({ value }) => {\n      el.style.setProperty(\"--md-progress-value\", `${value}`)\n    })\n\n    // Create and return component\n    return progress$\n      .pipe(\n        tap(value => push$.next({ value })),\n        finalize(() => push$.complete()),\n        map(value => ({ ref: el, value }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport ClipboardJS from \"clipboard\"\nimport {\n  Observable,\n  Subject,\n  map,\n  tap\n} from \"rxjs\"\n\nimport { translation } from \"~/_\"\nimport { getElement } from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Setup options\n */\ninterface SetupOptions {\n  alert$: Subject<string>              /* Alert subject */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Extract text to copy\n *\n * @param el - HTML element\n *\n * @returns Extracted text\n */\nfunction extract(el: HTMLElement): string {\n  el.setAttribute(\"data-md-copying\", \"\")\n  const copy = el.closest(\"[data-copy]\")\n  const text = copy\n    ? copy.getAttribute(\"data-copy\")!\n    : el.innerText\n  el.removeAttribute(\"data-md-copying\")\n  return text.trimEnd()\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Set up Clipboard.js integration\n *\n * @param options - Options\n */\nexport function setupClipboardJS(\n  { alert$ }: SetupOptions\n): void {\n  if (ClipboardJS.isSupported()) {\n    new Observable<ClipboardJS.Event>(subscriber => {\n      new ClipboardJS(\"[data-clipboard-target], [data-clipboard-text]\", {\n        text: el => (\n          el.getAttribute(\"data-clipboard-text\")! ||\n          extract(getElement(\n            el.getAttribute(\"data-clipboard-target\")!\n          ))\n        )\n      })\n        .on(\"success\", ev => subscriber.next(ev))\n    })\n      .pipe(\n        tap(ev => {\n          const trigger = ev.trigger as HTMLElement\n          trigger.focus()\n        }),\n        map(() => translation(\"clipboard.copied\"))\n      )\n        .subscribe(alert$)\n  }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  catchError,\n  map,\n  of\n} from \"rxjs\"\n\nimport {\n  getElement,\n  getElements,\n  requestXML\n} from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Sitemap, i.e. a list of URLs\n */\nexport type Sitemap = Map<string, URL[]>\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Resolve URL to the given base URL\n *\n * When serving the site with instant navigation, MkDocs will set the hostname\n * to the value as specified in `dev_addr`, but the browser allows for several\n * hostnames to be used: `localhost`, `127.0.0.1` or even `0.0.0.0`, depending\n * on configuration. This function resolves the URL to the given hostname.\n *\n * @param url - URL\n * @param base - Base URL\n *\n * @returns Resolved URL\n */\nfunction resolve(url: URL, base: URL) {\n  url.protocol = base.protocol\n  url.hostname = base.hostname\n  return url\n}\n\n/**\n * Extract sitemap from document\n *\n * This function extracts the URLs and alternate links from the document, and\n * associates alternate links to the original URL as found in `loc`, allowing\n * the browser to navigate to the correct page when switching languages. The\n * format of the sitemap is expected to adhere to:\n *\n * ``` xml\n * <urlset>\n *   <url>\n *     <loc>...</loc>\n *     <xhtml:link rel=\"alternate\" hreflang=\"en\" href=\"...\"/>\n *     <xhtml:link rel=\"alternate\" hreflang=\"de\" href=\"...\"/>\n *     ...\n *   </url>\n *   ...\n * </urlset>\n * ```\n *\n * @param document - Document\n * @param base - Base URL\n *\n * @returns Sitemap\n */\nfunction extract(document: Document, base: URL): Sitemap {\n  const sitemap: Sitemap = new Map()\n  for (const el of getElements(\"url\", document)) {\n    const url = getElement(\"loc\", el)\n\n    // Create entry for location and add it to the list of links\n    const links = [resolve(new URL(url.textContent!), base)]\n    sitemap.set(`${links[0]}`, links)\n\n    // Attach alternate links to current entry\n    for (const link of getElements(\"[rel=alternate]\", el)) {\n      const href = link.getAttribute(\"href\")\n      if (href != null)\n        links.push(resolve(new URL(href), base))\n    }\n  }\n\n  // Return sitemap\n  return sitemap\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch the sitemap for the given base URL\n *\n * If a network or parsing error occurs, we just default to an empty sitemap,\n * which means the caller should fall back to regular navigation.\n *\n * @param base - Base URL\n *\n * @returns Sitemap observable\n */\nexport function fetchSitemap(base: URL | string): Observable<Sitemap> {\n  return requestXML(new URL(\"sitemap.xml\", base))\n    .pipe(\n      map(document => extract(document, new URL(base))),\n      catchError(() => of(new Map())),\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  catchError,\n  combineLatestWith,\n  concat,\n  debounceTime,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  endWith,\n  fromEvent,\n  ignoreElements,\n  map,\n  merge,\n  of,\n  share,\n  switchMap,\n  tap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport { configuration, feature } from \"~/_\"\nimport {\n  Viewport,\n  getElements,\n  getLocation,\n  getOptionalElement,\n  requestHTML,\n  setLocation,\n  setLocationHash\n} from \"~/browser\"\nimport { getComponentElement } from \"~/components\"\n\nimport { Sitemap, fetchSitemap } from \"../sitemap\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Setup options\n */\ninterface SetupOptions {\n  location$: Subject<URL>              // Location subject\n  viewport$: Observable<Viewport>      // Viewport observable\n  progress$: Subject<number>           // Progress subject\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Handle clicks on internal URLs while skipping external URLs\n *\n * @param ev - Mouse event\n * @param sitemap - Sitemap\n *\n * @returns URL observable\n */\nfunction handle(\n  ev: MouseEvent, sitemap: Sitemap\n): Observable<URL> {\n  if (!(ev.target instanceof Element))\n    return EMPTY\n\n  // Skip, as target is not within a link - clicks on non-link elements are\n  // also captured, which we need to exclude from processing\n  const el = ev.target.closest(\"a\")\n  if (el === null)\n    return EMPTY\n\n  // Skip, as link opens in new window - we now know we have captured a click\n  // on a link, but the link either has a `target` property defined, or the\n  // user pressed the `meta` or `ctrl` key to open it in a new window. Thus,\n  // we need to filter this event as well.\n  if (el.target || ev.metaKey || ev.ctrlKey)\n    return EMPTY\n\n  // Next, we must check if the URL is relevant for us, i.e., if it's an\n  // internal link to a page that is managed by MkDocs. Only then we can be\n  // sure that the structure of the page to be loaded adheres to the current\n  // document structure and can subsequently be injected into it without doing\n  // a full reload. For this reason, we must canonicalize the URL by removing\n  // all search parameters and hash fragments.\n  const url = new URL(el.href)\n  url.search = url.hash = \"\"\n\n  // Skip, if URL is not included in the sitemap - this could be the case when\n  // linking between versions or languages, or to another page that the author\n  // included as part of the build, but that is not managed by MkDocs. In that\n  // case we must not continue with instant navigation.\n  if (!sitemap.has(`${url}`))\n    return EMPTY\n\n  // We now know that we have a link to an internal page, so we prevent the\n  // browser from navigation and emit the URL for instant navigation. Note that\n  // this also includes anchor links, which means we need to implement anchor\n  // positioning ourselves. The reason for this is that if we wouldn't manage\n  // anchor links as well, scroll restoration will not work correctly (e.g.\n  // following an anchor link and scrolling).\n  ev.preventDefault()\n  return of(new URL(el.href))\n}\n\n/**\n * Create a map of head elements for lookup and replacement\n *\n * @param document - Document\n *\n * @returns Tag map\n */\nfunction head(document: Document): Map<string, HTMLElement> {\n  const tags = new Map<string, HTMLElement>()\n  for (const el of getElements(\":scope > *\", document.head))\n    tags.set(el.outerHTML, el)\n\n  // Return tag map\n  return tags\n}\n\n/**\n * Resolve relative URLs in the given document\n *\n * This function resolves relative `href` and `src` attributes, which can belong\n * to all sorts of tags, like meta tags, links, images, scripts and more.\n *\n * @param document - Document\n *\n * @returns Document observable\n */\nfunction resolve(document: Document): Observable<Document> {\n  for (const el of getElements(\"[href], [src]\", document))\n    for (const key of [\"href\", \"src\"]) {\n      const value = el.getAttribute(key)\n      if (value && !/^(?:[a-z]+:)?\\/\\//i.test(value)) {\n        // @ts-expect-error - trick: self-assign to resolve URL\n        el[key] = el[key]\n        break\n      }\n    }\n\n  // Return document observable\n  return of(document)\n}\n\n/**\n * Inject the contents of a document into the current one\n *\n * @param next - Next document\n *\n * @returns Document observable\n */\nfunction inject(next: Document): Observable<Document> {\n  for (const selector of [\n    \"[data-md-component=announce]\",\n    \"[data-md-component=container]\",\n    \"[data-md-component=header-topic]\",\n    \"[data-md-component=outdated]\",\n    \"[data-md-component=logo]\",\n    \"[data-md-component=skip]\",\n    ...feature(\"navigation.tabs.sticky\")\n      ? [\"[data-md-component=tabs]\"]\n      : []\n  ]) {\n    const source = getOptionalElement(selector)\n    const target = getOptionalElement(selector, next)\n    if (\n      typeof source !== \"undefined\" &&\n      typeof target !== \"undefined\"\n    ) {\n      source.replaceWith(target)\n    }\n  }\n\n  // Update meta tags\n  const tags = head(document)\n  for (const [html, el] of head(next))\n    if (tags.has(html))\n      tags.delete(html)\n    else\n      document.head.appendChild(el)\n\n  // Remove meta tags that are not present in the new document\n  for (const el of tags.values()) {\n    const name = el.getAttribute(\"name\")\n    // @todo - find a better way to handle attributes we add dynamically in\n    // other components without mounting components on every navigation, as\n    // this might impact overall performance - see https://t.ly/ehp_O\n    if (name !== \"theme-color\" && name !== \"color-scheme\")\n      el.remove()\n  }\n\n  // After components and meta tags were replaced, re-evaluate scripts\n  // that were provided by the author as part of Markdown files\n  const container = getComponentElement(\"container\")\n  return concat(getElements(\"script\", container))\n    .pipe(\n      switchMap(el => {\n        const script = next.createElement(\"script\")\n        if (el.src) {\n          for (const name of el.getAttributeNames())\n            script.setAttribute(name, el.getAttribute(name)!)\n          el.replaceWith(script)\n\n          // Complete when script is loaded\n          return new Observable(observer => {\n            script.onload = () => observer.complete()\n          })\n\n        // Complete immediately\n        } else {\n          script.textContent = el.textContent\n          el.replaceWith(script)\n          return EMPTY\n        }\n      }),\n      ignoreElements(),\n      endWith(document)\n    )\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Set up instant navigation\n *\n * This is a heavily orchestrated operation - see inline comments to learn how\n * this works with Material for MkDocs, and how you can hook into it.\n *\n * @param options - Options\n *\n * @returns Document observable\n */\nexport function setupInstantNavigation(\n  { location$, viewport$, progress$ }: SetupOptions\n): Observable<Document> {\n  const config = configuration()\n  if (location.protocol === \"file:\")\n    return EMPTY\n\n  // Load sitemap immediately, so we have it available when the user initiates\n  // the first navigation request without any perceivable delay\n  const sitemap$ = fetchSitemap(config.base)\n\n  // Since we might be on a slow connection, the user might trigger multiple\n  // instant navigation events that overlap. MkDocs produces relative URLs for\n  // all internal links, which becomes a problem in this case, because we need\n  // to change the base URL the moment the user clicks a link that should be\n  // intercepted in order to be consistent with popstate, which means that the\n  // base URL would now be incorrect when resolving another relative link from\n  // the same site. For this reason we always resolve all relative links to\n  // absolute links, so we can be sure this never happens.\n  of(document)\n    .subscribe(resolve)\n\n  // --------------------------------------------------------------------------\n  // Navigation interception\n  // --------------------------------------------------------------------------\n\n  // Intercept navigation - to keep the number of event listeners down we use\n  // the fact that uncaptured events bubble up to the body. This has the nice\n  // property that we don't need to detach and then re-attach event listeners\n  // when the document is replaced after a navigation event.\n  const instant$ =\n    fromEvent<MouseEvent>(document.body, \"click\")\n      .pipe(\n        combineLatestWith(sitemap$),\n        switchMap(([ev, sitemap]) => handle(ev, sitemap)),\n        share()\n      )\n\n  // Intercept history change events, e.g. when the user uses the browser's\n  // back or forward buttons, and emit new location for fetching and parsing\n  const history$ =\n    fromEvent<PopStateEvent>(window, \"popstate\")\n      .pipe(\n        map(getLocation),\n        share()\n      )\n\n  // While it would be better UX to defer navigation events until the document\n  // is fully fetched and parsed, we must schedule it here to synchronize with\n  // popstate events, as they are emitted immediately. Moreover we need to\n  // store the current viewport offset for scroll restoration later on.\n  instant$.pipe(withLatestFrom(viewport$))\n    .subscribe(([url, { offset }]) => {\n      history.replaceState(offset, \"\")\n      history.pushState(null, \"\", url)\n    })\n\n  // Emit URLs that should be fetched via instant navigation on location subject\n  // which was passed into this function. The state of instant navigation can be\n  // intercepted by other parts of the application, which can synchronously back\n  // up or restore state before or after instant navigation happens.\n  merge(instant$, history$)\n    .subscribe(location$)\n\n  // --------------------------------------------------------------------------\n  // Fetching and parsing\n  // --------------------------------------------------------------------------\n\n  // Fetch document - we deduplicate requests to the same location, so we don't\n  // end up with multiple requests for the same page. We use `switchMap`, since\n  // we want to cancel the previous request when a new one is triggered, which\n  // is automatically handled by the observable returned by `request`. This is\n  // essential to ensure a good user experience, as we don't want to load pages\n  // that are not needed anymore, e.g., when the user clicks multiple links in\n  // quick succession or on slow connections. If the request fails for some\n  // reason, we fall back and use regular navigation, forcing a reload.\n  const document$ =\n    location$.pipe(\n      distinctUntilKeyChanged(\"pathname\"),\n      switchMap(url => requestHTML(url, { progress$ })\n        .pipe(\n          catchError(() => {\n            setLocation(url, true)\n            return EMPTY\n          })\n        )\n      ),\n\n      // The document was successfully fetched and parsed, so we can inject its\n      // contents into the currently active document\n      switchMap(resolve),\n      switchMap(inject),\n      share()\n    )\n\n  // --------------------------------------------------------------------------\n  // Scroll restoration\n  // --------------------------------------------------------------------------\n\n  // Handle scroll restoration - we must restore the viewport offset after the\n  // document has been fetched and injected, and every time the user clicks an\n  // anchor that leads to an element on the same page, which might also happen\n  // when the user uses the back or forward button.\n  merge(\n    document$.pipe(withLatestFrom(location$, (_, url) => url)),\n\n    // Handle instant navigation events that are triggered by the user clicking\n    // on an anchor link with a hash fragment different from the current one, as\n    // well as from popstate events, which are emitted when the user navigates\n    // back and forth between pages. We use a two-layered subscription to scope\n    // the scroll restoration to the current page, as we don't need to restore\n    // the viewport offset when the user navigates to a different page, as this\n    // is already handled by the previous observable.\n    document$.pipe(\n      switchMap(() => location$),\n      distinctUntilKeyChanged(\"pathname\"),\n      switchMap(() => location$),\n      distinctUntilKeyChanged(\"hash\")\n    ),\n\n    // Handle instant navigation events that are triggered by the user clicking\n    // on an anchor link with the same hash fragment as the current one in the\n    // URL. It is essential that we only intercept those from instant navigation\n    // events and not from history change events, or we'll end up in and endless\n    // loop. The top-level history entry must be removed, as it will be replaced\n    // with a new one, which would otherwise lead to a duplicate entry.\n    location$.pipe(\n      distinctUntilChanged((a, b) => (\n        a.pathname === b.pathname &&\n        a.hash     === b.hash\n      )),\n      switchMap(() => instant$),\n      tap(() => history.back())\n    )\n  )\n    .subscribe(url => {\n\n      // Check if the current history entry has a state, which happens when the\n      // user presses the back or forward button to visit a page we've already\n      // seen. If there's no state, it means a new page was visited and we must\n      // scroll to the top, unless an anchor is given.\n      if (history.state !== null || !url.hash) {\n        window.scrollTo(0, history.state?.y ?? 0)\n      } else {\n        history.scrollRestoration = \"auto\"\n        setLocationHash(url.hash)\n        history.scrollRestoration = \"manual\"\n      }\n    })\n\n  // Disable scroll restoration when an instant navigation event occurs, so the\n  // browser does not immediately set the viewport offset to the prior history\n  // entry, scrolling to the position on the same page, which would look odd.\n  // Instead, we manually restore the position once the page has loaded.\n  location$.subscribe(() => {\n    history.scrollRestoration = \"manual\"\n  })\n\n  // Enable scroll restoration before window unloads - this is essential to\n  // ensure that full reloads (F5) restore the viewport offset correctly. If\n  // only popstate events wouldn't reset the viewport offset prior to their\n  // emission, we could just reset this in popstate. Meh.\n  fromEvent(window, \"beforeunload\")\n    .subscribe(() => {\n      history.scrollRestoration = \"auto\"\n    })\n\n  // Track viewport offset, so we can restore it when the user navigates back\n  // and forth between pages. Note that this must be debounced and cannot be\n  // done in popstate, as popstate has already removed the entry from the\n  // history, which means it is too late.\n  viewport$.pipe(\n    distinctUntilKeyChanged(\"offset\"),\n    debounceTime(100)\n  )\n    .subscribe(({ offset }) => {\n      history.replaceState(offset, \"\")\n    })\n\n  // Return document observable\n  return document$\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport escapeHTML from \"escape-html\"\n\nimport { SearchConfig } from \"../config\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search highlight function\n *\n * @param value - Value\n *\n * @returns Highlighted value\n */\nexport type SearchHighlightFn = (value: string) => string\n\n/**\n * Search highlight factory function\n *\n * @param query - Query value\n *\n * @returns Search highlight function\n */\nexport type SearchHighlightFactoryFn = (query: string) => SearchHighlightFn\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Create a search highlighter\n *\n * @param config - Search configuration\n *\n * @returns Search highlight factory function\n */\nexport function setupSearchHighlighter(\n  config: SearchConfig\n): SearchHighlightFactoryFn {\n  // Hack: temporarily remove pure lookaheads and lookbehinds\n  const regex = config.separator.split(\"|\").map(term => {\n    const temp = term.replace(/(\\(\\?[!=<][^)]+\\))/g, \"\")\n    return temp.length === 0 ? \"\uFFFD\" : term\n  })\n    .join(\"|\")\n\n  const separator = new RegExp(regex, \"img\")\n  const highlight = (_: unknown, data: string, term: string) => {\n    return `${data}<mark data-md-highlight>${term}</mark>`\n  }\n\n  /* Return factory function */\n  return (query: string) => {\n    query = query\n      .replace(/[\\s*+\\-:~^]+/g, \" \")\n      .trim()\n\n    /* Create search term match expression */\n    const match = new RegExp(`(^|${config.separator}|)(${\n      query\n        .replace(/[|\\\\{}()[\\]^$+*?.-]/g, \"\\\\$&\")\n        .replace(separator, \"|\")\n    })`, \"img\")\n\n    /* Highlight string value */\n    return value => escapeHTML(value)\n      .replace(match, highlight)\n      .replace(/<\\/mark>(\\s+)<mark[^>]*>/img, \"$1\")\n  }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A RTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { SearchResult } from \"../../_\"\nimport { SearchIndex } from \"../../config\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search message type\n */\nexport const enum SearchMessageType {\n  SETUP,                               /* Search index setup */\n  READY,                               /* Search index ready */\n  QUERY,                               /* Search query */\n  RESULT                               /* Search results */\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Message containing the data necessary to setup the search index\n */\nexport interface SearchSetupMessage {\n  type: SearchMessageType.SETUP        /* Message type */\n  data: SearchIndex                    /* Message data */\n}\n\n/**\n * Message indicating the search index is ready\n */\nexport interface SearchReadyMessage {\n  type: SearchMessageType.READY        /* Message type */\n}\n\n/**\n * Message containing a search query\n */\nexport interface SearchQueryMessage {\n  type: SearchMessageType.QUERY        /* Message type */\n  data: string                         /* Message data */\n}\n\n/**\n * Message containing results for a search query\n */\nexport interface SearchResultMessage {\n  type: SearchMessageType.RESULT       /* Message type */\n  data: SearchResult                   /* Message data */\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Message exchanged with the search worker\n */\nexport type SearchMessage =\n  | SearchSetupMessage\n  | SearchReadyMessage\n  | SearchQueryMessage\n  | SearchResultMessage\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Type guard for search ready messages\n *\n * @param message - Search worker message\n *\n * @returns Test result\n */\nexport function isSearchReadyMessage(\n  message: SearchMessage\n): message is SearchReadyMessage {\n  return message.type === SearchMessageType.READY\n}\n\n/**\n * Type guard for search result messages\n *\n * @param message - Search worker message\n *\n * @returns Test result\n */\nexport function isSearchResultMessage(\n  message: SearchMessage\n): message is SearchResultMessage {\n  return message.type === SearchMessageType.RESULT\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A RTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  ObservableInput,\n  Subject,\n  first,\n  merge,\n  of,\n  switchMap\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport { watchToggle, watchWorker } from \"~/browser\"\n\nimport { SearchIndex } from \"../../config\"\nimport {\n  SearchMessage,\n  SearchMessageType\n} from \"../message\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Set up search worker\n *\n * This function creates and initializes a web worker that is used for search,\n * so that the user interface doesn't freeze. In general, the application does\n * not care how search is implemented, as long as the web worker conforms to\n * the format expected by the application as defined in `SearchMessage`. This\n * allows the author to implement custom search functionality, by providing a\n * custom web worker via configuration.\n *\n * Material for MkDocs' built-in search implementation makes use of Lunr.js, an\n * efficient and fast implementation for client-side search. Leveraging a tiny\n * iframe-based web worker shim, search is even supported for the `file://`\n * protocol, enabling search for local non-hosted builds.\n *\n * If the protocol is `file://`, search initialization is deferred to mitigate\n * freezing, as it's now synchronous by design - see https://bit.ly/3C521EO\n *\n * @see https://bit.ly/3igvtQv - How to implement custom search\n *\n * @param url - Worker URL\n * @param index$ - Search index observable input\n *\n * @returns Search worker\n */\nexport function setupSearchWorker(\n  url: string, index$: ObservableInput<SearchIndex>\n): Subject<SearchMessage> {\n  const worker$ = watchWorker<SearchMessage>(url)\n  merge(\n    of(location.protocol !== \"file:\"),\n    watchToggle(\"search\")\n  )\n    .pipe(\n      first(active => active),\n      switchMap(() => index$)\n    )\n      .subscribe(({ config, docs }) => worker$.next({\n        type: SearchMessageType.SETUP,\n        data: {\n          config,\n          docs,\n          options: {\n            suggest: feature(\"search.suggest\")\n          }\n        }\n      }))\n\n  /* Return search worker */\n  return worker$\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Subject,\n  catchError,\n  combineLatest,\n  filter,\n  fromEvent,\n  map,\n  of,\n  switchMap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport { configuration } from \"~/_\"\nimport {\n  getElement,\n  getLocation,\n  requestJSON,\n  setLocation\n} from \"~/browser\"\nimport { getComponentElements } from \"~/components\"\nimport {\n  Version,\n  renderVersionSelector\n} from \"~/templates\"\n\nimport { fetchSitemap } from \"../sitemap\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Setup options\n */\ninterface SetupOptions {\n  document$: Subject<Document>         /* Document subject */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Set up version selector\n *\n * @param options - Options\n */\nexport function setupVersionSelector(\n  { document$ }: SetupOptions\n): void {\n  const config = configuration()\n  const versions$ = requestJSON<Version[]>(\n    new URL(\"../versions.json\", config.base)\n  )\n    .pipe(\n      catchError(() => EMPTY) // @todo refactor instant loading\n    )\n\n  /* Determine current version */\n  const current$ = versions$\n    .pipe(\n      map(versions => {\n        const [, current] = config.base.match(/([^/]+)\\/?$/)!\n        return versions.find(({ version, aliases }) => (\n          version === current || aliases.includes(current)\n        )) || versions[0]\n      })\n    )\n\n  /* Intercept inter-version navigation */\n  versions$\n    .pipe(\n      map(versions => new Map(versions.map(version => [\n        `${new URL(`../${version.version}/`, config.base)}`,\n        version\n      ]))),\n      switchMap(urls => fromEvent<MouseEvent>(document.body, \"click\")\n        .pipe(\n          filter(ev => !ev.metaKey && !ev.ctrlKey),\n          withLatestFrom(current$),\n          switchMap(([ev, current]) => {\n            if (ev.target instanceof Element) {\n              const el = ev.target.closest(\"a\")\n              if (el && !el.target && urls.has(el.href)) {\n                const url = el.href\n                // This is a temporary hack to detect if a version inside the\n                // version selector or on another part of the site was clicked.\n                // If we're inside the version selector, we definitely want to\n                // find the same page, as we might have different deployments\n                // due to aliases. However, if we're outside the version\n                // selector, we must abort here, because we might otherwise\n                // interfere with instant navigation. We need to refactor this\n                // at some point together with instant navigation.\n                //\n                // See https://github.com/squidfunk/mkdocs-material/issues/4012\n                if (!ev.target.closest(\".md-version\")) {\n                  const version = urls.get(url)!\n                  if (version === current)\n                    return EMPTY\n                }\n                ev.preventDefault()\n                return of(url)\n              }\n            }\n            return EMPTY\n          }),\n          switchMap(url => {\n            return fetchSitemap(new URL(url))\n              .pipe(\n                map(sitemap => {\n                  const location = getLocation()\n                  const path = location.href.replace(config.base, url)\n                  return sitemap.has(path.split(\"#\")[0])\n                    ? new URL(path)\n                    : new URL(url)\n                })\n              )\n          })\n        )\n      )\n    )\n      .subscribe(url => setLocation(url, true))\n\n  /* Render version selector and warning */\n  combineLatest([versions$, current$])\n    .subscribe(([versions, current]) => {\n      const topic = getElement(\".md-header__topic\")\n      topic.appendChild(renderVersionSelector(versions, current))\n    })\n\n  /* Integrate outdated version banner with instant navigation */\n  document$.pipe(switchMap(() => current$))\n    .subscribe(current => {\n\n      /* Check if version state was already determined */\n      let outdated = __md_get(\"__outdated\", sessionStorage)\n      if (outdated === null) {\n        outdated = true\n\n        /* Obtain and normalize default versions */\n        let ignored = config.version?.default || \"latest\"\n        if (!Array.isArray(ignored))\n          ignored = [ignored]\n\n        /* Check if version is considered a default */\n        main: for (const ignore of ignored)\n          for (const version of current.aliases.concat(current.version))\n            if (new RegExp(ignore, \"i\").test(version)) {\n              outdated = false\n              break main\n            }\n\n        /* Persist version state in session storage */\n        __md_set(\"__outdated\", outdated, sessionStorage)\n      }\n\n      /* Unhide outdated version banner */\n      if (outdated)\n        for (const warning of getComponentElements(\"outdated\"))\n          warning.hidden = false\n    })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  combineLatest,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  endWith,\n  finalize,\n  first,\n  fromEvent,\n  ignoreElements,\n  map,\n  merge,\n  shareReplay,\n  takeUntil,\n  tap\n} from \"rxjs\"\n\nimport {\n  getElement,\n  getLocation,\n  setToggle,\n  watchElementFocus,\n  watchToggle\n} from \"~/browser\"\nimport {\n  SearchMessage,\n  SearchMessageType,\n  isSearchReadyMessage\n} from \"~/integrations\"\n\nimport { Component } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search query\n */\nexport interface SearchQuery {\n  value: string                        /* Query value */\n  focus: boolean                       /* Query focus */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  worker$: Subject<SearchMessage>      /* Search worker */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  worker$: Subject<SearchMessage>      /* Search worker */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch search query\n *\n * Note that the focus event which triggers re-reading the current query value\n * is delayed by `1ms` so the input's empty state is allowed to propagate.\n *\n * @param el - Search query element\n * @param options - Options\n *\n * @returns Search query observable\n */\nexport function watchSearchQuery(\n  el: HTMLInputElement, { worker$ }: WatchOptions\n): Observable<SearchQuery> {\n\n  /* Support search deep linking */\n  const { searchParams } = getLocation()\n  if (searchParams.has(\"q\")) {\n    setToggle(\"search\", true)\n\n    /* Set query from parameter */\n    el.value = searchParams.get(\"q\")!\n    el.focus()\n\n    /* Remove query parameter on close */\n    watchToggle(\"search\")\n      .pipe(\n        first(active => !active)\n      )\n        .subscribe(() => {\n          const url = getLocation()\n          url.searchParams.delete(\"q\")\n          history.replaceState({}, \"\", `${url}`)\n        })\n  }\n\n  /* Intercept focus and input events */\n  const focus$ = watchElementFocus(el)\n  const value$ = merge(\n    worker$.pipe(first(isSearchReadyMessage)),\n    fromEvent(el, \"keyup\"),\n    focus$\n  )\n    .pipe(\n      map(() => el.value),\n      distinctUntilChanged()\n    )\n\n  /* Combine into single observable */\n  return combineLatest([value$, focus$])\n    .pipe(\n      map(([value, focus]) => ({ value, focus })),\n      shareReplay(1)\n    )\n}\n\n/**\n * Mount search query\n *\n * @param el - Search query element\n * @param options - Options\n *\n * @returns Search query component observable\n */\nexport function mountSearchQuery(\n  el: HTMLInputElement, { worker$ }: MountOptions\n): Observable<Component<SearchQuery, HTMLInputElement>> {\n  const push$ = new Subject<SearchQuery>()\n  const done$ = push$.pipe(ignoreElements(), endWith(true))\n\n  /* Handle value change */\n  combineLatest([\n    worker$.pipe(first(isSearchReadyMessage)),\n    push$\n  ], (_, query) => query)\n    .pipe(\n      distinctUntilKeyChanged(\"value\")\n    )\n      .subscribe(({ value }) => worker$.next({\n        type: SearchMessageType.QUERY,\n        data: value\n      }))\n\n  /* Handle focus change */\n  push$\n    .pipe(\n      distinctUntilKeyChanged(\"focus\")\n    )\n      .subscribe(({ focus }) => {\n        if (focus)\n          setToggle(\"search\", focus)\n      })\n\n  /* Handle reset */\n  fromEvent(el.form!, \"reset\")\n    .pipe(\n      takeUntil(done$)\n    )\n      .subscribe(() => el.focus())\n\n  // Focus search query on label click - note that this is necessary to bring\n  // up the keyboard on iOS and other mobile platforms, as the search dialog is\n  // not visible at first, and programatically focusing an input element must\n  // be triggered by a user interaction - see https://t.ly/Cb30n\n  const label = getElement(\"header [for=__search]\")\n  fromEvent(label, \"click\")\n    .subscribe(() => el.focus())\n\n  /* Create and return component */\n  return watchSearchQuery(el, { worker$ })\n    .pipe(\n      tap(state => push$.next(state)),\n      finalize(() => push$.complete()),\n      map(state => ({ ref: el, ...state })),\n      shareReplay(1)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  bufferCount,\n  filter,\n  finalize,\n  first,\n  fromEvent,\n  map,\n  merge,\n  mergeMap,\n  of,\n  share,\n  skipUntil,\n  switchMap,\n  takeUntil,\n  tap,\n  withLatestFrom,\n  zipWith\n} from \"rxjs\"\n\nimport { translation } from \"~/_\"\nimport {\n  getElement,\n  getOptionalElement,\n  watchElementBoundary,\n  watchToggle\n} from \"~/browser\"\nimport {\n  SearchMessage,\n  SearchResult,\n  isSearchReadyMessage,\n  isSearchResultMessage\n} from \"~/integrations\"\nimport { renderSearchResultItem } from \"~/templates\"\nimport { round } from \"~/utilities\"\n\nimport { Component } from \"../../_\"\nimport { SearchQuery } from \"../query\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  query$: Observable<SearchQuery>      /* Search query observable */\n  worker$: Subject<SearchMessage>      /* Search worker */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount search result list\n *\n * This function performs a lazy rendering of the search results, depending on\n * the vertical offset of the search result container.\n *\n * @param el - Search result list element\n * @param options - Options\n *\n * @returns Search result list component observable\n */\nexport function mountSearchResult(\n  el: HTMLElement, { worker$, query$ }: MountOptions\n): Observable<Component<SearchResult>> {\n  const push$ = new Subject<SearchResult>()\n  const boundary$ = watchElementBoundary(el.parentElement!)\n    .pipe(\n      filter(Boolean)\n    )\n\n  /* Retrieve container */\n  const container = el.parentElement!\n\n  /* Retrieve nested components */\n  const meta = getElement(\":scope > :first-child\", el)\n  const list = getElement(\":scope > :last-child\", el)\n\n  /* Reveal to accessibility tree \u2013 see https://bit.ly/3iAA7t8 */\n  watchToggle(\"search\")\n    .subscribe(active => list.setAttribute(\n      \"role\", active ? \"list\" : \"presentation\"\n    ))\n\n  /* Update search result metadata */\n  push$\n    .pipe(\n      withLatestFrom(query$),\n      skipUntil(worker$.pipe(first(isSearchReadyMessage)))\n    )\n      .subscribe(([{ items }, { value }]) => {\n        switch (items.length) {\n\n          /* No results */\n          case 0:\n            meta.textContent = value.length\n              ? translation(\"search.result.none\")\n              : translation(\"search.result.placeholder\")\n            break\n\n          /* One result */\n          case 1:\n            meta.textContent = translation(\"search.result.one\")\n            break\n\n          /* Multiple result */\n          default:\n            const count = round(items.length)\n            meta.textContent = translation(\"search.result.other\", count)\n        }\n      })\n\n  /* Render search result item */\n  const render$ = push$\n    .pipe(\n      tap(() => list.innerHTML = \"\"),\n      switchMap(({ items }) => merge(\n        of(...items.slice(0, 10)),\n        of(...items.slice(10))\n          .pipe(\n            bufferCount(4),\n            zipWith(boundary$),\n            switchMap(([chunk]) => chunk)\n          )\n      )),\n      map(renderSearchResultItem),\n      share()\n    )\n\n  /* Update search result list */\n  render$.subscribe(item => list.appendChild(item))\n  render$\n    .pipe(\n      mergeMap(item => {\n        const details = getOptionalElement(\"details\", item)\n        if (typeof details === \"undefined\")\n          return EMPTY\n\n        /* Keep position of details element stable */\n        return fromEvent(details, \"toggle\")\n          .pipe(\n            takeUntil(push$),\n            map(() => details)\n          )\n      })\n    )\n      .subscribe(details => {\n        if (\n          details.open === false &&\n          details.offsetTop <= container.scrollTop\n        )\n          container.scrollTo({ top: details.offsetTop })\n      })\n\n  /* Filter search result message */\n  const result$ = worker$\n    .pipe(\n      filter(isSearchResultMessage),\n      map(({ data }) => data)\n    )\n\n  /* Create and return component */\n  return result$\n    .pipe(\n      tap(state => push$.next(state)),\n      finalize(() => push$.complete()),\n      map(state => ({ ref: el, ...state }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  endWith,\n  finalize,\n  fromEvent,\n  ignoreElements,\n  map,\n  takeUntil,\n  tap\n} from \"rxjs\"\n\nimport { getLocation } from \"~/browser\"\n\nimport { Component } from \"../../_\"\nimport { SearchQuery } from \"../query\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search sharing\n */\nexport interface SearchShare {\n  url: URL                             /* Deep link for sharing */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  query$: Observable<SearchQuery>      /* Search query observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  query$: Observable<SearchQuery>      /* Search query observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount search sharing\n *\n * @param _el - Search sharing element\n * @param options - Options\n *\n * @returns Search sharing observable\n */\nexport function watchSearchShare(\n  _el: HTMLElement, { query$ }: WatchOptions\n): Observable<SearchShare> {\n  return query$\n    .pipe(\n      map(({ value }) => {\n        const url = getLocation()\n        url.hash = \"\"\n\n        /* Compute readable query strings */\n        value = value\n          .replace(/\\s+/g, \"+\")        /* Collapse whitespace */\n          .replace(/&/g, \"%26\")        /* Escape '&' character */\n          .replace(/=/g, \"%3D\")        /* Escape '=' character */\n\n        /* Replace query string */\n        url.search = `q=${value}`\n        return { url }\n      })\n    )\n}\n\n/**\n * Mount search sharing\n *\n * @param el - Search sharing element\n * @param options - Options\n *\n * @returns Search sharing component observable\n */\nexport function mountSearchShare(\n  el: HTMLAnchorElement, options: MountOptions\n): Observable<Component<SearchShare>> {\n  const push$ = new Subject<SearchShare>()\n  const done$ = push$.pipe(ignoreElements(), endWith(true))\n  push$.subscribe(({ url }) => {\n    el.setAttribute(\"data-clipboard-text\", el.href)\n    el.href = `${url}`\n  })\n\n  /* Prevent following of link */\n  fromEvent(el, \"click\")\n    .pipe(\n      takeUntil(done$)\n    )\n      .subscribe(ev => ev.preventDefault())\n\n  /* Create and return component */\n  return watchSearchShare(el, options)\n    .pipe(\n      tap(state => push$.next(state)),\n      finalize(() => push$.complete()),\n      map(state => ({ ref: el, ...state }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  asyncScheduler,\n  combineLatestWith,\n  distinctUntilChanged,\n  filter,\n  finalize,\n  fromEvent,\n  map,\n  merge,\n  observeOn,\n  tap\n} from \"rxjs\"\n\nimport { Keyboard } from \"~/browser\"\nimport {\n  SearchMessage,\n  SearchResult,\n  isSearchResultMessage\n} from \"~/integrations\"\n\nimport { Component, getComponentElement } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search suggestions\n */\nexport interface SearchSuggest {}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  keyboard$: Observable<Keyboard>      /* Keyboard observable */\n  worker$: Subject<SearchMessage>      /* Search worker */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount search suggestions\n *\n * This function will perform a lazy rendering of the search results, depending\n * on the vertical offset of the search result container.\n *\n * @param el - Search result list element\n * @param options - Options\n *\n * @returns Search result list component observable\n */\nexport function mountSearchSuggest(\n  el: HTMLElement, { worker$, keyboard$ }: MountOptions\n): Observable<Component<SearchSuggest>> {\n  const push$ = new Subject<SearchResult>()\n\n  /* Retrieve query component and track all changes */\n  const query  = getComponentElement(\"search-query\")\n  const query$ = merge(\n    fromEvent(query, \"keydown\"),\n    fromEvent(query, \"focus\")\n  )\n    .pipe(\n      observeOn(asyncScheduler),\n      map(() => query.value),\n      distinctUntilChanged(),\n    )\n\n  /* Update search suggestions */\n  push$\n    .pipe(\n      combineLatestWith(query$),\n      map(([{ suggest }, value]) => {\n        const words = value.split(/([\\s-]+)/)\n        if (suggest?.length && words[words.length - 1]) {\n          const last = suggest[suggest.length - 1]\n          if (last.startsWith(words[words.length - 1]))\n            words[words.length - 1] = last\n        } else {\n          words.length = 0\n        }\n        return words\n      })\n    )\n      .subscribe(words => el.innerHTML = words\n        .join(\"\")\n        .replace(/\\s/g, \"&nbsp;\")\n      )\n\n  /* Set up search keyboard handlers */\n  keyboard$\n    .pipe(\n      filter(({ mode }) => mode === \"search\")\n    )\n      .subscribe(key => {\n        switch (key.type) {\n\n          /* Right arrow: accept current suggestion */\n          case \"ArrowRight\":\n            if (\n              el.innerText.length &&\n              query.selectionStart === query.value.length\n            )\n              query.value = el.innerText\n            break\n        }\n      })\n\n  /* Filter search result message */\n  const result$ = worker$\n    .pipe(\n      filter(isSearchResultMessage),\n      map(({ data }) => data)\n    )\n\n  /* Create and return component */\n  return result$\n    .pipe(\n      tap(state => push$.next(state)),\n      finalize(() => push$.complete()),\n      map(() => ({ ref: el }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  NEVER,\n  Observable,\n  ObservableInput,\n  filter,\n  fromEvent,\n  merge,\n  mergeWith\n} from \"rxjs\"\n\nimport { configuration } from \"~/_\"\nimport {\n  Keyboard,\n  getActiveElement,\n  getElements,\n  setToggle\n} from \"~/browser\"\nimport {\n  SearchIndex,\n  SearchResult,\n  setupSearchWorker\n} from \"~/integrations\"\n\nimport {\n  Component,\n  getComponentElement,\n  getComponentElements\n} from \"../../_\"\nimport {\n  SearchQuery,\n  mountSearchQuery\n} from \"../query\"\nimport { mountSearchResult } from \"../result\"\nimport {\n  SearchShare,\n  mountSearchShare\n} from \"../share\"\nimport {\n  SearchSuggest,\n  mountSearchSuggest\n} from \"../suggest\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search\n */\nexport type Search =\n  | SearchQuery\n  | SearchResult\n  | SearchShare\n  | SearchSuggest\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  index$: ObservableInput<SearchIndex> /* Search index observable */\n  keyboard$: Observable<Keyboard>      /* Keyboard observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount search\n *\n * This function sets up the search functionality, including the underlying\n * web worker and all keyboard bindings.\n *\n * @param el - Search element\n * @param options - Options\n *\n * @returns Search component observable\n */\nexport function mountSearch(\n  el: HTMLElement, { index$, keyboard$ }: MountOptions\n): Observable<Component<Search>> {\n  const config = configuration()\n  try {\n    const worker$ = setupSearchWorker(config.search, index$)\n\n    /* Retrieve query and result components */\n    const query  = getComponentElement(\"search-query\", el)\n    const result = getComponentElement(\"search-result\", el)\n\n    /* Always close search on result selection */\n    fromEvent<PointerEvent>(el, \"click\")\n      .pipe(\n        filter(({ target }) => (\n          target instanceof Element && !!target.closest(\"a\")\n        ))\n      )\n        .subscribe(() => setToggle(\"search\", false))\n\n    /* Set up search keyboard handlers */\n    keyboard$\n      .pipe(\n        filter(({ mode }) => mode === \"search\")\n      )\n        .subscribe(key => {\n          const active = getActiveElement()\n          switch (key.type) {\n\n            /* Enter: go to first (best) result */\n            case \"Enter\":\n              if (active === query) {\n                const anchors = new Map<HTMLAnchorElement, number>()\n                for (const anchor of getElements<HTMLAnchorElement>(\n                  \":first-child [href]\", result\n                )) {\n                  const article = anchor.firstElementChild!\n                  anchors.set(anchor, parseFloat(\n                    article.getAttribute(\"data-md-score\")!\n                  ))\n                }\n\n                /* Go to result with highest score, if any */\n                if (anchors.size) {\n                  const [[best]] = [...anchors].sort(([, a], [, b]) => b - a)\n                  best.click()\n                }\n\n                /* Otherwise omit form submission */\n                key.claim()\n              }\n              break\n\n            /* Escape or Tab: close search */\n            case \"Escape\":\n            case \"Tab\":\n              setToggle(\"search\", false)\n              query.blur()\n              break\n\n            /* Vertical arrows: select previous or next search result */\n            case \"ArrowUp\":\n            case \"ArrowDown\":\n              if (typeof active === \"undefined\") {\n                query.focus()\n              } else {\n                const els = [query, ...getElements(\n                  \":not(details) > [href], summary, details[open] [href]\",\n                  result\n                )]\n                const i = Math.max(0, (\n                  Math.max(0, els.indexOf(active)) + els.length + (\n                    key.type === \"ArrowUp\" ? -1 : +1\n                  )\n                ) % els.length)\n                els[i].focus()\n              }\n\n              /* Prevent scrolling of page */\n              key.claim()\n              break\n\n            /* All other keys: hand to search query */\n            default:\n              if (query !== getActiveElement())\n                query.focus()\n          }\n        })\n\n    /* Set up global keyboard handlers */\n    keyboard$\n      .pipe(\n        filter(({ mode }) => mode === \"global\")\n      )\n        .subscribe(key => {\n          switch (key.type) {\n\n            /* Open search and select query */\n            case \"f\":\n            case \"s\":\n            case \"/\":\n              query.focus()\n              query.select()\n\n              /* Prevent scrolling of page */\n              key.claim()\n              break\n          }\n        })\n\n    /* Create and return component */\n    const query$ = mountSearchQuery(query, { worker$ })\n    return merge(\n      query$,\n      mountSearchResult(result, { worker$, query$ })\n    )\n      .pipe(\n        mergeWith(\n\n          /* Search sharing */\n          ...getComponentElements(\"search-share\", el)\n            .map(child => mountSearchShare(child, { query$ })),\n\n          /* Search suggestions */\n          ...getComponentElements(\"search-suggest\", el)\n            .map(child => mountSearchSuggest(child, { worker$, keyboard$ }))\n        )\n      )\n\n  /* Gracefully handle broken search */\n  } catch (err) {\n    el.hidden = true\n    return NEVER\n  }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  ObservableInput,\n  combineLatest,\n  filter,\n  map,\n  startWith\n} from \"rxjs\"\n\nimport { getLocation } from \"~/browser\"\nimport {\n  SearchIndex,\n  setupSearchHighlighter\n} from \"~/integrations\"\nimport { h } from \"~/utilities\"\n\nimport { Component } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search highlighting\n */\nexport interface SearchHighlight {\n  nodes: Map<ChildNode, string>        /* Map of replacements */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  index$: ObservableInput<SearchIndex> /* Search index observable */\n  location$: Observable<URL>           /* Location observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount search highlighting\n *\n * @param el - Content element\n * @param options - Options\n *\n * @returns Search highlighting component observable\n */\nexport function mountSearchHiglight(\n  el: HTMLElement, { index$, location$ }: MountOptions\n): Observable<Component<SearchHighlight>> {\n  return combineLatest([\n    index$,\n    location$\n      .pipe(\n        startWith(getLocation()),\n        filter(url => !!url.searchParams.get(\"h\"))\n      )\n  ])\n    .pipe(\n      map(([index, url]) => setupSearchHighlighter(index.config)(\n        url.searchParams.get(\"h\")!\n      )),\n      map(fn => {\n        const nodes = new Map<ChildNode, string>()\n\n        /* Traverse text nodes and collect matches */\n        const it = document.createNodeIterator(el, NodeFilter.SHOW_TEXT)\n        for (let node = it.nextNode(); node; node = it.nextNode()) {\n          if (node.parentElement?.offsetHeight) {\n            const original = node.textContent!\n            const replaced = fn(original)\n            if (replaced.length > original.length)\n              nodes.set(node as ChildNode, replaced)\n          }\n        }\n\n        /* Replace original nodes with matches */\n        for (const [node, text] of nodes) {\n          const { childNodes } = h(\"span\", null, text)\n          node.replaceWith(...Array.from(childNodes))\n        }\n\n        /* Return component */\n        return { ref: el, nodes }\n      })\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  animationFrameScheduler,\n  asyncScheduler,\n  auditTime,\n  combineLatest,\n  defer,\n  distinctUntilChanged,\n  endWith,\n  finalize,\n  first,\n  from,\n  fromEvent,\n  ignoreElements,\n  map,\n  mergeMap,\n  observeOn,\n  takeUntil,\n  tap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport {\n  Viewport,\n  getElement,\n  getElementOffset,\n  getElementSize,\n  getElements\n} from \"~/browser\"\n\nimport { Component } from \"../_\"\nimport { Header } from \"../header\"\nimport { Main } from \"../main\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Sidebar\n */\nexport interface Sidebar {\n  height: number                       /* Sidebar height */\n  locked: boolean                      /* Sidebar is locked */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  main$: Observable<Main>              /* Main area observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n  main$: Observable<Main>              /* Main area observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch sidebar\n *\n * This function returns an observable that computes the visual parameters of\n * the sidebar which depends on the vertical viewport offset, as well as the\n * height of the main area. When the page is scrolled beyond the header, the\n * sidebar is locked and fills the remaining space.\n *\n * @param el - Sidebar element\n * @param options - Options\n *\n * @returns Sidebar observable\n */\nexport function watchSidebar(\n  el: HTMLElement, { viewport$, main$ }: WatchOptions\n): Observable<Sidebar> {\n  const parent = el.closest<HTMLElement>(\".md-grid\")!\n  const adjust =\n    parent.offsetTop -\n    parent.parentElement!.offsetTop\n\n  /* Compute the sidebar's available height and if it should be locked */\n  return combineLatest([main$, viewport$])\n    .pipe(\n      map(([{ offset, height }, { offset: { y } }]) => {\n        height = height\n          + Math.min(adjust, Math.max(0, y - offset))\n          - adjust\n        return {\n          height,\n          locked: y >= offset + adjust\n        }\n      }),\n      distinctUntilChanged((a, b) => (\n        a.height === b.height &&\n        a.locked === b.locked\n      ))\n    )\n}\n\n/**\n * Mount sidebar\n *\n * This function doesn't set the height of the actual sidebar, but of its first\n * child \u2013 the `.md-sidebar__scrollwrap` element in order to mitigiate jittery\n * sidebars when the footer is scrolled into view. At some point we switched\n * from `absolute` / `fixed` positioning to `sticky` positioning, significantly\n * reducing jitter in some browsers (respectively Firefox and Safari) when\n * scrolling from the top. However, top-aligned sticky positioning means that\n * the sidebar snaps to the bottom when the end of the container is reached.\n * This is what leads to the mentioned jitter, as the sidebar's height may be\n * updated too slowly.\n *\n * This behaviour can be mitigiated by setting the height of the sidebar to `0`\n * while preserving the padding, and the height on its first element.\n *\n * @param el - Sidebar element\n * @param options - Options\n *\n * @returns Sidebar component observable\n */\nexport function mountSidebar(\n  el: HTMLElement, { header$, ...options }: MountOptions\n): Observable<Component<Sidebar>> {\n  const inner = getElement(\".md-sidebar__scrollwrap\", el)\n  const { y } = getElementOffset(inner)\n  return defer(() => {\n    const push$ = new Subject<Sidebar>()\n    const done$ = push$.pipe(ignoreElements(), endWith(true))\n    const next$ = push$\n      .pipe(\n        auditTime(0, animationFrameScheduler)\n      )\n\n    /* Update sidebar height and offset */\n    next$.pipe(withLatestFrom(header$))\n      .subscribe({\n\n        /* Handle emission */\n        next([{ height }, { height: offset }]) {\n          inner.style.height = `${height - 2 * y}px`\n          el.style.top       = `${offset}px`\n        },\n\n        /* Handle complete */\n        complete() {\n          inner.style.height = \"\"\n          el.style.top       = \"\"\n        }\n      })\n\n    /* Bring active item into view on initial load */\n    next$.pipe(first())\n      .subscribe(() => {\n        for (const item of getElements(\".md-nav__link--active[href]\", el)) {\n          if (!item.clientHeight) // skip invisible toc in left sidebar\n            continue\n          const container = item.closest<HTMLElement>(\".md-sidebar__scrollwrap\")!\n          if (typeof container !== \"undefined\") {\n            const offset = item.offsetTop - container.offsetTop\n            const { height } = getElementSize(container)\n            container.scrollTo({\n              top: offset - height / 2\n            })\n          }\n        }\n      })\n\n    /* Handle accessibility for expandable items, see https://bit.ly/3jaod9p */\n    from(getElements<HTMLLabelElement>(\"label[tabindex]\", el))\n      .pipe(\n        mergeMap(label => fromEvent(label, \"click\")\n          .pipe(\n            observeOn(asyncScheduler),\n            map(() => label),\n            takeUntil(done$)\n          )\n        )\n      )\n        .subscribe(label => {\n          const input = getElement<HTMLInputElement>(`[id=\"${label.htmlFor}\"]`)\n          const nav = getElement(`[aria-labelledby=\"${label.id}\"]`)\n          nav.setAttribute(\"aria-expanded\", `${input.checked}`)\n        })\n\n    /* Create and return component */\n    return watchSidebar(el, options)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { Repo, User } from \"github-types\"\nimport {\n  EMPTY,\n  Observable,\n  catchError,\n  defaultIfEmpty,\n  map,\n  zip\n} from \"rxjs\"\n\nimport { requestJSON } from \"~/browser\"\n\nimport { SourceFacts } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * GitHub release (partial)\n */\ninterface Release {\n  tag_name: string                     /* Tag name */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch GitHub repository facts\n *\n * @param user - GitHub user or organization\n * @param repo - GitHub repository\n *\n * @returns Repository facts observable\n */\nexport function fetchSourceFactsFromGitHub(\n  user: string, repo?: string\n): Observable<SourceFacts> {\n  if (typeof repo !== \"undefined\") {\n    const url = `https://api.github.com/repos/${user}/${repo}`\n    return zip(\n\n      /* Fetch version */\n      requestJSON<Release>(`${url}/releases/latest`)\n        .pipe(\n          catchError(() => EMPTY), // @todo refactor instant loading\n          map(release => ({\n            version: release.tag_name\n          })),\n          defaultIfEmpty({})\n        ),\n\n      /* Fetch stars and forks */\n      requestJSON<Repo>(url)\n        .pipe(\n          catchError(() => EMPTY), // @todo refactor instant loading\n          map(info => ({\n            stars: info.stargazers_count,\n            forks: info.forks_count\n          })),\n          defaultIfEmpty({})\n        )\n    )\n      .pipe(\n        map(([release, info]) => ({ ...release, ...info }))\n      )\n\n  /* User or organization */\n  } else {\n    const url = `https://api.github.com/users/${user}`\n    return requestJSON<User>(url)\n      .pipe(\n        map(info => ({\n          repositories: info.public_repos\n        })),\n        defaultIfEmpty({})\n      )\n  }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { ProjectSchema } from \"gitlab\"\nimport {\n  EMPTY,\n  Observable,\n  catchError,\n  defaultIfEmpty,\n  map\n} from \"rxjs\"\n\nimport { requestJSON } from \"~/browser\"\n\nimport { SourceFacts } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch GitLab repository facts\n *\n * @param base - GitLab base\n * @param project - GitLab project\n *\n * @returns Repository facts observable\n */\nexport function fetchSourceFactsFromGitLab(\n  base: string, project: string\n): Observable<SourceFacts> {\n  const url = `https://${base}/api/v4/projects/${encodeURIComponent(project)}`\n  return requestJSON<ProjectSchema>(url)\n    .pipe(\n      catchError(() => EMPTY), // @todo refactor instant loading\n      map(({ star_count, forks_count }) => ({\n        stars: star_count,\n        forks: forks_count\n      })),\n      defaultIfEmpty({})\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { EMPTY, Observable } from \"rxjs\"\n\nimport { fetchSourceFactsFromGitHub } from \"../github\"\nimport { fetchSourceFactsFromGitLab } from \"../gitlab\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Repository facts for repositories\n */\nexport interface RepositoryFacts {\n  stars?: number                       /* Number of stars */\n  forks?: number                       /* Number of forks */\n  version?: string                     /* Latest version */\n}\n\n/**\n * Repository facts for organizations\n */\nexport interface OrganizationFacts {\n  repositories?: number                /* Number of repositories */\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Repository facts\n */\nexport type SourceFacts =\n  | RepositoryFacts\n  | OrganizationFacts\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch repository facts\n *\n * @param url - Repository URL\n *\n * @returns Repository facts observable\n */\nexport function fetchSourceFacts(\n  url: string\n): Observable<SourceFacts> {\n\n  /* Try to match GitHub repository */\n  let match = url.match(/^.+github\\.com\\/([^/]+)\\/?([^/]+)?/i)\n  if (match) {\n    const [, user, repo] = match\n    return fetchSourceFactsFromGitHub(user, repo)\n  }\n\n  /* Try to match GitLab repository */\n  match = url.match(/^.+?([^/]*gitlab[^/]+)\\/(.+?)\\/?$/i)\n  if (match) {\n    const [, base, slug] = match\n    return fetchSourceFactsFromGitLab(base, slug)\n  }\n\n  /* Fallback */\n  return EMPTY\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  catchError,\n  defer,\n  filter,\n  finalize,\n  map,\n  of,\n  shareReplay,\n  tap\n} from \"rxjs\"\n\nimport { getElement } from \"~/browser\"\nimport { ConsentDefaults } from \"~/components/consent\"\nimport { renderSourceFacts } from \"~/templates\"\n\nimport {\n  Component,\n  getComponentElements\n} from \"../../_\"\nimport {\n  SourceFacts,\n  fetchSourceFacts\n} from \"../facts\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Repository information\n */\nexport interface Source {\n  facts: SourceFacts                   /* Repository facts */\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Repository information observable\n */\nlet fetch$: Observable<Source>\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch repository information\n *\n * This function tries to read the repository facts from session storage, and\n * if unsuccessful, fetches them from the underlying provider.\n *\n * @param el - Repository information element\n *\n * @returns Repository information observable\n */\nexport function watchSource(\n  el: HTMLAnchorElement\n): Observable<Source> {\n  return fetch$ ||= defer(() => {\n    const cached = __md_get<SourceFacts>(\"__source\", sessionStorage)\n    if (cached) {\n      return of(cached)\n    } else {\n\n      /* Check if consent is configured and was given */\n      const els = getComponentElements(\"consent\")\n      if (els.length) {\n        const consent = __md_get<ConsentDefaults>(\"__consent\")\n        if (!(consent && consent.github))\n          return EMPTY\n      }\n\n      /* Fetch repository facts */\n      return fetchSourceFacts(el.href)\n        .pipe(\n          tap(facts => __md_set(\"__source\", facts, sessionStorage))\n        )\n    }\n  })\n    .pipe(\n      catchError(() => EMPTY),\n      filter(facts => Object.keys(facts).length > 0),\n      map(facts => ({ facts })),\n      shareReplay(1)\n    )\n}\n\n/**\n * Mount repository information\n *\n * @param el - Repository information element\n *\n * @returns Repository information component observable\n */\nexport function mountSource(\n  el: HTMLAnchorElement\n): Observable<Component<Source>> {\n  const inner = getElement(\":scope > :last-child\", el)\n  return defer(() => {\n    const push$ = new Subject<Source>()\n    push$.subscribe(({ facts }) => {\n      inner.appendChild(renderSourceFacts(facts))\n      inner.classList.add(\"md-source__repository--active\")\n    })\n\n    /* Create and return component */\n    return watchSource(el)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  defer,\n  distinctUntilKeyChanged,\n  finalize,\n  map,\n  of,\n  switchMap,\n  tap\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport {\n  Viewport,\n  watchElementSize,\n  watchViewportAt\n} from \"~/browser\"\n\nimport { Component } from \"../_\"\nimport { Header } from \"../header\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Navigation tabs\n */\nexport interface Tabs {\n  hidden: boolean                      /* Navigation tabs are hidden */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch navigation tabs\n *\n * @param el - Navigation tabs element\n * @param options - Options\n *\n * @returns Navigation tabs observable\n */\nexport function watchTabs(\n  el: HTMLElement, { viewport$, header$ }: WatchOptions\n): Observable<Tabs> {\n  return watchElementSize(document.body)\n    .pipe(\n      switchMap(() => watchViewportAt(el, { header$, viewport$ })),\n      map(({ offset: { y } }) => {\n        return {\n          hidden: y >= 10\n        }\n      }),\n      distinctUntilKeyChanged(\"hidden\")\n    )\n}\n\n/**\n * Mount navigation tabs\n *\n * This function hides the navigation tabs when scrolling past the threshold\n * and makes them reappear in a nice CSS animation when scrolling back up.\n *\n * @param el - Navigation tabs element\n * @param options - Options\n *\n * @returns Navigation tabs component observable\n */\nexport function mountTabs(\n  el: HTMLElement, options: MountOptions\n): Observable<Component<Tabs>> {\n  return defer(() => {\n    const push$ = new Subject<Tabs>()\n    push$.subscribe({\n\n      /* Handle emission */\n      next({ hidden }) {\n        el.hidden = hidden\n      },\n\n      /* Handle complete */\n      complete() {\n        el.hidden = false\n      }\n    })\n\n    /* Create and return component */\n    return (\n      feature(\"navigation.tabs.sticky\")\n        ? of({ hidden: false })\n        : watchTabs(el, options)\n    )\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  asyncScheduler,\n  bufferCount,\n  combineLatestWith,\n  debounceTime,\n  defer,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  endWith,\n  filter,\n  finalize,\n  ignoreElements,\n  map,\n  merge,\n  observeOn,\n  of,\n  repeat,\n  scan,\n  share,\n  skip,\n  startWith,\n  switchMap,\n  takeUntil,\n  tap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport {\n  Viewport,\n  getElement,\n  getElementContainer,\n  getElementSize,\n  getElements,\n  getLocation,\n  getOptionalElement,\n  watchElementSize\n} from \"~/browser\"\n\nimport {\n  Component,\n  getComponentElement\n} from \"../_\"\nimport { Header } from \"../header\"\nimport { Main } from \"../main\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Table of contents\n */\nexport interface TableOfContents {\n  prev: HTMLAnchorElement[][]          /* Anchors (previous) */\n  next: HTMLAnchorElement[][]          /* Anchors (next) */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n  main$: Observable<Main>              /* Main area observable */\n  target$: Observable<HTMLElement>     /* Location target observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch table of contents\n *\n * This is effectively a scroll spy implementation which will account for the\n * fixed header and automatically re-calculate anchor offsets when the viewport\n * is resized. The returned observable will only emit if the table of contents\n * needs to be repainted.\n *\n * This implementation tracks an anchor element's entire path starting from its\n * level up to the top-most anchor element, e.g. `[h3, h2, h1]`. Although the\n * Material theme currently doesn't make use of this information, it enables\n * the styling of the entire hierarchy through customization.\n *\n * Note that the current anchor is the last item of the `prev` anchor list.\n *\n * @param el - Table of contents element\n * @param options - Options\n *\n * @returns Table of contents observable\n */\nexport function watchTableOfContents(\n  el: HTMLElement, { viewport$, header$ }: WatchOptions\n): Observable<TableOfContents> {\n  const table = new Map<HTMLAnchorElement, HTMLElement>()\n\n  /* Compute anchor-to-target mapping */\n  const anchors = getElements<HTMLAnchorElement>(\".md-nav__link\", el)\n  for (const anchor of anchors) {\n    const id = decodeURIComponent(anchor.hash.substring(1))\n    const target = getOptionalElement(`[id=\"${id}\"]`)\n    if (typeof target !== \"undefined\")\n      table.set(anchor, target)\n  }\n\n  /* Compute necessary adjustment for header */\n  const adjust$ = header$\n    .pipe(\n      distinctUntilKeyChanged(\"height\"),\n      map(({ height }) => {\n        const main = getComponentElement(\"main\")\n        const grid = getElement(\":scope > :first-child\", main)\n        return height + 0.8 * (\n          grid.offsetTop -\n          main.offsetTop\n        )\n      }),\n      share()\n    )\n\n  /* Compute partition of previous and next anchors */\n  const partition$ = watchElementSize(document.body)\n    .pipe(\n      distinctUntilKeyChanged(\"height\"),\n\n      /* Build index to map anchor paths to vertical offsets */\n      switchMap(body => defer(() => {\n        let path: HTMLAnchorElement[] = []\n        return of([...table].reduce((index, [anchor, target]) => {\n          while (path.length) {\n            const last = table.get(path[path.length - 1])!\n            if (last.tagName >= target.tagName) {\n              path.pop()\n            } else {\n              break\n            }\n          }\n\n          /* If the current anchor is hidden, continue with its parent */\n          let offset = target.offsetTop\n          while (!offset && target.parentElement) {\n            target = target.parentElement\n            offset = target.offsetTop\n          }\n\n          /* Fix anchor offsets in tables - see https://bit.ly/3CUFOcn */\n          let parent = target.offsetParent as HTMLElement\n          for (; parent; parent = parent.offsetParent as HTMLElement)\n            offset += parent.offsetTop\n\n          /* Map reversed anchor path to vertical offset */\n          return index.set(\n            [...path = [...path, anchor]].reverse(),\n            offset\n          )\n        }, new Map<HTMLAnchorElement[], number>()))\n      })\n        .pipe(\n\n          /* Sort index by vertical offset (see https://bit.ly/30z6QSO) */\n          map(index => new Map([...index].sort(([, a], [, b]) => a - b))),\n          combineLatestWith(adjust$),\n\n          /* Re-compute partition when viewport offset changes */\n          switchMap(([index, adjust]) => viewport$\n            .pipe(\n              scan(([prev, next], { offset: { y }, size }) => {\n                const last = y + size.height >= Math.floor(body.height)\n\n                /* Look forward */\n                while (next.length) {\n                  const [, offset] = next[0]\n                  if (offset - adjust < y || last) {\n                    prev = [...prev, next.shift()!]\n                  } else {\n                    break\n                  }\n                }\n\n                /* Look backward */\n                while (prev.length) {\n                  const [, offset] = prev[prev.length - 1]\n                  if (offset - adjust >= y && !last) {\n                    next = [prev.pop()!, ...next]\n                  } else {\n                    break\n                  }\n                }\n\n                /* Return partition */\n                return [prev, next]\n              }, [[], [...index]]),\n              distinctUntilChanged((a, b) => (\n                a[0] === b[0] &&\n                a[1] === b[1]\n              ))\n            )\n          )\n        )\n      )\n    )\n\n  /* Compute and return anchor list migrations */\n  return partition$\n    .pipe(\n      map(([prev, next]) => ({\n        prev: prev.map(([path]) => path),\n        next: next.map(([path]) => path)\n      })),\n\n      /* Extract anchor list migrations */\n      startWith({ prev: [], next: [] }),\n      bufferCount(2, 1),\n      map(([a, b]) => {\n\n        /* Moving down */\n        if (a.prev.length < b.prev.length) {\n          return {\n            prev: b.prev.slice(Math.max(0, a.prev.length - 1), b.prev.length),\n            next: []\n          }\n\n        /* Moving up */\n        } else {\n          return {\n            prev: b.prev.slice(-1),\n            next: b.next.slice(0, b.next.length - a.next.length)\n          }\n        }\n      })\n    )\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Mount table of contents\n *\n * @param el - Table of contents element\n * @param options - Options\n *\n * @returns Table of contents component observable\n */\nexport function mountTableOfContents(\n  el: HTMLElement, { viewport$, header$, main$, target$ }: MountOptions\n): Observable<Component<TableOfContents>> {\n  return defer(() => {\n    const push$ = new Subject<TableOfContents>()\n    const done$ = push$.pipe(ignoreElements(), endWith(true))\n    push$.subscribe(({ prev, next }) => {\n\n      /* Look forward */\n      for (const [anchor] of next) {\n        anchor.classList.remove(\"md-nav__link--passed\")\n        anchor.classList.remove(\"md-nav__link--active\")\n      }\n\n      /* Look backward */\n      for (const [index, [anchor]] of prev.entries()) {\n        anchor.classList.add(\"md-nav__link--passed\")\n        anchor.classList.toggle(\n          \"md-nav__link--active\",\n          index === prev.length - 1\n        )\n      }\n    })\n\n    /* Set up following, if enabled */\n    if (feature(\"toc.follow\")) {\n\n      /* Toggle smooth scrolling only for anchor clicks */\n      const smooth$ = merge(\n        viewport$.pipe(debounceTime(1), map(() => undefined)),\n        viewport$.pipe(debounceTime(250), map(() => \"smooth\" as const))\n      )\n\n      /* Bring active anchor into view */ // @todo: refactor\n      push$\n        .pipe(\n          filter(({ prev }) => prev.length > 0),\n          combineLatestWith(main$.pipe(observeOn(asyncScheduler))),\n          withLatestFrom(smooth$)\n        )\n          .subscribe(([[{ prev }], behavior]) => {\n            const [anchor] = prev[prev.length - 1]\n            if (anchor.offsetHeight) {\n\n              /* Retrieve overflowing container and scroll */\n              const container = getElementContainer(anchor)\n              if (typeof container !== \"undefined\") {\n                const offset = anchor.offsetTop - container.offsetTop\n                const { height } = getElementSize(container)\n                container.scrollTo({\n                  top: offset - height / 2,\n                  behavior\n                })\n              }\n            }\n          })\n    }\n\n    /* Set up anchor tracking, if enabled */\n    if (feature(\"navigation.tracking\"))\n      viewport$\n        .pipe(\n          takeUntil(done$),\n          distinctUntilKeyChanged(\"offset\"),\n          debounceTime(250),\n          skip(1),\n          takeUntil(target$.pipe(skip(1))),\n          repeat({ delay: 250 }),\n          withLatestFrom(push$)\n        )\n          .subscribe(([, { prev }]) => {\n            const url = getLocation()\n\n            /* Set hash fragment to active anchor */\n            const anchor = prev[prev.length - 1]\n            if (anchor && anchor.length) {\n              const [active] = anchor\n              const { hash } = new URL(active.href)\n              if (url.hash !== hash) {\n                url.hash = hash\n                history.replaceState({}, \"\", `${url}`)\n              }\n\n            /* Reset anchor when at the top */\n            } else {\n              url.hash = \"\"\n              history.replaceState({}, \"\", `${url}`)\n            }\n          })\n\n    /* Create and return component */\n    return watchTableOfContents(el, { viewport$, header$ })\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  bufferCount,\n  combineLatest,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  endWith,\n  finalize,\n  fromEvent,\n  ignoreElements,\n  map,\n  repeat,\n  skip,\n  takeUntil,\n  tap\n} from \"rxjs\"\n\nimport { Viewport } from \"~/browser\"\n\nimport { Component } from \"../_\"\nimport { Header } from \"../header\"\nimport { Main } from \"../main\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Back-to-top button\n */\nexport interface BackToTop {\n  hidden: boolean                      /* Back-to-top button is hidden */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  main$: Observable<Main>              /* Main area observable */\n  target$: Observable<HTMLElement>     /* Location target observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n  main$: Observable<Main>              /* Main area observable */\n  target$: Observable<HTMLElement>     /* Location target observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch back-to-top\n *\n * @param _el - Back-to-top element\n * @param options - Options\n *\n * @returns Back-to-top observable\n */\nexport function watchBackToTop(\n  _el: HTMLElement, { viewport$, main$, target$ }: WatchOptions\n): Observable<BackToTop> {\n\n  /* Compute direction */\n  const direction$ = viewport$\n    .pipe(\n      map(({ offset: { y } }) => y),\n      bufferCount(2, 1),\n      map(([a, b]) => a > b && b > 0),\n      distinctUntilChanged()\n    )\n\n  /* Compute whether main area is active */\n  const active$ = main$\n    .pipe(\n      map(({ active }) => active)\n    )\n\n  /* Compute threshold for hiding */\n  return combineLatest([active$, direction$])\n    .pipe(\n      map(([active, direction]) => !(active && direction)),\n      distinctUntilChanged(),\n      takeUntil(target$.pipe(skip(1))),\n      endWith(true),\n      repeat({ delay: 250 }),\n      map(hidden => ({ hidden }))\n    )\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Mount back-to-top\n *\n * @param el - Back-to-top element\n * @param options - Options\n *\n * @returns Back-to-top component observable\n */\nexport function mountBackToTop(\n  el: HTMLElement, { viewport$, header$, main$, target$ }: MountOptions\n): Observable<Component<BackToTop>> {\n  const push$ = new Subject<BackToTop>()\n  const done$ = push$.pipe(ignoreElements(), endWith(true))\n  push$.subscribe({\n\n    /* Handle emission */\n    next({ hidden }) {\n      el.hidden = hidden\n      if (hidden) {\n        el.setAttribute(\"tabindex\", \"-1\")\n        el.blur()\n      } else {\n        el.removeAttribute(\"tabindex\")\n      }\n    },\n\n    /* Handle complete */\n    complete() {\n      el.style.top = \"\"\n      el.hidden = true\n      el.removeAttribute(\"tabindex\")\n    }\n  })\n\n  /* Watch header height */\n  header$\n    .pipe(\n      takeUntil(done$),\n      distinctUntilKeyChanged(\"height\")\n    )\n      .subscribe(({ height }) => {\n        el.style.top = `${height + 16}px`\n      })\n\n  /* Go back to top */\n  fromEvent(el, \"click\")\n    .subscribe(ev => {\n      ev.preventDefault()\n      window.scrollTo({ top: 0 })\n    })\n\n  /* Create and return component */\n  return watchBackToTop(el, { viewport$, main$, target$ })\n    .pipe(\n      tap(state => push$.next(state)),\n      finalize(() => push$.complete()),\n      map(state => ({ ref: el, ...state }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  filter,\n  finalize,\n  map,\n  mergeMap,\n  skip,\n  switchMap,\n  take,\n  takeUntil\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport {\n  Viewport,\n  getElements,\n  watchElementVisibility\n} from \"~/browser\"\nimport { mountInlineTooltip2 } from \"~/components/tooltip2\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch options\n */\ninterface PatchOptions {\n  document$: Observable<Document>      /* Document observable */\n  viewport$: Observable<Viewport>      /* Viewport observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch ellipsis\n *\n * This function will fetch all elements that are shortened with ellipsis, and\n * filter those which are visible. Once they become visible, they stay in that\n * state, even though they may be hidden again. This optimization is necessary\n * to reduce pressure on the browser, with elements fading in and out of view.\n *\n * @param options - Options\n */\nexport function patchEllipsis(\n  { document$, viewport$ }: PatchOptions\n): void {\n  document$\n    .pipe(\n      switchMap(() => getElements(\".md-ellipsis\")),\n      mergeMap(el => watchElementVisibility(el)\n        .pipe(\n          takeUntil(document$.pipe(skip(1))),\n          filter(visible => visible),\n          map(() => el),\n          take(1)\n        )\n      ),\n      filter(el => el.offsetWidth < el.scrollWidth),\n      mergeMap(el => {\n        const text = el.innerText\n        const host = el.closest(\"a\") || el\n        host.title = text\n\n        // Do not mount improved tooltip if feature is disabled\n        if (!feature(\"content.tooltips\"))\n          return EMPTY\n\n        /* Mount tooltip */\n        return mountInlineTooltip2(host, { viewport$ })\n          .pipe(\n            takeUntil(document$.pipe(skip(1))),\n            finalize(() => host.removeAttribute(\"title\"))\n          )\n      })\n    )\n      .subscribe()\n\n  // @todo move this outside of here and fix memleaks\n  if (feature(\"content.tooltips\"))\n    document$\n      .pipe(\n        switchMap(() => getElements(\".md-status\")),\n        mergeMap(el => mountInlineTooltip2(el, { viewport$ }))\n      )\n        .subscribe()\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  fromEvent,\n  map,\n  mergeMap,\n  switchMap,\n  takeWhile,\n  tap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport { getElements } from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch options\n */\ninterface PatchOptions {\n  document$: Observable<Document>      /* Document observable */\n  tablet$: Observable<boolean>         /* Media tablet observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch indeterminate checkboxes\n *\n * This function replaces the indeterminate \"pseudo state\" with the actual\n * indeterminate state, which is used to keep navigation always expanded.\n *\n * @param options - Options\n */\nexport function patchIndeterminate(\n  { document$, tablet$ }: PatchOptions\n): void {\n  document$\n    .pipe(\n      switchMap(() => getElements<HTMLInputElement>(\n        \".md-toggle--indeterminate\"\n      )),\n      tap(el => {\n        el.indeterminate = true\n        el.checked = false\n      }),\n      mergeMap(el => fromEvent(el, \"change\")\n        .pipe(\n          takeWhile(() => el.classList.contains(\"md-toggle--indeterminate\")),\n          map(() => el)\n        )\n      ),\n      withLatestFrom(tablet$)\n    )\n      .subscribe(([el, tablet]) => {\n        el.classList.remove(\"md-toggle--indeterminate\")\n        if (tablet)\n          el.checked = false\n      })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  filter,\n  fromEvent,\n  map,\n  mergeMap,\n  switchMap,\n  tap\n} from \"rxjs\"\n\nimport { getElements } from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch options\n */\ninterface PatchOptions {\n  document$: Observable<Document>      /* Document observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Check whether the given device is an Apple device\n *\n * @returns Test result\n */\nfunction isAppleDevice(): boolean {\n  return /(iPad|iPhone|iPod)/.test(navigator.userAgent)\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch all elements with `data-md-scrollfix` attributes\n *\n * This is a year-old patch which ensures that overflow scrolling works at the\n * top and bottom of containers on iOS by ensuring a `1px` scroll offset upon\n * the start of a touch event.\n *\n * @see https://bit.ly/2SCtAOO - Original source\n *\n * @param options - Options\n */\nexport function patchScrollfix(\n  { document$ }: PatchOptions\n): void {\n  document$\n    .pipe(\n      switchMap(() => getElements(\"[data-md-scrollfix]\")),\n      tap(el => el.removeAttribute(\"data-md-scrollfix\")),\n      filter(isAppleDevice),\n      mergeMap(el => fromEvent(el, \"touchstart\")\n        .pipe(\n          map(() => el)\n        )\n      )\n    )\n      .subscribe(el => {\n        const top = el.scrollTop\n\n        /* We're at the top of the container */\n        if (top === 0) {\n          el.scrollTop = 1\n\n        /* We're at the bottom of the container */\n        } else if (top + el.offsetHeight === el.scrollHeight) {\n          el.scrollTop = top - 1\n        }\n      })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  combineLatest,\n  delay,\n  map,\n  of,\n  switchMap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport {\n  Viewport,\n  watchToggle\n} from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch options\n */\ninterface PatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  tablet$: Observable<boolean>         /* Media tablet observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch the document body to lock when search is open\n *\n * For mobile and tablet viewports, the search is rendered full screen, which\n * leads to scroll leaking when at the top or bottom of the search result. This\n * function locks the body when the search is in full screen mode, and restores\n * the scroll position when leaving.\n *\n * @param options - Options\n */\nexport function patchScrolllock(\n  { viewport$, tablet$ }: PatchOptions\n): void {\n  combineLatest([watchToggle(\"search\"), tablet$])\n    .pipe(\n      map(([active, tablet]) => active && !tablet),\n      switchMap(active => of(active)\n        .pipe(\n          delay(active ? 400 : 100)\n        )\n      ),\n      withLatestFrom(viewport$)\n    )\n      .subscribe(([active, { offset: { y }}]) => {\n        if (active) {\n          document.body.setAttribute(\"data-md-scrolllock\", \"\")\n          document.body.style.top = `-${y}px`\n        } else {\n          const value = -1 * parseInt(document.body.style.top, 10)\n          document.body.removeAttribute(\"data-md-scrolllock\")\n          document.body.style.top = \"\"\n          if (value)\n            window.scrollTo(0, value)\n        }\n      })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Polyfills\n * ------------------------------------------------------------------------- */\n\n/* Polyfill `Object.entries` */\nif (!Object.entries)\n  Object.entries = function (obj: object) {\n    const data: [string, string][] = []\n    for (const key of Object.keys(obj))\n      // @ts-expect-error - ignore property access warning\n      data.push([key, obj[key]])\n\n    /* Return entries */\n    return data\n  }\n\n/* Polyfill `Object.values` */\nif (!Object.values)\n  Object.values = function (obj: object) {\n    const data: string[] = []\n    for (const key of Object.keys(obj))\n      // @ts-expect-error - ignore property access warning\n      data.push(obj[key])\n\n    /* Return values */\n    return data\n  }\n\n/* ------------------------------------------------------------------------- */\n\n/* Polyfills for `Element` */\nif (typeof Element !== \"undefined\") {\n\n  /* Polyfill `Element.scrollTo` */\n  if (!Element.prototype.scrollTo)\n    Element.prototype.scrollTo = function (\n      x?: ScrollToOptions | number, y?: number\n    ): void {\n      if (typeof x === \"object\") {\n        this.scrollLeft = x.left!\n        this.scrollTop = x.top!\n      } else {\n        this.scrollLeft = x!\n        this.scrollTop = y!\n      }\n    }\n\n  /* Polyfill `Element.replaceWith` */\n  if (!Element.prototype.replaceWith)\n    Element.prototype.replaceWith = function (\n      ...nodes: Array<string | Node>\n    ): void {\n      const parent = this.parentNode\n      if (parent) {\n        if (nodes.length === 0)\n          parent.removeChild(this)\n\n        /* Replace children and create text nodes */\n        for (let i = nodes.length - 1; i >= 0; i--) {\n          let node = nodes[i]\n          if (typeof node === \"string\")\n            node = document.createTextNode(node)\n          else if (node.parentNode)\n            node.parentNode.removeChild(node)\n\n          /* Replace child or insert before previous sibling */\n          if (!i)\n            parent.replaceChild(node, this)\n          else\n            parent.insertBefore(this.previousSibling!, node)\n        }\n      }\n    }\n}\n"],
-  "mappings": 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"offset", "direction", "distinctUntilChanged", "search$", "watchToggle", "search", "switchMap", "active", "startWith", "watchHeader", "el", "options", "defer", "watchElementSize", "height", "hidden", "shareReplay", "mountHeader", "header$", "main$", "push$", "Subject", "done$", "ignoreElements", "endWith", "combineLatestWith", "tooltips", "from", "getElements", "mergeMap", "child", "mountTooltip", "takeUntil", "state", "__spreadValues", "mergeWith", "watchHeaderTitle", "el", "viewport$", "header$", "watchViewportAt", "map", "y", "height", "getElementSize", "distinctUntilKeyChanged", "mountHeaderTitle", "options", "defer", "push$", "Subject", "active", "heading", "getOptionalElement", "EMPTY", "tap", "state", "finalize", "__spreadValues", "watchMain", "el", "viewport$", "header$", "adjust$", "map", "height", "distinctUntilChanged", "border$", "switchMap", "watchElementSize", "distinctUntilKeyChanged", "combineLatest", "header", "top", "bottom", "y", "a", "b", "watchPalette", "inputs", "current", "input", "index", "of", "mergeMap", "fromEvent", "map", "startWith", "shareReplay", "mountPalette", "el", "getElements", "meta", "h", "scheme", "media$", "watchMedia", "defer", "push$", "Subject", "palette", "media", "key", "value", "label", "filter", "ev", "withLatestFrom", "_", "header", "getComponentElement", "style", "color", "observeOn", "asyncScheduler", "takeUntil", "skip", "repeat", "tap", "state", "finalize", "__spreadValues", "mountProgress", "el", "progress$", "defer", "push$", "Subject", "value", "tap", "finalize", "map", "import_clipboard", "extract", "el", "copy", "text", "setupClipboardJS", "alert$", "ClipboardJS", "Observable", "subscriber", "getElement", "ev", "tap", "map", "translation", "resolve", "url", "base", "extract", "document", "sitemap", "el", "getElements", "getElement", "links", "link", "href", "fetchSitemap", "requestXML", "map", "catchError", "of", "handle", "ev", "sitemap", "EMPTY", "el", "url", "of", "head", "document", "tags", "getElements", "resolve", "key", "value", "inject", "next", "selector", "feature", "source", "getOptionalElement", "target", "html", "name", "container", "getComponentElement", "concat", "switchMap", "script", "Observable", "observer", "ignoreElements", "endWith", "setupInstantNavigation", "location$", "viewport$", "progress$", "config", "configuration", "sitemap$", "fetchSitemap", "instant$", "fromEvent", "combineLatestWith", "share", "history$", "map", "getLocation", "withLatestFrom", "offset", "merge", "document$", "distinctUntilKeyChanged", "requestHTML", "catchError", "setLocation", "_", "distinctUntilChanged", "a", "b", "tap", "_a", "_b", "setLocationHash", "debounceTime", "import_escape_html", "setupSearchHighlighter", "config", "regex", "term", "separator", "highlight", "_", "data", "query", "match", "value", "escapeHTML", "isSearchReadyMessage", "message", "isSearchResultMessage", "setupSearchWorker", "url", "index$", "worker$", "watchWorker", "merge", "of", "watchToggle", "first", "active", "switchMap", "config", "docs", "feature", "setupVersionSelector", "document$", "config", "configuration", "versions$", "requestJSON", "catchError", "EMPTY", "current$", "map", "versions", "current", "version", "aliases", "switchMap", "urls", "fromEvent", "filter", "ev", "withLatestFrom", "el", "url", "of", "fetchSitemap", "sitemap", "path", "getLocation", "setLocation", "combineLatest", "getElement", "renderVersionSelector", "_a", "outdated", "ignored", "main", "ignore", "warning", "getComponentElements", "watchSearchQuery", "el", "worker$", "searchParams", "getLocation", "setToggle", "watchToggle", "first", "active", "url", "focus$", "watchElementFocus", "value$", "merge", "isSearchReadyMessage", "fromEvent", "map", "distinctUntilChanged", "combineLatest", "value", "focus", "shareReplay", "mountSearchQuery", "push$", "Subject", "done$", "ignoreElements", "endWith", "_", "query", "distinctUntilKeyChanged", "takeUntil", "label", "getElement", "tap", "state", "finalize", "__spreadValues", "mountSearchResult", "el", "worker$", "query$", "push$", "Subject", "boundary$", "watchElementBoundary", "filter", "container", "meta", "getElement", "list", "watchToggle", "active", "withLatestFrom", "skipUntil", "first", "isSearchReadyMessage", "items", "value", "translation", "count", "round", "render$", "tap", "switchMap", "merge", "of", "bufferCount", "zipWith", "chunk", "map", "renderSearchResultItem", "share", "item", "mergeMap", "details", "getOptionalElement", "EMPTY", "fromEvent", "takeUntil", "isSearchResultMessage", "data", "state", "finalize", "__spreadValues", "watchSearchShare", "_el", "query$", "map", "value", "url", "getLocation", "mountSearchShare", "el", "options", "push$", "Subject", "done$", "ignoreElements", "endWith", "fromEvent", "takeUntil", "ev", "tap", "state", "finalize", "__spreadValues", "mountSearchSuggest", "el", "worker$", "keyboard$", "push$", "Subject", "query", "getComponentElement", "query$", "merge", "fromEvent", "observeOn", "asyncScheduler", "map", "distinctUntilChanged", "combineLatestWith", "suggest", "value", "words", "last", "filter", "mode", "key", "isSearchResultMessage", "data", "tap", "state", "finalize", "mountSearch", "el", "index$", "keyboard$", "config", "configuration", "worker$", "setupSearchWorker", "query", "getComponentElement", "result", "fromEvent", "filter", "target", "setToggle", "mode", "key", "active", "getActiveElement", "anchors", "anchor", "getElements", "article", "best", "a", "b", "els", "i", "query$", "mountSearchQuery", "merge", "mountSearchResult", "mergeWith", "getComponentElements", "child", "mountSearchShare", "mountSearchSuggest", "err", "NEVER", "mountSearchHiglight", "el", "index$", "location$", "combineLatest", "startWith", "getLocation", "filter", "url", "map", "index", "setupSearchHighlighter", "fn", "_a", "nodes", "it", "node", "original", "replaced", "text", "childNodes", "h", "watchSidebar", "el", "viewport$", "main$", "parent", "adjust", "combineLatest", "map", "offset", "height", "y", "distinctUntilChanged", "a", "b", "mountSidebar", "_a", "_b", "header$", "options", "__objRest", "inner", "getElement", "getElementOffset", "defer", "push$", "Subject", "done$", "ignoreElements", "endWith", "next$", "auditTime", "animationFrameScheduler", "withLatestFrom", "first", "item", "getElements", "container", "getElementSize", "from", "mergeMap", "label", "fromEvent", "observeOn", "asyncScheduler", "takeUntil", "input", "tap", "state", "finalize", "__spreadValues", "fetchSourceFactsFromGitHub", "user", "repo", "url", "zip", "requestJSON", "catchError", "EMPTY", "map", "release", "defaultIfEmpty", "info", "__spreadValues", "fetchSourceFactsFromGitLab", "base", "project", "url", "requestJSON", "catchError", "EMPTY", "map", "star_count", "forks_count", "defaultIfEmpty", "fetchSourceFacts", "url", "match", "user", "repo", "fetchSourceFactsFromGitHub", "base", "slug", "fetchSourceFactsFromGitLab", "EMPTY", "fetch$", "watchSource", "el", "defer", "cached", "of", "getComponentElements", "consent", "EMPTY", "fetchSourceFacts", "tap", "facts", "catchError", "filter", "map", "shareReplay", "mountSource", "inner", "getElement", "push$", "Subject", "renderSourceFacts", "state", "finalize", "__spreadValues", "watchTabs", "el", "viewport$", "header$", "watchElementSize", "switchMap", "watchViewportAt", "map", "y", "distinctUntilKeyChanged", "mountTabs", "options", "defer", "push$", "Subject", "hidden", "feature", "of", "tap", "state", "finalize", "__spreadValues", "watchTableOfContents", "el", "viewport$", "header$", "table", "anchors", "getElements", "anchor", "id", "target", "getOptionalElement", "adjust$", "distinctUntilKeyChanged", "map", "height", "main", "getComponentElement", "grid", "getElement", "share", "watchElementSize", "switchMap", "body", "defer", "path", "of", "index", "offset", "parent", "a", "b", "combineLatestWith", "adjust", "scan", "prev", "next", "y", "size", "last", "distinctUntilChanged", "startWith", "bufferCount", "mountTableOfContents", "main$", "target$", "push$", "Subject", "done$", "ignoreElements", "endWith", "feature", "smooth$", "merge", "debounceTime", "filter", "observeOn", "asyncScheduler", "withLatestFrom", "behavior", "container", "getElementContainer", "getElementSize", "takeUntil", "skip", "repeat", "url", "getLocation", "active", "hash", "tap", "state", "finalize", "__spreadValues", "watchBackToTop", "_el", "viewport$", "main$", "target$", "direction$", "map", "y", "bufferCount", "b", "distinctUntilChanged", "active$", "active", "combineLatest", "direction", "takeUntil", "skip", "endWith", "repeat", "hidden", "mountBackToTop", "el", "header$", "push$", "Subject", "done$", "ignoreElements", "distinctUntilKeyChanged", "height", "fromEvent", "ev", "tap", "state", "finalize", "__spreadValues", "patchEllipsis", "document$", "viewport$", "switchMap", "getElements", "mergeMap", "el", "watchElementVisibility", "takeUntil", "skip", "filter", "visible", "map", "take", "text", "host", "feature", "mountInlineTooltip2", "finalize", "EMPTY", "patchIndeterminate", "document$", "tablet$", "switchMap", "getElements", "tap", "el", "mergeMap", "fromEvent", "takeWhile", "map", "withLatestFrom", "tablet", "isAppleDevice", "patchScrollfix", "document$", "switchMap", "getElements", "tap", "el", "filter", "mergeMap", "fromEvent", "map", "top", "patchScrolllock", "viewport$", "tablet$", "combineLatest", "watchToggle", "map", "active", "tablet", "switchMap", "of", "delay", "withLatestFrom", "y", "value", "obj", "data", "key", "x", "y", "nodes", "parent", "i", "node", "fetchSearchIndex", "watchScript", "config", "map", "shareReplay", "requestJSON", "document$", "watchDocument", "location$", "watchLocation", "target$", "watchLocationTarget", "keyboard$", "watchKeyboard", "viewport$", "watchViewport", "tablet$", "watchMedia", "screen$", "print$", "watchPrint", "configuration", "index$", "NEVER", "alert$", "Subject", "setupClipboardJS", "progress$", "feature", "setupInstantNavigation", "_a", "setupVersionSelector", "merge", "delay", "setToggle", "filter", "mode", "key", "prev", "getOptionalElement", "setLocation", "next", "active", "getActiveElement", "patchEllipsis", "patchIndeterminate", "patchScrollfix", "patchScrolllock", "header$", "watchHeader", "getComponentElement", "main$", "switchMap", "el", "watchMain", "control$", "getComponentElements", "mountConsent", "mountDialog", "mountHeader", "mountPalette", "mountProgress", "mountSearch", "mountSource", "content$", "defer", "mountAnnounce", "mountContent", "mountSearchHiglight", "EMPTY", "mountHeaderTitle", "at", "mountSidebar", "mountTabs", "mountTableOfContents", "mountBackToTop", "component$", "mergeWith"]
-}
diff --git a/docs/assets/javascripts/workers/search.b8dbb3d2.min.js b/docs/assets/javascripts/workers/search.07f07601.min.js
similarity index 99%
rename from docs/assets/javascripts/workers/search.b8dbb3d2.min.js
rename to docs/assets/javascripts/workers/search.07f07601.min.js
index c8a1ec8d..f3dbf56b 100644
--- a/docs/assets/javascripts/workers/search.b8dbb3d2.min.js
+++ b/docs/assets/javascripts/workers/search.07f07601.min.js
@@ -38,5 +38,5 @@
  * lunr.Builder
  * Copyright (C) 2020 Oliver Nightingale
  */t.Builder=function(){this._ref="id",this._fields=Object.create(null),this._documents=Object.create(null),this.invertedIndex=Object.create(null),this.fieldTermFrequencies={},this.fieldLengths={},this.tokenizer=t.tokenizer,this.pipeline=new t.Pipeline,this.searchPipeline=new t.Pipeline,this.documentCount=0,this._b=.75,this._k1=1.2,this.termIndex=0,this.metadataWhitelist=[]},t.Builder.prototype.ref=function(e){this._ref=e},t.Builder.prototype.field=function(e,r){if(/\//.test(e))throw new RangeError("Field '"+e+"' contains illegal character '/'");this._fields[e]=r||{}},t.Builder.prototype.b=function(e){e<0?this._b=0:e>1?this._b=1:this._b=e},t.Builder.prototype.k1=function(e){this._k1=e},t.Builder.prototype.add=function(e,r){var n=e[this._ref],i=Object.keys(this._fields);this._documents[n]=r||{},this.documentCount+=1;for(var s=0;s<i.length;s++){var o=i[s],a=this._fields[o].extractor,u=a?a(e):e[o],c=this.tokenizer(u,{fields:[o]}),f=this.pipeline.run(c),g=new t.FieldRef(n,o),l=Object.create(null);this.fieldTermFrequencies[g]=l,this.fieldLengths[g]=0,this.fieldLengths[g]+=f.length;for(var m=0;m<f.length;m++){var x=f[m];if(l[x]==null&&(l[x]=0),l[x]+=1,this.invertedIndex[x]==null){var v=Object.create(null);v._index=this.termIndex,this.termIndex+=1;for(var d=0;d<i.length;d++)v[i[d]]=Object.create(null);this.invertedIndex[x]=v}this.invertedIndex[x][o][n]==null&&(this.invertedIndex[x][o][n]=Object.create(null));for(var y=0;y<this.metadataWhitelist.length;y++){var b=this.metadataWhitelist[y],E=x.metadata[b];this.invertedIndex[x][o][n][b]==null&&(this.invertedIndex[x][o][n][b]=[]),this.invertedIndex[x][o][n][b].push(E)}}}},t.Builder.prototype.calculateAverageFieldLengths=function(){for(var e=Object.keys(this.fieldLengths),r=e.length,n={},i={},s=0;s<r;s++){var o=t.FieldRef.fromString(e[s]),a=o.fieldName;i[a]||(i[a]=0),i[a]+=1,n[a]||(n[a]=0),n[a]+=this.fieldLengths[o]}for(var u=Object.keys(this._fields),s=0;s<u.length;s++){var c=u[s];n[c]=n[c]/i[c]}this.averageFieldLength=n},t.Builder.prototype.createFieldVectors=function(){for(var e={},r=Object.keys(this.fieldTermFrequencies),n=r.length,i=Object.create(null),s=0;s<n;s++){for(var o=t.FieldRef.fromString(r[s]),a=o.fieldName,u=this.fieldLengths[o],c=new t.Vector,f=this.fieldTermFrequencies[o],g=Object.keys(f),l=g.length,m=this._fields[a].boost||1,x=this._documents[o.docRef].boost||1,v=0;v<l;v++){var d=g[v],y=f[d],b=this.invertedIndex[d]._index,E,w,R;i[d]===void 0?(E=t.idf(this.invertedIndex[d],this.documentCount),i[d]=E):E=i[d],w=E*((this._k1+1)*y)/(this._k1*(1-this._b+this._b*(u/this.averageFieldLength[a]))+y),w*=m,w*=x,R=Math.round(w*1e3)/1e3,c.insert(b,R)}e[o]=c}this.fieldVectors=e},t.Builder.prototype.createTokenSet=function(){this.tokenSet=t.TokenSet.fromArray(Object.keys(this.invertedIndex).sort())},t.Builder.prototype.build=function(){return this.calculateAverageFieldLengths(),this.createFieldVectors(),this.createTokenSet(),new t.Index({invertedIndex:this.invertedIndex,fieldVectors:this.fieldVectors,tokenSet:this.tokenSet,fields:Object.keys(this._fields),pipeline:this.searchPipeline})},t.Builder.prototype.use=function(e){var r=Array.prototype.slice.call(arguments,1);r.unshift(this),e.apply(this,r)},t.MatchData=function(e,r,n){for(var i=Object.create(null),s=Object.keys(n||{}),o=0;o<s.length;o++){var a=s[o];i[a]=n[a].slice()}this.metadata=Object.create(null),e!==void 0&&(this.metadata[e]=Object.create(null),this.metadata[e][r]=i)},t.MatchData.prototype.combine=function(e){for(var r=Object.keys(e.metadata),n=0;n<r.length;n++){var i=r[n],s=Object.keys(e.metadata[i]);this.metadata[i]==null&&(this.metadata[i]=Object.create(null));for(var o=0;o<s.length;o++){var a=s[o],u=Object.keys(e.metadata[i][a]);this.metadata[i][a]==null&&(this.metadata[i][a]=Object.create(null));for(var c=0;c<u.length;c++){var f=u[c];this.metadata[i][a][f]==null?this.metadata[i][a][f]=e.metadata[i][a][f]:this.metadata[i][a][f]=this.metadata[i][a][f].concat(e.metadata[i][a][f])}}}},t.MatchData.prototype.add=function(e,r,n){if(!(e in this.metadata)){this.metadata[e]=Object.create(null),this.metadata[e][r]=n;return}if(!(r in this.metadata[e])){this.metadata[e][r]=n;return}for(var i=Object.keys(n),s=0;s<i.length;s++){var o=i[s];o in this.metadata[e][r]?this.metadata[e][r][o]=this.metadata[e][r][o].concat(n[o]):this.metadata[e][r][o]=n[o]}},t.Query=function(e){this.clauses=[],this.allFields=e},t.Query.wildcard=new String("*"),t.Query.wildcard.NONE=0,t.Query.wildcard.LEADING=1,t.Query.wildcard.TRAILING=2,t.Query.presence={OPTIONAL:1,REQUIRED:2,PROHIBITED:3},t.Query.prototype.clause=function(e){return"fields"in e||(e.fields=this.allFields),"boost"in e||(e.boost=1),"usePipeline"in e||(e.usePipeline=!0),"wildcard"in e||(e.wildcard=t.Query.wildcard.NONE),e.wildcard&t.Query.wildcard.LEADING&&e.term.charAt(0)!=t.Query.wildcard&&(e.term="*"+e.term),e.wildcard&t.Query.wildcard.TRAILING&&e.term.slice(-1)!=t.Query.wildcard&&(e.term=""+e.term+"*"),"presence"in e||(e.presence=t.Query.presence.OPTIONAL),this.clauses.push(e),this},t.Query.prototype.isNegated=function(){for(var e=0;e<this.clauses.length;e++)if(this.clauses[e].presence!=t.Query.presence.PROHIBITED)return!1;return!0},t.Query.prototype.term=function(e,r){if(Array.isArray(e))return e.forEach(function(i){this.term(i,t.utils.clone(r))},this),this;var n=r||{};return n.term=e.toString(),this.clause(n),this},t.QueryParseError=function(e,r,n){this.name="QueryParseError",this.message=e,this.start=r,this.end=n},t.QueryParseError.prototype=new Error,t.QueryLexer=function(e){this.lexemes=[],this.str=e,this.length=e.length,this.pos=0,this.start=0,this.escapeCharPositions=[]},t.QueryLexer.prototype.run=function(){for(var e=t.QueryLexer.lexText;e;)e=e(this)},t.QueryLexer.prototype.sliceString=function(){for(var e=[],r=this.start,n=this.pos,i=0;i<this.escapeCharPositions.length;i++)n=this.escapeCharPositions[i],e.push(this.str.slice(r,n)),r=n+1;return e.push(this.str.slice(r,this.pos)),this.escapeCharPositions.length=0,e.join("")},t.QueryLexer.prototype.emit=function(e){this.lexemes.push({type:e,str:this.sliceString(),start:this.start,end:this.pos}),this.start=this.pos},t.QueryLexer.prototype.escapeCharacter=function(){this.escapeCharPositions.push(this.pos-1),this.pos+=1},t.QueryLexer.prototype.next=function(){if(this.pos>=this.length)return t.QueryLexer.EOS;var e=this.str.charAt(this.pos);return this.pos+=1,e},t.QueryLexer.prototype.width=function(){return this.pos-this.start},t.QueryLexer.prototype.ignore=function(){this.start==this.pos&&(this.pos+=1),this.start=this.pos},t.QueryLexer.prototype.backup=function(){this.pos-=1},t.QueryLexer.prototype.acceptDigitRun=function(){var e,r;do e=this.next(),r=e.charCodeAt(0);while(r>47&&r<58);e!=t.QueryLexer.EOS&&this.backup()},t.QueryLexer.prototype.more=function(){return this.pos<this.length},t.QueryLexer.EOS="EOS",t.QueryLexer.FIELD="FIELD",t.QueryLexer.TERM="TERM",t.QueryLexer.EDIT_DISTANCE="EDIT_DISTANCE",t.QueryLexer.BOOST="BOOST",t.QueryLexer.PRESENCE="PRESENCE",t.QueryLexer.lexField=function(e){return e.backup(),e.emit(t.QueryLexer.FIELD),e.ignore(),t.QueryLexer.lexText},t.QueryLexer.lexTerm=function(e){if(e.width()>1&&(e.backup(),e.emit(t.QueryLexer.TERM)),e.ignore(),e.more())return t.QueryLexer.lexText},t.QueryLexer.lexEditDistance=function(e){return e.ignore(),e.acceptDigitRun(),e.emit(t.QueryLexer.EDIT_DISTANCE),t.QueryLexer.lexText},t.QueryLexer.lexBoost=function(e){return e.ignore(),e.acceptDigitRun(),e.emit(t.QueryLexer.BOOST),t.QueryLexer.lexText},t.QueryLexer.lexEOS=function(e){e.width()>0&&e.emit(t.QueryLexer.TERM)},t.QueryLexer.termSeparator=t.tokenizer.separator,t.QueryLexer.lexText=function(e){for(;;){var r=e.next();if(r==t.QueryLexer.EOS)return t.QueryLexer.lexEOS;if(r.charCodeAt(0)==92){e.escapeCharacter();continue}if(r==":")return t.QueryLexer.lexField;if(r=="~")return e.backup(),e.width()>0&&e.emit(t.QueryLexer.TERM),t.QueryLexer.lexEditDistance;if(r=="^")return e.backup(),e.width()>0&&e.emit(t.QueryLexer.TERM),t.QueryLexer.lexBoost;if(r=="+"&&e.width()===1||r=="-"&&e.width()===1)return e.emit(t.QueryLexer.PRESENCE),t.QueryLexer.lexText;if(r.match(t.QueryLexer.termSeparator))return t.QueryLexer.lexTerm}},t.QueryParser=function(e,r){this.lexer=new t.QueryLexer(e),this.query=r,this.currentClause={},this.lexemeIdx=0},t.QueryParser.prototype.parse=function(){this.lexer.run(),this.lexemes=this.lexer.lexemes;for(var e=t.QueryParser.parseClause;e;)e=e(this);return this.query},t.QueryParser.prototype.peekLexeme=function(){return this.lexemes[this.lexemeIdx]},t.QueryParser.prototype.consumeLexeme=function(){var e=this.peekLexeme();return this.lexemeIdx+=1,e},t.QueryParser.prototype.nextClause=function(){var e=this.currentClause;this.query.clause(e),this.currentClause={}},t.QueryParser.parseClause=function(e){var r=e.peekLexeme();if(r!=null)switch(r.type){case t.QueryLexer.PRESENCE:return t.QueryParser.parsePresence;case t.QueryLexer.FIELD:return t.QueryParser.parseField;case t.QueryLexer.TERM:return t.QueryParser.parseTerm;default:var n="expected either a field or a term, found "+r.type;throw r.str.length>=1&&(n+=" with value '"+r.str+"'"),new t.QueryParseError(n,r.start,r.end)}},t.QueryParser.parsePresence=function(e){var 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i;if(this.options.suggest){let s=this.index.query(o=>{for(let a of r)o.term(a.term,{fields:["title"],presence:lunr.Query.presence.REQUIRED,wildcard:lunr.Query.wildcard.TRAILING})});i=s.length?Object.keys(s[0].matchData.metadata):[]}return A({items:[...n.values()]},typeof i!="undefined"&&{suggest:i})}};var fe;function Ie(t){return B(this,null,function*(){let e="../lunr";if(typeof parent!="undefined"&&"IFrameWorker"in parent){let n=re("script[src]"),[i]=n.src.split("/worker");e=e.replace("..",i)}let r=[];for(let n of t.lang){switch(n){case"ja":r.push(`${e}/tinyseg.js`);break;case"hi":case"th":r.push(`${e}/wordcut.js`);break}n!=="en"&&r.push(`${e}/min/lunr.${n}.min.js`)}t.lang.length>1&&r.push(`${e}/min/lunr.multi.min.js`),r.length&&(yield importScripts(`${e}/min/lunr.stemmer.support.min.js`,...r))})}function Fe(t){return B(this,null,function*(){switch(t.type){case 0:return yield Ie(t.data.config),fe=new H(t.data),{type:1};case 2:let e=t.data;try{return{type:3,data:fe.search(e)}}catch(r){return console.warn(`Invalid query: ${e} \u2013 see https://bit.ly/2s3ChXG`),console.warn(r),{type:3,data:{items:[]}}}default:throw new TypeError("Invalid message type")}})}self.lunr=de.default;addEventListener("message",t=>B(void 0,null,function*(){postMessage(yield Fe(t.data))}));})();
-//# sourceMappingURL=search.b8dbb3d2.min.js.map
+//# sourceMappingURL=search.07f07601.min.js.map
 
diff --git a/docs/assets/javascripts/workers/search.b8dbb3d2.min.js.map b/docs/assets/javascripts/workers/search.07f07601.min.js.map
similarity index 76%
rename from docs/assets/javascripts/workers/search.b8dbb3d2.min.js.map
rename to docs/assets/javascripts/workers/search.07f07601.min.js.map
index 7ef0846c..7fdd4d08 100644
--- a/docs/assets/javascripts/workers/search.b8dbb3d2.min.js.map
+++ b/docs/assets/javascripts/workers/search.07f07601.min.js.map
@@ -1,7 +1,7 @@
 {
   "version": 3,
   "sources": ["node_modules/lunr/lunr.js", "src/templates/assets/javascripts/integrations/search/worker/main/index.ts", "src/templates/assets/javascripts/browser/element/_/index.ts", "src/templates/assets/javascripts/polyfills/index.ts", "src/templates/assets/javascripts/integrations/search/config/index.ts", "src/templates/assets/javascripts/integrations/search/internal/_/index.ts", "src/templates/assets/javascripts/integrations/search/internal/extract/index.ts", "src/templates/assets/javascripts/integrations/search/internal/highlight/index.ts", "src/templates/assets/javascripts/integrations/search/internal/tokenize/index.ts", "src/templates/assets/javascripts/integrations/search/query/transform/index.ts", "src/templates/assets/javascripts/integrations/search/query/_/index.ts", "src/templates/assets/javascripts/integrations/search/query/segment/index.ts", "src/templates/assets/javascripts/integrations/search/_/index.ts"],
-  "sourcesContent": ["/**\n * lunr - http://lunrjs.com - A bit like Solr, but much smaller and not as bright - 2.3.9\n * Copyright (C) 2020 Oliver Nightingale\n * @license MIT\n */\n\n;(function(){\n\n/**\n * A convenience function for configuring and constructing\n * a new lunr Index.\n *\n * A lunr.Builder instance is created and the pipeline setup\n * with a trimmer, stop word filter and stemmer.\n *\n * This builder object is yielded to the configuration function\n * that is passed as a parameter, allowing the list of fields\n * and other builder parameters to be customised.\n *\n * All documents _must_ be added within the passed config function.\n *\n * @example\n * var idx = lunr(function () {\n *   this.field('title')\n *   this.field('body')\n *   this.ref('id')\n *\n *   documents.forEach(function (doc) {\n *     this.add(doc)\n *   }, this)\n * })\n *\n * @see {@link lunr.Builder}\n * @see {@link lunr.Pipeline}\n * @see {@link lunr.trimmer}\n * @see {@link lunr.stopWordFilter}\n * @see {@link lunr.stemmer}\n * @namespace {function} lunr\n */\nvar lunr = function (config) {\n  var builder = new lunr.Builder\n\n  builder.pipeline.add(\n    lunr.trimmer,\n    lunr.stopWordFilter,\n    lunr.stemmer\n  )\n\n  builder.searchPipeline.add(\n    lunr.stemmer\n  )\n\n  config.call(builder, builder)\n  return builder.build()\n}\n\nlunr.version = \"2.3.9\"\n/*!\n * lunr.utils\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * A namespace containing utils for the rest of the lunr library\n * @namespace lunr.utils\n */\nlunr.utils = {}\n\n/**\n * Print a warning message to the console.\n *\n * @param {String} message The message to be printed.\n * @memberOf lunr.utils\n * @function\n */\nlunr.utils.warn = (function (global) {\n  /* eslint-disable no-console */\n  return function (message) {\n    if (global.console && console.warn) {\n      console.warn(message)\n    }\n  }\n  /* eslint-enable no-console */\n})(this)\n\n/**\n * Convert an object to a string.\n *\n * In the case of `null` and `undefined` the function returns\n * the empty string, in all other cases the result of calling\n * `toString` on the passed object is returned.\n *\n * @param {Any} obj The object to convert to a string.\n * @return {String} string representation of the passed object.\n * @memberOf lunr.utils\n */\nlunr.utils.asString = function (obj) {\n  if (obj === void 0 || obj === null) {\n    return \"\"\n  } else {\n    return obj.toString()\n  }\n}\n\n/**\n * Clones an object.\n *\n * Will create a copy of an existing object such that any mutations\n * on the copy cannot affect the original.\n *\n * Only shallow objects are supported, passing a nested object to this\n * function will cause a TypeError.\n *\n * Objects with primitives, and arrays of primitives are supported.\n *\n * @param {Object} obj The object to clone.\n * @return {Object} a clone of the passed object.\n * @throws {TypeError} when a nested object is passed.\n * @memberOf Utils\n */\nlunr.utils.clone = function (obj) {\n  if (obj === null || obj === undefined) {\n    return obj\n  }\n\n  var clone = Object.create(null),\n      keys = Object.keys(obj)\n\n  for (var i = 0; i < keys.length; i++) {\n    var key = keys[i],\n        val = obj[key]\n\n    if (Array.isArray(val)) {\n      clone[key] = val.slice()\n      continue\n    }\n\n    if (typeof val === 'string' ||\n        typeof val === 'number' ||\n        typeof val === 'boolean') {\n      clone[key] = val\n      continue\n    }\n\n    throw new TypeError(\"clone is not deep and does not support nested objects\")\n  }\n\n  return clone\n}\nlunr.FieldRef = function (docRef, fieldName, stringValue) {\n  this.docRef = docRef\n  this.fieldName = fieldName\n  this._stringValue = stringValue\n}\n\nlunr.FieldRef.joiner = \"/\"\n\nlunr.FieldRef.fromString = function (s) {\n  var n = s.indexOf(lunr.FieldRef.joiner)\n\n  if (n === -1) {\n    throw \"malformed field ref string\"\n  }\n\n  var fieldRef = s.slice(0, n),\n      docRef = s.slice(n + 1)\n\n  return new lunr.FieldRef (docRef, fieldRef, s)\n}\n\nlunr.FieldRef.prototype.toString = function () {\n  if (this._stringValue == undefined) {\n    this._stringValue = this.fieldName + lunr.FieldRef.joiner + this.docRef\n  }\n\n  return this._stringValue\n}\n/*!\n * lunr.Set\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * A lunr set.\n *\n * @constructor\n */\nlunr.Set = function (elements) {\n  this.elements = Object.create(null)\n\n  if (elements) {\n    this.length = elements.length\n\n    for (var i = 0; i < this.length; i++) {\n      this.elements[elements[i]] = true\n    }\n  } else {\n    this.length = 0\n  }\n}\n\n/**\n * A complete set that contains all elements.\n *\n * @static\n * @readonly\n * @type {lunr.Set}\n */\nlunr.Set.complete = {\n  intersect: function (other) {\n    return other\n  },\n\n  union: function () {\n    return this\n  },\n\n  contains: function () {\n    return true\n  }\n}\n\n/**\n * An empty set that contains no elements.\n *\n * @static\n * @readonly\n * @type {lunr.Set}\n */\nlunr.Set.empty = {\n  intersect: function () {\n    return this\n  },\n\n  union: function (other) {\n    return other\n  },\n\n  contains: function () {\n    return false\n  }\n}\n\n/**\n * Returns true if this set contains the specified object.\n *\n * @param {object} object - Object whose presence in this set is to be tested.\n * @returns {boolean} - True if this set contains the specified object.\n */\nlunr.Set.prototype.contains = function (object) {\n  return !!this.elements[object]\n}\n\n/**\n * Returns a new set containing only the elements that are present in both\n * this set and the specified set.\n *\n * @param {lunr.Set} other - set to intersect with this set.\n * @returns {lunr.Set} a new set that is the intersection of this and the specified set.\n */\n\nlunr.Set.prototype.intersect = function (other) {\n  var a, b, elements, intersection = []\n\n  if (other === lunr.Set.complete) {\n    return this\n  }\n\n  if (other === lunr.Set.empty) {\n    return other\n  }\n\n  if (this.length < other.length) {\n    a = this\n    b = other\n  } else {\n    a = other\n    b = this\n  }\n\n  elements = Object.keys(a.elements)\n\n  for (var i = 0; i < elements.length; i++) {\n    var element = elements[i]\n    if (element in b.elements) {\n      intersection.push(element)\n    }\n  }\n\n  return new lunr.Set (intersection)\n}\n\n/**\n * Returns a new set combining the elements of this and the specified set.\n *\n * @param {lunr.Set} other - set to union with this set.\n * @return {lunr.Set} a new set that is the union of this and the specified set.\n */\n\nlunr.Set.prototype.union = function (other) {\n  if (other === lunr.Set.complete) {\n    return lunr.Set.complete\n  }\n\n  if (other === lunr.Set.empty) {\n    return this\n  }\n\n  return new lunr.Set(Object.keys(this.elements).concat(Object.keys(other.elements)))\n}\n/**\n * A function to calculate the inverse document frequency for\n * a posting. This is shared between the builder and the index\n *\n * @private\n * @param {object} posting - The posting for a given term\n * @param {number} documentCount - The total number of documents.\n */\nlunr.idf = function (posting, documentCount) {\n  var documentsWithTerm = 0\n\n  for (var fieldName in posting) {\n    if (fieldName == '_index') continue // Ignore the term index, its not a field\n    documentsWithTerm += Object.keys(posting[fieldName]).length\n  }\n\n  var x = (documentCount - documentsWithTerm + 0.5) / (documentsWithTerm + 0.5)\n\n  return Math.log(1 + Math.abs(x))\n}\n\n/**\n * A token wraps a string representation of a token\n * as it is passed through the text processing pipeline.\n *\n * @constructor\n * @param {string} [str=''] - The string token being wrapped.\n * @param {object} [metadata={}] - Metadata associated with this token.\n */\nlunr.Token = function (str, metadata) {\n  this.str = str || \"\"\n  this.metadata = metadata || {}\n}\n\n/**\n * Returns the token string that is being wrapped by this object.\n *\n * @returns {string}\n */\nlunr.Token.prototype.toString = function () {\n  return this.str\n}\n\n/**\n * A token update function is used when updating or optionally\n * when cloning a token.\n *\n * @callback lunr.Token~updateFunction\n * @param {string} str - The string representation of the token.\n * @param {Object} metadata - All metadata associated with this token.\n */\n\n/**\n * Applies the given function to the wrapped string token.\n *\n * @example\n * token.update(function (str, metadata) {\n *   return str.toUpperCase()\n * })\n *\n * @param {lunr.Token~updateFunction} fn - A function to apply to the token string.\n * @returns {lunr.Token}\n */\nlunr.Token.prototype.update = function (fn) {\n  this.str = fn(this.str, this.metadata)\n  return this\n}\n\n/**\n * Creates a clone of this token. Optionally a function can be\n * applied to the cloned token.\n *\n * @param {lunr.Token~updateFunction} [fn] - An optional function to apply to the cloned token.\n * @returns {lunr.Token}\n */\nlunr.Token.prototype.clone = function (fn) {\n  fn = fn || function (s) { return s }\n  return new lunr.Token (fn(this.str, this.metadata), this.metadata)\n}\n/*!\n * lunr.tokenizer\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * A function for splitting a string into tokens ready to be inserted into\n * the search index. Uses `lunr.tokenizer.separator` to split strings, change\n * the value of this property to change how strings are split into tokens.\n *\n * This tokenizer will convert its parameter to a string by calling `toString` and\n * then will split this string on the character in `lunr.tokenizer.separator`.\n * Arrays will have their elements converted to strings and wrapped in a lunr.Token.\n *\n * Optional metadata can be passed to the tokenizer, this metadata will be cloned and\n * added as metadata to every token that is created from the object to be tokenized.\n *\n * @static\n * @param {?(string|object|object[])} obj - The object to convert into tokens\n * @param {?object} metadata - Optional metadata to associate with every token\n * @returns {lunr.Token[]}\n * @see {@link lunr.Pipeline}\n */\nlunr.tokenizer = function (obj, metadata) {\n  if (obj == null || obj == undefined) {\n    return []\n  }\n\n  if (Array.isArray(obj)) {\n    return obj.map(function (t) {\n      return new lunr.Token(\n        lunr.utils.asString(t).toLowerCase(),\n        lunr.utils.clone(metadata)\n      )\n    })\n  }\n\n  var str = obj.toString().toLowerCase(),\n      len = str.length,\n      tokens = []\n\n  for (var sliceEnd = 0, sliceStart = 0; sliceEnd <= len; sliceEnd++) {\n    var char = str.charAt(sliceEnd),\n        sliceLength = sliceEnd - sliceStart\n\n    if ((char.match(lunr.tokenizer.separator) || sliceEnd == len)) {\n\n      if (sliceLength > 0) {\n        var tokenMetadata = lunr.utils.clone(metadata) || {}\n        tokenMetadata[\"position\"] = [sliceStart, sliceLength]\n        tokenMetadata[\"index\"] = tokens.length\n\n        tokens.push(\n          new lunr.Token (\n            str.slice(sliceStart, sliceEnd),\n            tokenMetadata\n          )\n        )\n      }\n\n      sliceStart = sliceEnd + 1\n    }\n\n  }\n\n  return tokens\n}\n\n/**\n * The separator used to split a string into tokens. Override this property to change the behaviour of\n * `lunr.tokenizer` behaviour when tokenizing strings. By default this splits on whitespace and hyphens.\n *\n * @static\n * @see lunr.tokenizer\n */\nlunr.tokenizer.separator = /[\\s\\-]+/\n/*!\n * lunr.Pipeline\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * lunr.Pipelines maintain an ordered list of functions to be applied to all\n * tokens in documents entering the search index and queries being ran against\n * the index.\n *\n * An instance of lunr.Index created with the lunr shortcut will contain a\n * pipeline with a stop word filter and an English language stemmer. Extra\n * functions can be added before or after either of these functions or these\n * default functions can be removed.\n *\n * When run the pipeline will call each function in turn, passing a token, the\n * index of that token in the original list of all tokens and finally a list of\n * all the original tokens.\n *\n * The output of functions in the pipeline will be passed to the next function\n * in the pipeline. To exclude a token from entering the index the function\n * should return undefined, the rest of the pipeline will not be called with\n * this token.\n *\n * For serialisation of pipelines to work, all functions used in an instance of\n * a pipeline should be registered with lunr.Pipeline. Registered functions can\n * then be loaded. If trying to load a serialised pipeline that uses functions\n * that are not registered an error will be thrown.\n *\n * If not planning on serialising the pipeline then registering pipeline functions\n * is not necessary.\n *\n * @constructor\n */\nlunr.Pipeline = function () {\n  this._stack = []\n}\n\nlunr.Pipeline.registeredFunctions = Object.create(null)\n\n/**\n * A pipeline function maps lunr.Token to lunr.Token. A lunr.Token contains the token\n * string as well as all known metadata. A pipeline function can mutate the token string\n * or mutate (or add) metadata for a given token.\n *\n * A pipeline function can indicate that the passed token should be discarded by returning\n * null, undefined or an empty string. This token will not be passed to any downstream pipeline\n * functions and will not be added to the index.\n *\n * Multiple tokens can be returned by returning an array of tokens. Each token will be passed\n * to any downstream pipeline functions and all will returned tokens will be added to the index.\n *\n * Any number of pipeline functions may be chained together using a lunr.Pipeline.\n *\n * @interface lunr.PipelineFunction\n * @param {lunr.Token} token - A token from the document being processed.\n * @param {number} i - The index of this token in the complete list of tokens for this document/field.\n * @param {lunr.Token[]} tokens - All tokens for this document/field.\n * @returns {(?lunr.Token|lunr.Token[])}\n */\n\n/**\n * Register a function with the pipeline.\n *\n * Functions that are used in the pipeline should be registered if the pipeline\n * needs to be serialised, or a serialised pipeline needs to be loaded.\n *\n * Registering a function does not add it to a pipeline, functions must still be\n * added to instances of the pipeline for them to be used when running a pipeline.\n *\n * @param {lunr.PipelineFunction} fn - The function to check for.\n * @param {String} label - The label to register this function with\n */\nlunr.Pipeline.registerFunction = function (fn, label) {\n  if (label in this.registeredFunctions) {\n    lunr.utils.warn('Overwriting existing registered function: ' + label)\n  }\n\n  fn.label = label\n  lunr.Pipeline.registeredFunctions[fn.label] = fn\n}\n\n/**\n * Warns if the function is not registered as a Pipeline function.\n *\n * @param {lunr.PipelineFunction} fn - The function to check for.\n * @private\n */\nlunr.Pipeline.warnIfFunctionNotRegistered = function (fn) {\n  var isRegistered = fn.label && (fn.label in this.registeredFunctions)\n\n  if (!isRegistered) {\n    lunr.utils.warn('Function is not registered with pipeline. This may cause problems when serialising the index.\\n', fn)\n  }\n}\n\n/**\n * Loads a previously serialised pipeline.\n *\n * All functions to be loaded must already be registered with lunr.Pipeline.\n * If any function from the serialised data has not been registered then an\n * error will be thrown.\n *\n * @param {Object} serialised - The serialised pipeline to load.\n * @returns {lunr.Pipeline}\n */\nlunr.Pipeline.load = function (serialised) {\n  var pipeline = new lunr.Pipeline\n\n  serialised.forEach(function (fnName) {\n    var fn = lunr.Pipeline.registeredFunctions[fnName]\n\n    if (fn) {\n      pipeline.add(fn)\n    } else {\n      throw new Error('Cannot load unregistered function: ' + fnName)\n    }\n  })\n\n  return pipeline\n}\n\n/**\n * Adds new functions to the end of the pipeline.\n *\n * Logs a warning if the function has not been registered.\n *\n * @param {lunr.PipelineFunction[]} functions - Any number of functions to add to the pipeline.\n */\nlunr.Pipeline.prototype.add = function () {\n  var fns = Array.prototype.slice.call(arguments)\n\n  fns.forEach(function (fn) {\n    lunr.Pipeline.warnIfFunctionNotRegistered(fn)\n    this._stack.push(fn)\n  }, this)\n}\n\n/**\n * Adds a single function after a function that already exists in the\n * pipeline.\n *\n * Logs a warning if the function has not been registered.\n *\n * @param {lunr.PipelineFunction} existingFn - A function that already exists in the pipeline.\n * @param {lunr.PipelineFunction} newFn - The new function to add to the pipeline.\n */\nlunr.Pipeline.prototype.after = function (existingFn, newFn) {\n  lunr.Pipeline.warnIfFunctionNotRegistered(newFn)\n\n  var pos = this._stack.indexOf(existingFn)\n  if (pos == -1) {\n    throw new Error('Cannot find existingFn')\n  }\n\n  pos = pos + 1\n  this._stack.splice(pos, 0, newFn)\n}\n\n/**\n * Adds a single function before a function that already exists in the\n * pipeline.\n *\n * Logs a warning if the function has not been registered.\n *\n * @param {lunr.PipelineFunction} existingFn - A function that already exists in the pipeline.\n * @param {lunr.PipelineFunction} newFn - The new function to add to the pipeline.\n */\nlunr.Pipeline.prototype.before = function (existingFn, newFn) {\n  lunr.Pipeline.warnIfFunctionNotRegistered(newFn)\n\n  var pos = this._stack.indexOf(existingFn)\n  if (pos == -1) {\n    throw new Error('Cannot find existingFn')\n  }\n\n  this._stack.splice(pos, 0, newFn)\n}\n\n/**\n * Removes a function from the pipeline.\n *\n * @param {lunr.PipelineFunction} fn The function to remove from the pipeline.\n */\nlunr.Pipeline.prototype.remove = function (fn) {\n  var pos = this._stack.indexOf(fn)\n  if (pos == -1) {\n    return\n  }\n\n  this._stack.splice(pos, 1)\n}\n\n/**\n * Runs the current list of functions that make up the pipeline against the\n * passed tokens.\n *\n * @param {Array} tokens The tokens to run through the pipeline.\n * @returns {Array}\n */\nlunr.Pipeline.prototype.run = function (tokens) {\n  var stackLength = this._stack.length\n\n  for (var i = 0; i < stackLength; i++) {\n    var fn = this._stack[i]\n    var memo = []\n\n    for (var j = 0; j < tokens.length; j++) {\n      var result = fn(tokens[j], j, tokens)\n\n      if (result === null || result === void 0 || result === '') continue\n\n      if (Array.isArray(result)) {\n        for (var k = 0; k < result.length; k++) {\n          memo.push(result[k])\n        }\n      } else {\n        memo.push(result)\n      }\n    }\n\n    tokens = memo\n  }\n\n  return tokens\n}\n\n/**\n * Convenience method for passing a string through a pipeline and getting\n * strings out. This method takes care of wrapping the passed string in a\n * token and mapping the resulting tokens back to strings.\n *\n * @param {string} str - The string to pass through the pipeline.\n * @param {?object} metadata - Optional metadata to associate with the token\n * passed to the pipeline.\n * @returns {string[]}\n */\nlunr.Pipeline.prototype.runString = function (str, metadata) {\n  var token = new lunr.Token (str, metadata)\n\n  return this.run([token]).map(function (t) {\n    return t.toString()\n  })\n}\n\n/**\n * Resets the pipeline by removing any existing processors.\n *\n */\nlunr.Pipeline.prototype.reset = function () {\n  this._stack = []\n}\n\n/**\n * Returns a representation of the pipeline ready for serialisation.\n *\n * Logs a warning if the function has not been registered.\n *\n * @returns {Array}\n */\nlunr.Pipeline.prototype.toJSON = function () {\n  return this._stack.map(function (fn) {\n    lunr.Pipeline.warnIfFunctionNotRegistered(fn)\n\n    return fn.label\n  })\n}\n/*!\n * lunr.Vector\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * A vector is used to construct the vector space of documents and queries. These\n * vectors support operations to determine the similarity between two documents or\n * a document and a query.\n *\n * Normally no parameters are required for initializing a vector, but in the case of\n * loading a previously dumped vector the raw elements can be provided to the constructor.\n *\n * For performance reasons vectors are implemented with a flat array, where an elements\n * index is immediately followed by its value. E.g. [index, value, index, value]. This\n * allows the underlying array to be as sparse as possible and still offer decent\n * performance when being used for vector calculations.\n *\n * @constructor\n * @param {Number[]} [elements] - The flat list of element index and element value pairs.\n */\nlunr.Vector = function (elements) {\n  this._magnitude = 0\n  this.elements = elements || []\n}\n\n\n/**\n * Calculates the position within the vector to insert a given index.\n *\n * This is used internally by insert and upsert. If there are duplicate indexes then\n * the position is returned as if the value for that index were to be updated, but it\n * is the callers responsibility to check whether there is a duplicate at that index\n *\n * @param {Number} insertIdx - The index at which the element should be inserted.\n * @returns {Number}\n */\nlunr.Vector.prototype.positionForIndex = function (index) {\n  // For an empty vector the tuple can be inserted at the beginning\n  if (this.elements.length == 0) {\n    return 0\n  }\n\n  var start = 0,\n      end = this.elements.length / 2,\n      sliceLength = end - start,\n      pivotPoint = Math.floor(sliceLength / 2),\n      pivotIndex = this.elements[pivotPoint * 2]\n\n  while (sliceLength > 1) {\n    if (pivotIndex < index) {\n      start = pivotPoint\n    }\n\n    if (pivotIndex > index) {\n      end = pivotPoint\n    }\n\n    if (pivotIndex == index) {\n      break\n    }\n\n    sliceLength = end - start\n    pivotPoint = start + Math.floor(sliceLength / 2)\n    pivotIndex = this.elements[pivotPoint * 2]\n  }\n\n  if (pivotIndex == index) {\n    return pivotPoint * 2\n  }\n\n  if (pivotIndex > index) {\n    return pivotPoint * 2\n  }\n\n  if (pivotIndex < index) {\n    return (pivotPoint + 1) * 2\n  }\n}\n\n/**\n * Inserts an element at an index within the vector.\n *\n * Does not allow duplicates, will throw an error if there is already an entry\n * for this index.\n *\n * @param {Number} insertIdx - The index at which the element should be inserted.\n * @param {Number} val - The value to be inserted into the vector.\n */\nlunr.Vector.prototype.insert = function (insertIdx, val) {\n  this.upsert(insertIdx, val, function () {\n    throw \"duplicate index\"\n  })\n}\n\n/**\n * Inserts or updates an existing index within the vector.\n *\n * @param {Number} insertIdx - The index at which the element should be inserted.\n * @param {Number} val - The value to be inserted into the vector.\n * @param {function} fn - A function that is called for updates, the existing value and the\n * requested value are passed as arguments\n */\nlunr.Vector.prototype.upsert = function (insertIdx, val, fn) {\n  this._magnitude = 0\n  var position = this.positionForIndex(insertIdx)\n\n  if (this.elements[position] == insertIdx) {\n    this.elements[position + 1] = fn(this.elements[position + 1], val)\n  } else {\n    this.elements.splice(position, 0, insertIdx, val)\n  }\n}\n\n/**\n * Calculates the magnitude of this vector.\n *\n * @returns {Number}\n */\nlunr.Vector.prototype.magnitude = function () {\n  if (this._magnitude) return this._magnitude\n\n  var sumOfSquares = 0,\n      elementsLength = this.elements.length\n\n  for (var i = 1; i < elementsLength; i += 2) {\n    var val = this.elements[i]\n    sumOfSquares += val * val\n  }\n\n  return this._magnitude = Math.sqrt(sumOfSquares)\n}\n\n/**\n * Calculates the dot product of this vector and another vector.\n *\n * @param {lunr.Vector} otherVector - The vector to compute the dot product with.\n * @returns {Number}\n */\nlunr.Vector.prototype.dot = function (otherVector) {\n  var dotProduct = 0,\n      a = this.elements, b = otherVector.elements,\n      aLen = a.length, bLen = b.length,\n      aVal = 0, bVal = 0,\n      i = 0, j = 0\n\n  while (i < aLen && j < bLen) {\n    aVal = a[i], bVal = b[j]\n    if (aVal < bVal) {\n      i += 2\n    } else if (aVal > bVal) {\n      j += 2\n    } else if (aVal == bVal) {\n      dotProduct += a[i + 1] * b[j + 1]\n      i += 2\n      j += 2\n    }\n  }\n\n  return dotProduct\n}\n\n/**\n * Calculates the similarity between this vector and another vector.\n *\n * @param {lunr.Vector} otherVector - The other vector to calculate the\n * similarity with.\n * @returns {Number}\n */\nlunr.Vector.prototype.similarity = function (otherVector) {\n  return this.dot(otherVector) / this.magnitude() || 0\n}\n\n/**\n * Converts the vector to an array of the elements within the vector.\n *\n * @returns {Number[]}\n */\nlunr.Vector.prototype.toArray = function () {\n  var output = new Array (this.elements.length / 2)\n\n  for (var i = 1, j = 0; i < this.elements.length; i += 2, j++) {\n    output[j] = this.elements[i]\n  }\n\n  return output\n}\n\n/**\n * A JSON serializable representation of the vector.\n *\n * @returns {Number[]}\n */\nlunr.Vector.prototype.toJSON = function () {\n  return this.elements\n}\n/* eslint-disable */\n/*!\n * lunr.stemmer\n * Copyright (C) 2020 Oliver Nightingale\n * Includes code from - http://tartarus.org/~martin/PorterStemmer/js.txt\n */\n\n/**\n * lunr.stemmer is an english language stemmer, this is a JavaScript\n * implementation of the PorterStemmer taken from http://tartarus.org/~martin\n *\n * @static\n * @implements {lunr.PipelineFunction}\n * @param {lunr.Token} token - The string to stem\n * @returns {lunr.Token}\n * @see {@link lunr.Pipeline}\n * @function\n */\nlunr.stemmer = (function(){\n  var step2list = {\n      \"ational\" : \"ate\",\n      \"tional\" : \"tion\",\n      \"enci\" : \"ence\",\n      \"anci\" : \"ance\",\n      \"izer\" : \"ize\",\n      \"bli\" : \"ble\",\n      \"alli\" : \"al\",\n      \"entli\" : \"ent\",\n      \"eli\" : \"e\",\n      \"ousli\" : \"ous\",\n      \"ization\" : \"ize\",\n      \"ation\" : \"ate\",\n      \"ator\" : \"ate\",\n      \"alism\" : \"al\",\n      \"iveness\" : \"ive\",\n      \"fulness\" : \"ful\",\n      \"ousness\" : \"ous\",\n      \"aliti\" : \"al\",\n      \"iviti\" : \"ive\",\n      \"biliti\" : \"ble\",\n      \"logi\" : \"log\"\n    },\n\n    step3list = {\n      \"icate\" : \"ic\",\n      \"ative\" : \"\",\n      \"alize\" : \"al\",\n      \"iciti\" : \"ic\",\n      \"ical\" : \"ic\",\n      \"ful\" : \"\",\n      \"ness\" : \"\"\n    },\n\n    c = \"[^aeiou]\",          // consonant\n    v = \"[aeiouy]\",          // vowel\n    C = c + \"[^aeiouy]*\",    // consonant sequence\n    V = v + \"[aeiou]*\",      // vowel sequence\n\n    mgr0 = \"^(\" + C + \")?\" + V + C,               // [C]VC... is m>0\n    meq1 = \"^(\" + C + \")?\" + V + C + \"(\" + V + \")?$\",  // [C]VC[V] is m=1\n    mgr1 = \"^(\" + C + \")?\" + V + C + V + C,       // [C]VCVC... is m>1\n    s_v = \"^(\" + C + \")?\" + v;                   // vowel in stem\n\n  var re_mgr0 = new RegExp(mgr0);\n  var re_mgr1 = new RegExp(mgr1);\n  var re_meq1 = new RegExp(meq1);\n  var re_s_v = new RegExp(s_v);\n\n  var re_1a = /^(.+?)(ss|i)es$/;\n  var re2_1a = /^(.+?)([^s])s$/;\n  var re_1b = /^(.+?)eed$/;\n  var re2_1b = /^(.+?)(ed|ing)$/;\n  var re_1b_2 = /.$/;\n  var re2_1b_2 = /(at|bl|iz)$/;\n  var re3_1b_2 = new RegExp(\"([^aeiouylsz])\\\\1$\");\n  var re4_1b_2 = new RegExp(\"^\" + C + v + \"[^aeiouwxy]$\");\n\n  var re_1c = /^(.+?[^aeiou])y$/;\n  var re_2 = /^(.+?)(ational|tional|enci|anci|izer|bli|alli|entli|eli|ousli|ization|ation|ator|alism|iveness|fulness|ousness|aliti|iviti|biliti|logi)$/;\n\n  var re_3 = /^(.+?)(icate|ative|alize|iciti|ical|ful|ness)$/;\n\n  var re_4 = /^(.+?)(al|ance|ence|er|ic|able|ible|ant|ement|ment|ent|ou|ism|ate|iti|ous|ive|ize)$/;\n  var re2_4 = /^(.+?)(s|t)(ion)$/;\n\n  var re_5 = /^(.+?)e$/;\n  var re_5_1 = /ll$/;\n  var re3_5 = new RegExp(\"^\" + C + v + \"[^aeiouwxy]$\");\n\n  var porterStemmer = function porterStemmer(w) {\n    var stem,\n      suffix,\n      firstch,\n      re,\n      re2,\n      re3,\n      re4;\n\n    if (w.length < 3) { return w; }\n\n    firstch = w.substr(0,1);\n    if (firstch == \"y\") {\n      w = firstch.toUpperCase() + w.substr(1);\n    }\n\n    // Step 1a\n    re = re_1a\n    re2 = re2_1a;\n\n    if (re.test(w)) { w = w.replace(re,\"$1$2\"); }\n    else if (re2.test(w)) { w = w.replace(re2,\"$1$2\"); }\n\n    // Step 1b\n    re = re_1b;\n    re2 = re2_1b;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      re = re_mgr0;\n      if (re.test(fp[1])) {\n        re = re_1b_2;\n        w = w.replace(re,\"\");\n      }\n    } else if (re2.test(w)) {\n      var fp = re2.exec(w);\n      stem = fp[1];\n      re2 = re_s_v;\n      if (re2.test(stem)) {\n        w = stem;\n        re2 = re2_1b_2;\n        re3 = re3_1b_2;\n        re4 = re4_1b_2;\n        if (re2.test(w)) { w = w + \"e\"; }\n        else if (re3.test(w)) { re = re_1b_2; w = w.replace(re,\"\"); }\n        else if (re4.test(w)) { w = w + \"e\"; }\n      }\n    }\n\n    // Step 1c - replace suffix y or Y by i if preceded by a non-vowel which is not the first letter of the word (so cry -> cri, by -> by, say -> say)\n    re = re_1c;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      stem = fp[1];\n      w = stem + \"i\";\n    }\n\n    // Step 2\n    re = re_2;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      stem = fp[1];\n      suffix = fp[2];\n      re = re_mgr0;\n      if (re.test(stem)) {\n        w = stem + step2list[suffix];\n      }\n    }\n\n    // Step 3\n    re = re_3;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      stem = fp[1];\n      suffix = fp[2];\n      re = re_mgr0;\n      if (re.test(stem)) {\n        w = stem + step3list[suffix];\n      }\n    }\n\n    // Step 4\n    re = re_4;\n    re2 = re2_4;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      stem = fp[1];\n      re = re_mgr1;\n      if (re.test(stem)) {\n        w = stem;\n      }\n    } else if (re2.test(w)) {\n      var fp = re2.exec(w);\n      stem = fp[1] + fp[2];\n      re2 = re_mgr1;\n      if (re2.test(stem)) {\n        w = stem;\n      }\n    }\n\n    // Step 5\n    re = re_5;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      stem = fp[1];\n      re = re_mgr1;\n      re2 = re_meq1;\n      re3 = re3_5;\n      if (re.test(stem) || (re2.test(stem) && !(re3.test(stem)))) {\n        w = stem;\n      }\n    }\n\n    re = re_5_1;\n    re2 = re_mgr1;\n    if (re.test(w) && re2.test(w)) {\n      re = re_1b_2;\n      w = w.replace(re,\"\");\n    }\n\n    // and turn initial Y back to y\n\n    if (firstch == \"y\") {\n      w = firstch.toLowerCase() + w.substr(1);\n    }\n\n    return w;\n  };\n\n  return function (token) {\n    return token.update(porterStemmer);\n  }\n})();\n\nlunr.Pipeline.registerFunction(lunr.stemmer, 'stemmer')\n/*!\n * lunr.stopWordFilter\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * lunr.generateStopWordFilter builds a stopWordFilter function from the provided\n * list of stop words.\n *\n * The built in lunr.stopWordFilter is built using this generator and can be used\n * to generate custom stopWordFilters for applications or non English languages.\n *\n * @function\n * @param {Array} token The token to pass through the filter\n * @returns {lunr.PipelineFunction}\n * @see lunr.Pipeline\n * @see lunr.stopWordFilter\n */\nlunr.generateStopWordFilter = function (stopWords) {\n  var words = stopWords.reduce(function (memo, stopWord) {\n    memo[stopWord] = stopWord\n    return memo\n  }, {})\n\n  return function (token) {\n    if (token && words[token.toString()] !== token.toString()) return token\n  }\n}\n\n/**\n * lunr.stopWordFilter is an English language stop word list filter, any words\n * contained in the list will not be passed through the filter.\n *\n * This is intended to be used in the Pipeline. If the token does not pass the\n * filter then undefined will be returned.\n *\n * @function\n * @implements {lunr.PipelineFunction}\n * @params {lunr.Token} token - A token to check for being a stop word.\n * @returns {lunr.Token}\n * @see {@link lunr.Pipeline}\n */\nlunr.stopWordFilter = lunr.generateStopWordFilter([\n  'a',\n  'able',\n  'about',\n  'across',\n  'after',\n  'all',\n  'almost',\n  'also',\n  'am',\n  'among',\n  'an',\n  'and',\n  'any',\n  'are',\n  'as',\n  'at',\n  'be',\n  'because',\n  'been',\n  'but',\n  'by',\n  'can',\n  'cannot',\n  'could',\n  'dear',\n  'did',\n  'do',\n  'does',\n  'either',\n  'else',\n  'ever',\n  'every',\n  'for',\n  'from',\n  'get',\n  'got',\n  'had',\n  'has',\n  'have',\n  'he',\n  'her',\n  'hers',\n  'him',\n  'his',\n  'how',\n  'however',\n  'i',\n  'if',\n  'in',\n  'into',\n  'is',\n  'it',\n  'its',\n  'just',\n  'least',\n  'let',\n  'like',\n  'likely',\n  'may',\n  'me',\n  'might',\n  'most',\n  'must',\n  'my',\n  'neither',\n  'no',\n  'nor',\n  'not',\n  'of',\n  'off',\n  'often',\n  'on',\n  'only',\n  'or',\n  'other',\n  'our',\n  'own',\n  'rather',\n  'said',\n  'say',\n  'says',\n  'she',\n  'should',\n  'since',\n  'so',\n  'some',\n  'than',\n  'that',\n  'the',\n  'their',\n  'them',\n  'then',\n  'there',\n  'these',\n  'they',\n  'this',\n  'tis',\n  'to',\n  'too',\n  'twas',\n  'us',\n  'wants',\n  'was',\n  'we',\n  'were',\n  'what',\n  'when',\n  'where',\n  'which',\n  'while',\n  'who',\n  'whom',\n  'why',\n  'will',\n  'with',\n  'would',\n  'yet',\n  'you',\n  'your'\n])\n\nlunr.Pipeline.registerFunction(lunr.stopWordFilter, 'stopWordFilter')\n/*!\n * lunr.trimmer\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * lunr.trimmer is a pipeline function for trimming non word\n * characters from the beginning and end of tokens before they\n * enter the index.\n *\n * This implementation may not work correctly for non latin\n * characters and should either be removed or adapted for use\n * with languages with non-latin characters.\n *\n * @static\n * @implements {lunr.PipelineFunction}\n * @param {lunr.Token} token The token to pass through the filter\n * @returns {lunr.Token}\n * @see lunr.Pipeline\n */\nlunr.trimmer = function (token) {\n  return token.update(function (s) {\n    return s.replace(/^\\W+/, '').replace(/\\W+$/, '')\n  })\n}\n\nlunr.Pipeline.registerFunction(lunr.trimmer, 'trimmer')\n/*!\n * lunr.TokenSet\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * A token set is used to store the unique list of all tokens\n * within an index. Token sets are also used to represent an\n * incoming query to the index, this query token set and index\n * token set are then intersected to find which tokens to look\n * up in the inverted index.\n *\n * A token set can hold multiple tokens, as in the case of the\n * index token set, or it can hold a single token as in the\n * case of a simple query token set.\n *\n * Additionally token sets are used to perform wildcard matching.\n * Leading, contained and trailing wildcards are supported, and\n * from this edit distance matching can also be provided.\n *\n * Token sets are implemented as a minimal finite state automata,\n * where both common prefixes and suffixes are shared between tokens.\n * This helps to reduce the space used for storing the token set.\n *\n * @constructor\n */\nlunr.TokenSet = function () {\n  this.final = false\n  this.edges = {}\n  this.id = lunr.TokenSet._nextId\n  lunr.TokenSet._nextId += 1\n}\n\n/**\n * Keeps track of the next, auto increment, identifier to assign\n * to a new tokenSet.\n *\n * TokenSets require a unique identifier to be correctly minimised.\n *\n * @private\n */\nlunr.TokenSet._nextId = 1\n\n/**\n * Creates a TokenSet instance from the given sorted array of words.\n *\n * @param {String[]} arr - A sorted array of strings to create the set from.\n * @returns {lunr.TokenSet}\n * @throws Will throw an error if the input array is not sorted.\n */\nlunr.TokenSet.fromArray = function (arr) {\n  var builder = new lunr.TokenSet.Builder\n\n  for (var i = 0, len = arr.length; i < len; i++) {\n    builder.insert(arr[i])\n  }\n\n  builder.finish()\n  return builder.root\n}\n\n/**\n * Creates a token set from a query clause.\n *\n * @private\n * @param {Object} clause - A single clause from lunr.Query.\n * @param {string} clause.term - The query clause term.\n * @param {number} [clause.editDistance] - The optional edit distance for the term.\n * @returns {lunr.TokenSet}\n */\nlunr.TokenSet.fromClause = function (clause) {\n  if ('editDistance' in clause) {\n    return lunr.TokenSet.fromFuzzyString(clause.term, clause.editDistance)\n  } else {\n    return lunr.TokenSet.fromString(clause.term)\n  }\n}\n\n/**\n * Creates a token set representing a single string with a specified\n * edit distance.\n *\n * Insertions, deletions, substitutions and transpositions are each\n * treated as an edit distance of 1.\n *\n * Increasing the allowed edit distance will have a dramatic impact\n * on the performance of both creating and intersecting these TokenSets.\n * It is advised to keep the edit distance less than 3.\n *\n * @param {string} str - The string to create the token set from.\n * @param {number} editDistance - The allowed edit distance to match.\n * @returns {lunr.Vector}\n */\nlunr.TokenSet.fromFuzzyString = function (str, editDistance) {\n  var root = new lunr.TokenSet\n\n  var stack = [{\n    node: root,\n    editsRemaining: editDistance,\n    str: str\n  }]\n\n  while (stack.length) {\n    var frame = stack.pop()\n\n    // no edit\n    if (frame.str.length > 0) {\n      var char = frame.str.charAt(0),\n          noEditNode\n\n      if (char in frame.node.edges) {\n        noEditNode = frame.node.edges[char]\n      } else {\n        noEditNode = new lunr.TokenSet\n        frame.node.edges[char] = noEditNode\n      }\n\n      if (frame.str.length == 1) {\n        noEditNode.final = true\n      }\n\n      stack.push({\n        node: noEditNode,\n        editsRemaining: frame.editsRemaining,\n        str: frame.str.slice(1)\n      })\n    }\n\n    if (frame.editsRemaining == 0) {\n      continue\n    }\n\n    // insertion\n    if (\"*\" in frame.node.edges) {\n      var insertionNode = frame.node.edges[\"*\"]\n    } else {\n      var insertionNode = new lunr.TokenSet\n      frame.node.edges[\"*\"] = insertionNode\n    }\n\n    if (frame.str.length == 0) {\n      insertionNode.final = true\n    }\n\n    stack.push({\n      node: insertionNode,\n      editsRemaining: frame.editsRemaining - 1,\n      str: frame.str\n    })\n\n    // deletion\n    // can only do a deletion if we have enough edits remaining\n    // and if there are characters left to delete in the string\n    if (frame.str.length > 1) {\n      stack.push({\n        node: frame.node,\n        editsRemaining: frame.editsRemaining - 1,\n        str: frame.str.slice(1)\n      })\n    }\n\n    // deletion\n    // just removing the last character from the str\n    if (frame.str.length == 1) {\n      frame.node.final = true\n    }\n\n    // substitution\n    // can only do a substitution if we have enough edits remaining\n    // and if there are characters left to substitute\n    if (frame.str.length >= 1) {\n      if (\"*\" in frame.node.edges) {\n        var substitutionNode = frame.node.edges[\"*\"]\n      } else {\n        var substitutionNode = new lunr.TokenSet\n        frame.node.edges[\"*\"] = substitutionNode\n      }\n\n      if (frame.str.length == 1) {\n        substitutionNode.final = true\n      }\n\n      stack.push({\n        node: substitutionNode,\n        editsRemaining: frame.editsRemaining - 1,\n        str: frame.str.slice(1)\n      })\n    }\n\n    // transposition\n    // can only do a transposition if there are edits remaining\n    // and there are enough characters to transpose\n    if (frame.str.length > 1) {\n      var charA = frame.str.charAt(0),\n          charB = frame.str.charAt(1),\n          transposeNode\n\n      if (charB in frame.node.edges) {\n        transposeNode = frame.node.edges[charB]\n      } else {\n        transposeNode = new lunr.TokenSet\n        frame.node.edges[charB] = transposeNode\n      }\n\n      if (frame.str.length == 1) {\n        transposeNode.final = true\n      }\n\n      stack.push({\n        node: transposeNode,\n        editsRemaining: frame.editsRemaining - 1,\n        str: charA + frame.str.slice(2)\n      })\n    }\n  }\n\n  return root\n}\n\n/**\n * Creates a TokenSet from a string.\n *\n * The string may contain one or more wildcard characters (*)\n * that will allow wildcard matching when intersecting with\n * another TokenSet.\n *\n * @param {string} str - The string to create a TokenSet from.\n * @returns {lunr.TokenSet}\n */\nlunr.TokenSet.fromString = function (str) {\n  var node = new lunr.TokenSet,\n      root = node\n\n  /*\n   * Iterates through all characters within the passed string\n   * appending a node for each character.\n   *\n   * When a wildcard character is found then a self\n   * referencing edge is introduced to continually match\n   * any number of any characters.\n   */\n  for (var i = 0, len = str.length; i < len; i++) {\n    var char = str[i],\n        final = (i == len - 1)\n\n    if (char == \"*\") {\n      node.edges[char] = node\n      node.final = final\n\n    } else {\n      var next = new lunr.TokenSet\n      next.final = final\n\n      node.edges[char] = next\n      node = next\n    }\n  }\n\n  return root\n}\n\n/**\n * Converts this TokenSet into an array of strings\n * contained within the TokenSet.\n *\n * This is not intended to be used on a TokenSet that\n * contains wildcards, in these cases the results are\n * undefined and are likely to cause an infinite loop.\n *\n * @returns {string[]}\n */\nlunr.TokenSet.prototype.toArray = function () {\n  var words = []\n\n  var stack = [{\n    prefix: \"\",\n    node: this\n  }]\n\n  while (stack.length) {\n    var frame = stack.pop(),\n        edges = Object.keys(frame.node.edges),\n        len = edges.length\n\n    if (frame.node.final) {\n      /* In Safari, at this point the prefix is sometimes corrupted, see:\n       * https://github.com/olivernn/lunr.js/issues/279 Calling any\n       * String.prototype method forces Safari to \"cast\" this string to what\n       * it's supposed to be, fixing the bug. */\n      frame.prefix.charAt(0)\n      words.push(frame.prefix)\n    }\n\n    for (var i = 0; i < len; i++) {\n      var edge = edges[i]\n\n      stack.push({\n        prefix: frame.prefix.concat(edge),\n        node: frame.node.edges[edge]\n      })\n    }\n  }\n\n  return words\n}\n\n/**\n * Generates a string representation of a TokenSet.\n *\n * This is intended to allow TokenSets to be used as keys\n * in objects, largely to aid the construction and minimisation\n * of a TokenSet. As such it is not designed to be a human\n * friendly representation of the TokenSet.\n *\n * @returns {string}\n */\nlunr.TokenSet.prototype.toString = function () {\n  // NOTE: Using Object.keys here as this.edges is very likely\n  // to enter 'hash-mode' with many keys being added\n  //\n  // avoiding a for-in loop here as it leads to the function\n  // being de-optimised (at least in V8). From some simple\n  // benchmarks the performance is comparable, but allowing\n  // V8 to optimize may mean easy performance wins in the future.\n\n  if (this._str) {\n    return this._str\n  }\n\n  var str = this.final ? '1' : '0',\n      labels = Object.keys(this.edges).sort(),\n      len = labels.length\n\n  for (var i = 0; i < len; i++) {\n    var label = labels[i],\n        node = this.edges[label]\n\n    str = str + label + node.id\n  }\n\n  return str\n}\n\n/**\n * Returns a new TokenSet that is the intersection of\n * this TokenSet and the passed TokenSet.\n *\n * This intersection will take into account any wildcards\n * contained within the TokenSet.\n *\n * @param {lunr.TokenSet} b - An other TokenSet to intersect with.\n * @returns {lunr.TokenSet}\n */\nlunr.TokenSet.prototype.intersect = function (b) {\n  var output = new lunr.TokenSet,\n      frame = undefined\n\n  var stack = [{\n    qNode: b,\n    output: output,\n    node: this\n  }]\n\n  while (stack.length) {\n    frame = stack.pop()\n\n    // NOTE: As with the #toString method, we are using\n    // Object.keys and a for loop instead of a for-in loop\n    // as both of these objects enter 'hash' mode, causing\n    // the function to be de-optimised in V8\n    var qEdges = Object.keys(frame.qNode.edges),\n        qLen = qEdges.length,\n        nEdges = Object.keys(frame.node.edges),\n        nLen = nEdges.length\n\n    for (var q = 0; q < qLen; q++) {\n      var qEdge = qEdges[q]\n\n      for (var n = 0; n < nLen; n++) {\n        var nEdge = nEdges[n]\n\n        if (nEdge == qEdge || qEdge == '*') {\n          var node = frame.node.edges[nEdge],\n              qNode = frame.qNode.edges[qEdge],\n              final = node.final && qNode.final,\n              next = undefined\n\n          if (nEdge in frame.output.edges) {\n            // an edge already exists for this character\n            // no need to create a new node, just set the finality\n            // bit unless this node is already final\n            next = frame.output.edges[nEdge]\n            next.final = next.final || final\n\n          } else {\n            // no edge exists yet, must create one\n            // set the finality bit and insert it\n            // into the output\n            next = new lunr.TokenSet\n            next.final = final\n            frame.output.edges[nEdge] = next\n          }\n\n          stack.push({\n            qNode: qNode,\n            output: next,\n            node: node\n          })\n        }\n      }\n    }\n  }\n\n  return output\n}\nlunr.TokenSet.Builder = function () {\n  this.previousWord = \"\"\n  this.root = new lunr.TokenSet\n  this.uncheckedNodes = []\n  this.minimizedNodes = {}\n}\n\nlunr.TokenSet.Builder.prototype.insert = function (word) {\n  var node,\n      commonPrefix = 0\n\n  if (word < this.previousWord) {\n    throw new Error (\"Out of order word insertion\")\n  }\n\n  for (var i = 0; i < word.length && i < this.previousWord.length; i++) {\n    if (word[i] != this.previousWord[i]) break\n    commonPrefix++\n  }\n\n  this.minimize(commonPrefix)\n\n  if (this.uncheckedNodes.length == 0) {\n    node = this.root\n  } else {\n    node = this.uncheckedNodes[this.uncheckedNodes.length - 1].child\n  }\n\n  for (var i = commonPrefix; i < word.length; i++) {\n    var nextNode = new lunr.TokenSet,\n        char = word[i]\n\n    node.edges[char] = nextNode\n\n    this.uncheckedNodes.push({\n      parent: node,\n      char: char,\n      child: nextNode\n    })\n\n    node = nextNode\n  }\n\n  node.final = true\n  this.previousWord = word\n}\n\nlunr.TokenSet.Builder.prototype.finish = function () {\n  this.minimize(0)\n}\n\nlunr.TokenSet.Builder.prototype.minimize = function (downTo) {\n  for (var i = this.uncheckedNodes.length - 1; i >= downTo; i--) {\n    var node = this.uncheckedNodes[i],\n        childKey = node.child.toString()\n\n    if (childKey in this.minimizedNodes) {\n      node.parent.edges[node.char] = this.minimizedNodes[childKey]\n    } else {\n      // Cache the key for this node since\n      // we know it can't change anymore\n      node.child._str = childKey\n\n      this.minimizedNodes[childKey] = node.child\n    }\n\n    this.uncheckedNodes.pop()\n  }\n}\n/*!\n * lunr.Index\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * An index contains the built index of all documents and provides a query interface\n * to the index.\n *\n * Usually instances of lunr.Index will not be created using this constructor, instead\n * lunr.Builder should be used to construct new indexes, or lunr.Index.load should be\n * used to load previously built and serialized indexes.\n *\n * @constructor\n * @param {Object} attrs - The attributes of the built search index.\n * @param {Object} attrs.invertedIndex - An index of term/field to document reference.\n * @param {Object<string, lunr.Vector>} attrs.fieldVectors - Field vectors\n * @param {lunr.TokenSet} attrs.tokenSet - An set of all corpus tokens.\n * @param {string[]} attrs.fields - The names of indexed document fields.\n * @param {lunr.Pipeline} attrs.pipeline - The pipeline to use for search terms.\n */\nlunr.Index = function (attrs) {\n  this.invertedIndex = attrs.invertedIndex\n  this.fieldVectors = attrs.fieldVectors\n  this.tokenSet = attrs.tokenSet\n  this.fields = attrs.fields\n  this.pipeline = attrs.pipeline\n}\n\n/**\n * A result contains details of a document matching a search query.\n * @typedef {Object} lunr.Index~Result\n * @property {string} ref - The reference of the document this result represents.\n * @property {number} score - A number between 0 and 1 representing how similar this document is to the query.\n * @property {lunr.MatchData} matchData - Contains metadata about this match including which term(s) caused the match.\n */\n\n/**\n * Although lunr provides the ability to create queries using lunr.Query, it also provides a simple\n * query language which itself is parsed into an instance of lunr.Query.\n *\n * For programmatically building queries it is advised to directly use lunr.Query, the query language\n * is best used for human entered text rather than program generated text.\n *\n * At its simplest queries can just be a single term, e.g. `hello`, multiple terms are also supported\n * and will be combined with OR, e.g `hello world` will match documents that contain either 'hello'\n * or 'world', though those that contain both will rank higher in the results.\n *\n * Wildcards can be included in terms to match one or more unspecified characters, these wildcards can\n * be inserted anywhere within the term, and more than one wildcard can exist in a single term. Adding\n * wildcards will increase the number of documents that will be found but can also have a negative\n * impact on query performance, especially with wildcards at the beginning of a term.\n *\n * Terms can be restricted to specific fields, e.g. `title:hello`, only documents with the term\n * hello in the title field will match this query. Using a field not present in the index will lead\n * to an error being thrown.\n *\n * Modifiers can also be added to terms, lunr supports edit distance and boost modifiers on terms. A term\n * boost will make documents matching that term score higher, e.g. `foo^5`. Edit distance is also supported\n * to provide fuzzy matching, e.g. 'hello~2' will match documents with hello with an edit distance of 2.\n * Avoid large values for edit distance to improve query performance.\n *\n * Each term also supports a presence modifier. By default a term's presence in document is optional, however\n * this can be changed to either required or prohibited. For a term's presence to be required in a document the\n * term should be prefixed with a '+', e.g. `+foo bar` is a search for documents that must contain 'foo' and\n * optionally contain 'bar'. Conversely a leading '-' sets the terms presence to prohibited, i.e. it must not\n * appear in a document, e.g. `-foo bar` is a search for documents that do not contain 'foo' but may contain 'bar'.\n *\n * To escape special characters the backslash character '\\' can be used, this allows searches to include\n * characters that would normally be considered modifiers, e.g. `foo\\~2` will search for a term \"foo~2\" instead\n * of attempting to apply a boost of 2 to the search term \"foo\".\n *\n * @typedef {string} lunr.Index~QueryString\n * @example <caption>Simple single term query</caption>\n * hello\n * @example <caption>Multiple term query</caption>\n * hello world\n * @example <caption>term scoped to a field</caption>\n * title:hello\n * @example <caption>term with a boost of 10</caption>\n * hello^10\n * @example <caption>term with an edit distance of 2</caption>\n * hello~2\n * @example <caption>terms with presence modifiers</caption>\n * -foo +bar baz\n */\n\n/**\n * Performs a search against the index using lunr query syntax.\n *\n * Results will be returned sorted by their score, the most relevant results\n * will be returned first.  For details on how the score is calculated, please see\n * the {@link https://lunrjs.com/guides/searching.html#scoring|guide}.\n *\n * For more programmatic querying use lunr.Index#query.\n *\n * @param {lunr.Index~QueryString} queryString - A string containing a lunr query.\n * @throws {lunr.QueryParseError} If the passed query string cannot be parsed.\n * @returns {lunr.Index~Result[]}\n */\nlunr.Index.prototype.search = function (queryString) {\n  return this.query(function (query) {\n    var parser = new lunr.QueryParser(queryString, query)\n    parser.parse()\n  })\n}\n\n/**\n * A query builder callback provides a query object to be used to express\n * the query to perform on the index.\n *\n * @callback lunr.Index~queryBuilder\n * @param {lunr.Query} query - The query object to build up.\n * @this lunr.Query\n */\n\n/**\n * Performs a query against the index using the yielded lunr.Query object.\n *\n * If performing programmatic queries against the index, this method is preferred\n * over lunr.Index#search so as to avoid the additional query parsing overhead.\n *\n * A query object is yielded to the supplied function which should be used to\n * express the query to be run against the index.\n *\n * Note that although this function takes a callback parameter it is _not_ an\n * asynchronous operation, the callback is just yielded a query object to be\n * customized.\n *\n * @param {lunr.Index~queryBuilder} fn - A function that is used to build the query.\n * @returns {lunr.Index~Result[]}\n */\nlunr.Index.prototype.query = function (fn) {\n  // for each query clause\n  // * process terms\n  // * expand terms from token set\n  // * find matching documents and metadata\n  // * get document vectors\n  // * score documents\n\n  var query = new lunr.Query(this.fields),\n      matchingFields = Object.create(null),\n      queryVectors = Object.create(null),\n      termFieldCache = Object.create(null),\n      requiredMatches = Object.create(null),\n      prohibitedMatches = Object.create(null)\n\n  /*\n   * To support field level boosts a query vector is created per\n   * field. An empty vector is eagerly created to support negated\n   * queries.\n   */\n  for (var i = 0; i < this.fields.length; i++) {\n    queryVectors[this.fields[i]] = new lunr.Vector\n  }\n\n  fn.call(query, query)\n\n  for (var i = 0; i < query.clauses.length; i++) {\n    /*\n     * Unless the pipeline has been disabled for this term, which is\n     * the case for terms with wildcards, we need to pass the clause\n     * term through the search pipeline. A pipeline returns an array\n     * of processed terms. Pipeline functions may expand the passed\n     * term, which means we may end up performing multiple index lookups\n     * for a single query term.\n     */\n    var clause = query.clauses[i],\n        terms = null,\n        clauseMatches = lunr.Set.empty\n\n    if (clause.usePipeline) {\n      terms = this.pipeline.runString(clause.term, {\n        fields: clause.fields\n      })\n    } else {\n      terms = [clause.term]\n    }\n\n    for (var m = 0; m < terms.length; m++) {\n      var term = terms[m]\n\n      /*\n       * Each term returned from the pipeline needs to use the same query\n       * clause object, e.g. the same boost and or edit distance. The\n       * simplest way to do this is to re-use the clause object but mutate\n       * its term property.\n       */\n      clause.term = term\n\n      /*\n       * From the term in the clause we create a token set which will then\n       * be used to intersect the indexes token set to get a list of terms\n       * to lookup in the inverted index\n       */\n      var termTokenSet = lunr.TokenSet.fromClause(clause),\n          expandedTerms = this.tokenSet.intersect(termTokenSet).toArray()\n\n      /*\n       * If a term marked as required does not exist in the tokenSet it is\n       * impossible for the search to return any matches. We set all the field\n       * scoped required matches set to empty and stop examining any further\n       * clauses.\n       */\n      if (expandedTerms.length === 0 && clause.presence === lunr.Query.presence.REQUIRED) {\n        for (var k = 0; k < clause.fields.length; k++) {\n          var field = clause.fields[k]\n          requiredMatches[field] = lunr.Set.empty\n        }\n\n        break\n      }\n\n      for (var j = 0; j < expandedTerms.length; j++) {\n        /*\n         * For each term get the posting and termIndex, this is required for\n         * building the query vector.\n         */\n        var expandedTerm = expandedTerms[j],\n            posting = this.invertedIndex[expandedTerm],\n            termIndex = posting._index\n\n        for (var k = 0; k < clause.fields.length; k++) {\n          /*\n           * For each field that this query term is scoped by (by default\n           * all fields are in scope) we need to get all the document refs\n           * that have this term in that field.\n           *\n           * The posting is the entry in the invertedIndex for the matching\n           * term from above.\n           */\n          var field = clause.fields[k],\n              fieldPosting = posting[field],\n              matchingDocumentRefs = Object.keys(fieldPosting),\n              termField = expandedTerm + \"/\" + field,\n              matchingDocumentsSet = new lunr.Set(matchingDocumentRefs)\n\n          /*\n           * if the presence of this term is required ensure that the matching\n           * documents are added to the set of required matches for this clause.\n           *\n           */\n          if (clause.presence == lunr.Query.presence.REQUIRED) {\n            clauseMatches = clauseMatches.union(matchingDocumentsSet)\n\n            if (requiredMatches[field] === undefined) {\n              requiredMatches[field] = lunr.Set.complete\n            }\n          }\n\n          /*\n           * if the presence of this term is prohibited ensure that the matching\n           * documents are added to the set of prohibited matches for this field,\n           * creating that set if it does not yet exist.\n           */\n          if (clause.presence == lunr.Query.presence.PROHIBITED) {\n            if (prohibitedMatches[field] === undefined) {\n              prohibitedMatches[field] = lunr.Set.empty\n            }\n\n            prohibitedMatches[field] = prohibitedMatches[field].union(matchingDocumentsSet)\n\n            /*\n             * Prohibited matches should not be part of the query vector used for\n             * similarity scoring and no metadata should be extracted so we continue\n             * to the next field\n             */\n            continue\n          }\n\n          /*\n           * The query field vector is populated using the termIndex found for\n           * the term and a unit value with the appropriate boost applied.\n           * Using upsert because there could already be an entry in the vector\n           * for the term we are working with. In that case we just add the scores\n           * together.\n           */\n          queryVectors[field].upsert(termIndex, clause.boost, function (a, b) { return a + b })\n\n          /**\n           * If we've already seen this term, field combo then we've already collected\n           * the matching documents and metadata, no need to go through all that again\n           */\n          if (termFieldCache[termField]) {\n            continue\n          }\n\n          for (var l = 0; l < matchingDocumentRefs.length; l++) {\n            /*\n             * All metadata for this term/field/document triple\n             * are then extracted and collected into an instance\n             * of lunr.MatchData ready to be returned in the query\n             * results\n             */\n            var matchingDocumentRef = matchingDocumentRefs[l],\n                matchingFieldRef = new lunr.FieldRef (matchingDocumentRef, field),\n                metadata = fieldPosting[matchingDocumentRef],\n                fieldMatch\n\n            if ((fieldMatch = matchingFields[matchingFieldRef]) === undefined) {\n              matchingFields[matchingFieldRef] = new lunr.MatchData (expandedTerm, field, metadata)\n            } else {\n              fieldMatch.add(expandedTerm, field, metadata)\n            }\n\n          }\n\n          termFieldCache[termField] = true\n        }\n      }\n    }\n\n    /**\n     * If the presence was required we need to update the requiredMatches field sets.\n     * We do this after all fields for the term have collected their matches because\n     * the clause terms presence is required in _any_ of the fields not _all_ of the\n     * fields.\n     */\n    if (clause.presence === lunr.Query.presence.REQUIRED) {\n      for (var k = 0; k < clause.fields.length; k++) {\n        var field = clause.fields[k]\n        requiredMatches[field] = requiredMatches[field].intersect(clauseMatches)\n      }\n    }\n  }\n\n  /**\n   * Need to combine the field scoped required and prohibited\n   * matching documents into a global set of required and prohibited\n   * matches\n   */\n  var allRequiredMatches = lunr.Set.complete,\n      allProhibitedMatches = lunr.Set.empty\n\n  for (var i = 0; i < this.fields.length; i++) {\n    var field = this.fields[i]\n\n    if (requiredMatches[field]) {\n      allRequiredMatches = allRequiredMatches.intersect(requiredMatches[field])\n    }\n\n    if (prohibitedMatches[field]) {\n      allProhibitedMatches = allProhibitedMatches.union(prohibitedMatches[field])\n    }\n  }\n\n  var matchingFieldRefs = Object.keys(matchingFields),\n      results = [],\n      matches = Object.create(null)\n\n  /*\n   * If the query is negated (contains only prohibited terms)\n   * we need to get _all_ fieldRefs currently existing in the\n   * index. This is only done when we know that the query is\n   * entirely prohibited terms to avoid any cost of getting all\n   * fieldRefs unnecessarily.\n   *\n   * Additionally, blank MatchData must be created to correctly\n   * populate the results.\n   */\n  if (query.isNegated()) {\n    matchingFieldRefs = Object.keys(this.fieldVectors)\n\n    for (var i = 0; i < matchingFieldRefs.length; i++) {\n      var matchingFieldRef = matchingFieldRefs[i]\n      var fieldRef = lunr.FieldRef.fromString(matchingFieldRef)\n      matchingFields[matchingFieldRef] = new lunr.MatchData\n    }\n  }\n\n  for (var i = 0; i < matchingFieldRefs.length; i++) {\n    /*\n     * Currently we have document fields that match the query, but we\n     * need to return documents. The matchData and scores are combined\n     * from multiple fields belonging to the same document.\n     *\n     * Scores are calculated by field, using the query vectors created\n     * above, and combined into a final document score using addition.\n     */\n    var fieldRef = lunr.FieldRef.fromString(matchingFieldRefs[i]),\n        docRef = fieldRef.docRef\n\n    if (!allRequiredMatches.contains(docRef)) {\n      continue\n    }\n\n    if (allProhibitedMatches.contains(docRef)) {\n      continue\n    }\n\n    var fieldVector = this.fieldVectors[fieldRef],\n        score = queryVectors[fieldRef.fieldName].similarity(fieldVector),\n        docMatch\n\n    if ((docMatch = matches[docRef]) !== undefined) {\n      docMatch.score += score\n      docMatch.matchData.combine(matchingFields[fieldRef])\n    } else {\n      var match = {\n        ref: docRef,\n        score: score,\n        matchData: matchingFields[fieldRef]\n      }\n      matches[docRef] = match\n      results.push(match)\n    }\n  }\n\n  /*\n   * Sort the results objects by score, highest first.\n   */\n  return results.sort(function (a, b) {\n    return b.score - a.score\n  })\n}\n\n/**\n * Prepares the index for JSON serialization.\n *\n * The schema for this JSON blob will be described in a\n * separate JSON schema file.\n *\n * @returns {Object}\n */\nlunr.Index.prototype.toJSON = function () {\n  var invertedIndex = Object.keys(this.invertedIndex)\n    .sort()\n    .map(function (term) {\n      return [term, this.invertedIndex[term]]\n    }, this)\n\n  var fieldVectors = Object.keys(this.fieldVectors)\n    .map(function (ref) {\n      return [ref, this.fieldVectors[ref].toJSON()]\n    }, this)\n\n  return {\n    version: lunr.version,\n    fields: this.fields,\n    fieldVectors: fieldVectors,\n    invertedIndex: invertedIndex,\n    pipeline: this.pipeline.toJSON()\n  }\n}\n\n/**\n * Loads a previously serialized lunr.Index\n *\n * @param {Object} serializedIndex - A previously serialized lunr.Index\n * @returns {lunr.Index}\n */\nlunr.Index.load = function (serializedIndex) {\n  var attrs = {},\n      fieldVectors = {},\n      serializedVectors = serializedIndex.fieldVectors,\n      invertedIndex = Object.create(null),\n      serializedInvertedIndex = serializedIndex.invertedIndex,\n      tokenSetBuilder = new lunr.TokenSet.Builder,\n      pipeline = lunr.Pipeline.load(serializedIndex.pipeline)\n\n  if (serializedIndex.version != lunr.version) {\n    lunr.utils.warn(\"Version mismatch when loading serialised index. Current version of lunr '\" + lunr.version + \"' does not match serialized index '\" + serializedIndex.version + \"'\")\n  }\n\n  for (var i = 0; i < serializedVectors.length; i++) {\n    var tuple = serializedVectors[i],\n        ref = tuple[0],\n        elements = tuple[1]\n\n    fieldVectors[ref] = new lunr.Vector(elements)\n  }\n\n  for (var i = 0; i < serializedInvertedIndex.length; i++) {\n    var tuple = serializedInvertedIndex[i],\n        term = tuple[0],\n        posting = tuple[1]\n\n    tokenSetBuilder.insert(term)\n    invertedIndex[term] = posting\n  }\n\n  tokenSetBuilder.finish()\n\n  attrs.fields = serializedIndex.fields\n\n  attrs.fieldVectors = fieldVectors\n  attrs.invertedIndex = invertedIndex\n  attrs.tokenSet = tokenSetBuilder.root\n  attrs.pipeline = pipeline\n\n  return new lunr.Index(attrs)\n}\n/*!\n * lunr.Builder\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * lunr.Builder performs indexing on a set of documents and\n * returns instances of lunr.Index ready for querying.\n *\n * All configuration of the index is done via the builder, the\n * fields to index, the document reference, the text processing\n * pipeline and document scoring parameters are all set on the\n * builder before indexing.\n *\n * @constructor\n * @property {string} _ref - Internal reference to the document reference field.\n * @property {string[]} _fields - Internal reference to the document fields to index.\n * @property {object} invertedIndex - The inverted index maps terms to document fields.\n * @property {object} documentTermFrequencies - Keeps track of document term frequencies.\n * @property {object} documentLengths - Keeps track of the length of documents added to the index.\n * @property {lunr.tokenizer} tokenizer - Function for splitting strings into tokens for indexing.\n * @property {lunr.Pipeline} pipeline - The pipeline performs text processing on tokens before indexing.\n * @property {lunr.Pipeline} searchPipeline - A pipeline for processing search terms before querying the index.\n * @property {number} documentCount - Keeps track of the total number of documents indexed.\n * @property {number} _b - A parameter to control field length normalization, setting this to 0 disabled normalization, 1 fully normalizes field lengths, the default value is 0.75.\n * @property {number} _k1 - A parameter to control how quickly an increase in term frequency results in term frequency saturation, the default value is 1.2.\n * @property {number} termIndex - A counter incremented for each unique term, used to identify a terms position in the vector space.\n * @property {array} metadataWhitelist - A list of metadata keys that have been whitelisted for entry in the index.\n */\nlunr.Builder = function () {\n  this._ref = \"id\"\n  this._fields = Object.create(null)\n  this._documents = Object.create(null)\n  this.invertedIndex = Object.create(null)\n  this.fieldTermFrequencies = {}\n  this.fieldLengths = {}\n  this.tokenizer = lunr.tokenizer\n  this.pipeline = new lunr.Pipeline\n  this.searchPipeline = new lunr.Pipeline\n  this.documentCount = 0\n  this._b = 0.75\n  this._k1 = 1.2\n  this.termIndex = 0\n  this.metadataWhitelist = []\n}\n\n/**\n * Sets the document field used as the document reference. Every document must have this field.\n * The type of this field in the document should be a string, if it is not a string it will be\n * coerced into a string by calling toString.\n *\n * The default ref is 'id'.\n *\n * The ref should _not_ be changed during indexing, it should be set before any documents are\n * added to the index. Changing it during indexing can lead to inconsistent results.\n *\n * @param {string} ref - The name of the reference field in the document.\n */\nlunr.Builder.prototype.ref = function (ref) {\n  this._ref = ref\n}\n\n/**\n * A function that is used to extract a field from a document.\n *\n * Lunr expects a field to be at the top level of a document, if however the field\n * is deeply nested within a document an extractor function can be used to extract\n * the right field for indexing.\n *\n * @callback fieldExtractor\n * @param {object} doc - The document being added to the index.\n * @returns {?(string|object|object[])} obj - The object that will be indexed for this field.\n * @example <caption>Extracting a nested field</caption>\n * function (doc) { return doc.nested.field }\n */\n\n/**\n * Adds a field to the list of document fields that will be indexed. Every document being\n * indexed should have this field. Null values for this field in indexed documents will\n * not cause errors but will limit the chance of that document being retrieved by searches.\n *\n * All fields should be added before adding documents to the index. Adding fields after\n * a document has been indexed will have no effect on already indexed documents.\n *\n * Fields can be boosted at build time. This allows terms within that field to have more\n * importance when ranking search results. Use a field boost to specify that matches within\n * one field are more important than other fields.\n *\n * @param {string} fieldName - The name of a field to index in all documents.\n * @param {object} attributes - Optional attributes associated with this field.\n * @param {number} [attributes.boost=1] - Boost applied to all terms within this field.\n * @param {fieldExtractor} [attributes.extractor] - Function to extract a field from a document.\n * @throws {RangeError} fieldName cannot contain unsupported characters '/'\n */\nlunr.Builder.prototype.field = function (fieldName, attributes) {\n  if (/\\//.test(fieldName)) {\n    throw new RangeError (\"Field '\" + fieldName + \"' contains illegal character '/'\")\n  }\n\n  this._fields[fieldName] = attributes || {}\n}\n\n/**\n * A parameter to tune the amount of field length normalisation that is applied when\n * calculating relevance scores. A value of 0 will completely disable any normalisation\n * and a value of 1 will fully normalise field lengths. The default is 0.75. Values of b\n * will be clamped to the range 0 - 1.\n *\n * @param {number} number - The value to set for this tuning parameter.\n */\nlunr.Builder.prototype.b = function (number) {\n  if (number < 0) {\n    this._b = 0\n  } else if (number > 1) {\n    this._b = 1\n  } else {\n    this._b = number\n  }\n}\n\n/**\n * A parameter that controls the speed at which a rise in term frequency results in term\n * frequency saturation. The default value is 1.2. Setting this to a higher value will give\n * slower saturation levels, a lower value will result in quicker saturation.\n *\n * @param {number} number - The value to set for this tuning parameter.\n */\nlunr.Builder.prototype.k1 = function (number) {\n  this._k1 = number\n}\n\n/**\n * Adds a document to the index.\n *\n * Before adding fields to the index the index should have been fully setup, with the document\n * ref and all fields to index already having been specified.\n *\n * The document must have a field name as specified by the ref (by default this is 'id') and\n * it should have all fields defined for indexing, though null or undefined values will not\n * cause errors.\n *\n * Entire documents can be boosted at build time. Applying a boost to a document indicates that\n * this document should rank higher in search results than other documents.\n *\n * @param {object} doc - The document to add to the index.\n * @param {object} attributes - Optional attributes associated with this document.\n * @param {number} [attributes.boost=1] - Boost applied to all terms within this document.\n */\nlunr.Builder.prototype.add = function (doc, attributes) {\n  var docRef = doc[this._ref],\n      fields = Object.keys(this._fields)\n\n  this._documents[docRef] = attributes || {}\n  this.documentCount += 1\n\n  for (var i = 0; i < fields.length; i++) {\n    var fieldName = fields[i],\n        extractor = this._fields[fieldName].extractor,\n        field = extractor ? extractor(doc) : doc[fieldName],\n        tokens = this.tokenizer(field, {\n          fields: [fieldName]\n        }),\n        terms = this.pipeline.run(tokens),\n        fieldRef = new lunr.FieldRef (docRef, fieldName),\n        fieldTerms = Object.create(null)\n\n    this.fieldTermFrequencies[fieldRef] = fieldTerms\n    this.fieldLengths[fieldRef] = 0\n\n    // store the length of this field for this document\n    this.fieldLengths[fieldRef] += terms.length\n\n    // calculate term frequencies for this field\n    for (var j = 0; j < terms.length; j++) {\n      var term = terms[j]\n\n      if (fieldTerms[term] == undefined) {\n        fieldTerms[term] = 0\n      }\n\n      fieldTerms[term] += 1\n\n      // add to inverted index\n      // create an initial posting if one doesn't exist\n      if (this.invertedIndex[term] == undefined) {\n        var posting = Object.create(null)\n        posting[\"_index\"] = this.termIndex\n        this.termIndex += 1\n\n        for (var k = 0; k < fields.length; k++) {\n          posting[fields[k]] = Object.create(null)\n        }\n\n        this.invertedIndex[term] = posting\n      }\n\n      // add an entry for this term/fieldName/docRef to the invertedIndex\n      if (this.invertedIndex[term][fieldName][docRef] == undefined) {\n        this.invertedIndex[term][fieldName][docRef] = Object.create(null)\n      }\n\n      // store all whitelisted metadata about this token in the\n      // inverted index\n      for (var l = 0; l < this.metadataWhitelist.length; l++) {\n        var metadataKey = this.metadataWhitelist[l],\n            metadata = term.metadata[metadataKey]\n\n        if (this.invertedIndex[term][fieldName][docRef][metadataKey] == undefined) {\n          this.invertedIndex[term][fieldName][docRef][metadataKey] = []\n        }\n\n        this.invertedIndex[term][fieldName][docRef][metadataKey].push(metadata)\n      }\n    }\n\n  }\n}\n\n/**\n * Calculates the average document length for this index\n *\n * @private\n */\nlunr.Builder.prototype.calculateAverageFieldLengths = function () {\n\n  var fieldRefs = Object.keys(this.fieldLengths),\n      numberOfFields = fieldRefs.length,\n      accumulator = {},\n      documentsWithField = {}\n\n  for (var i = 0; i < numberOfFields; i++) {\n    var fieldRef = lunr.FieldRef.fromString(fieldRefs[i]),\n        field = fieldRef.fieldName\n\n    documentsWithField[field] || (documentsWithField[field] = 0)\n    documentsWithField[field] += 1\n\n    accumulator[field] || (accumulator[field] = 0)\n    accumulator[field] += this.fieldLengths[fieldRef]\n  }\n\n  var fields = Object.keys(this._fields)\n\n  for (var i = 0; i < fields.length; i++) {\n    var fieldName = fields[i]\n    accumulator[fieldName] = accumulator[fieldName] / documentsWithField[fieldName]\n  }\n\n  this.averageFieldLength = accumulator\n}\n\n/**\n * Builds a vector space model of every document using lunr.Vector\n *\n * @private\n */\nlunr.Builder.prototype.createFieldVectors = function () {\n  var fieldVectors = {},\n      fieldRefs = Object.keys(this.fieldTermFrequencies),\n      fieldRefsLength = fieldRefs.length,\n      termIdfCache = Object.create(null)\n\n  for (var i = 0; i < fieldRefsLength; i++) {\n    var fieldRef = lunr.FieldRef.fromString(fieldRefs[i]),\n        fieldName = fieldRef.fieldName,\n        fieldLength = this.fieldLengths[fieldRef],\n        fieldVector = new lunr.Vector,\n        termFrequencies = this.fieldTermFrequencies[fieldRef],\n        terms = Object.keys(termFrequencies),\n        termsLength = terms.length\n\n\n    var fieldBoost = this._fields[fieldName].boost || 1,\n        docBoost = this._documents[fieldRef.docRef].boost || 1\n\n    for (var j = 0; j < termsLength; j++) {\n      var term = terms[j],\n          tf = termFrequencies[term],\n          termIndex = this.invertedIndex[term]._index,\n          idf, score, scoreWithPrecision\n\n      if (termIdfCache[term] === undefined) {\n        idf = lunr.idf(this.invertedIndex[term], this.documentCount)\n        termIdfCache[term] = idf\n      } else {\n        idf = termIdfCache[term]\n      }\n\n      score = idf * ((this._k1 + 1) * tf) / (this._k1 * (1 - this._b + this._b * (fieldLength / this.averageFieldLength[fieldName])) + tf)\n      score *= fieldBoost\n      score *= docBoost\n      scoreWithPrecision = Math.round(score * 1000) / 1000\n      // Converts 1.23456789 to 1.234.\n      // Reducing the precision so that the vectors take up less\n      // space when serialised. Doing it now so that they behave\n      // the same before and after serialisation. Also, this is\n      // the fastest approach to reducing a number's precision in\n      // JavaScript.\n\n      fieldVector.insert(termIndex, scoreWithPrecision)\n    }\n\n    fieldVectors[fieldRef] = fieldVector\n  }\n\n  this.fieldVectors = fieldVectors\n}\n\n/**\n * Creates a token set of all tokens in the index using lunr.TokenSet\n *\n * @private\n */\nlunr.Builder.prototype.createTokenSet = function () {\n  this.tokenSet = lunr.TokenSet.fromArray(\n    Object.keys(this.invertedIndex).sort()\n  )\n}\n\n/**\n * Builds the index, creating an instance of lunr.Index.\n *\n * This completes the indexing process and should only be called\n * once all documents have been added to the index.\n *\n * @returns {lunr.Index}\n */\nlunr.Builder.prototype.build = function () {\n  this.calculateAverageFieldLengths()\n  this.createFieldVectors()\n  this.createTokenSet()\n\n  return new lunr.Index({\n    invertedIndex: this.invertedIndex,\n    fieldVectors: this.fieldVectors,\n    tokenSet: this.tokenSet,\n    fields: Object.keys(this._fields),\n    pipeline: this.searchPipeline\n  })\n}\n\n/**\n * Applies a plugin to the index builder.\n *\n * A plugin is a function that is called with the index builder as its context.\n * Plugins can be used to customise or extend the behaviour of the index\n * in some way. A plugin is just a function, that encapsulated the custom\n * behaviour that should be applied when building the index.\n *\n * The plugin function will be called with the index builder as its argument, additional\n * arguments can also be passed when calling use. The function will be called\n * with the index builder as its context.\n *\n * @param {Function} plugin The plugin to apply.\n */\nlunr.Builder.prototype.use = function (fn) {\n  var args = Array.prototype.slice.call(arguments, 1)\n  args.unshift(this)\n  fn.apply(this, args)\n}\n/**\n * Contains and collects metadata about a matching document.\n * A single instance of lunr.MatchData is returned as part of every\n * lunr.Index~Result.\n *\n * @constructor\n * @param {string} term - The term this match data is associated with\n * @param {string} field - The field in which the term was found\n * @param {object} metadata - The metadata recorded about this term in this field\n * @property {object} metadata - A cloned collection of metadata associated with this document.\n * @see {@link lunr.Index~Result}\n */\nlunr.MatchData = function (term, field, metadata) {\n  var clonedMetadata = Object.create(null),\n      metadataKeys = Object.keys(metadata || {})\n\n  // Cloning the metadata to prevent the original\n  // being mutated during match data combination.\n  // Metadata is kept in an array within the inverted\n  // index so cloning the data can be done with\n  // Array#slice\n  for (var i = 0; i < metadataKeys.length; i++) {\n    var key = metadataKeys[i]\n    clonedMetadata[key] = metadata[key].slice()\n  }\n\n  this.metadata = Object.create(null)\n\n  if (term !== undefined) {\n    this.metadata[term] = Object.create(null)\n    this.metadata[term][field] = clonedMetadata\n  }\n}\n\n/**\n * An instance of lunr.MatchData will be created for every term that matches a\n * document. However only one instance is required in a lunr.Index~Result. This\n * method combines metadata from another instance of lunr.MatchData with this\n * objects metadata.\n *\n * @param {lunr.MatchData} otherMatchData - Another instance of match data to merge with this one.\n * @see {@link lunr.Index~Result}\n */\nlunr.MatchData.prototype.combine = function (otherMatchData) {\n  var terms = Object.keys(otherMatchData.metadata)\n\n  for (var i = 0; i < terms.length; i++) {\n    var term = terms[i],\n        fields = Object.keys(otherMatchData.metadata[term])\n\n    if (this.metadata[term] == undefined) {\n      this.metadata[term] = Object.create(null)\n    }\n\n    for (var j = 0; j < fields.length; j++) {\n      var field = fields[j],\n          keys = Object.keys(otherMatchData.metadata[term][field])\n\n      if (this.metadata[term][field] == undefined) {\n        this.metadata[term][field] = Object.create(null)\n      }\n\n      for (var k = 0; k < keys.length; k++) {\n        var key = keys[k]\n\n        if (this.metadata[term][field][key] == undefined) {\n          this.metadata[term][field][key] = otherMatchData.metadata[term][field][key]\n        } else {\n          this.metadata[term][field][key] = this.metadata[term][field][key].concat(otherMatchData.metadata[term][field][key])\n        }\n\n      }\n    }\n  }\n}\n\n/**\n * Add metadata for a term/field pair to this instance of match data.\n *\n * @param {string} term - The term this match data is associated with\n * @param {string} field - The field in which the term was found\n * @param {object} metadata - The metadata recorded about this term in this field\n */\nlunr.MatchData.prototype.add = function (term, field, metadata) {\n  if (!(term in this.metadata)) {\n    this.metadata[term] = Object.create(null)\n    this.metadata[term][field] = metadata\n    return\n  }\n\n  if (!(field in this.metadata[term])) {\n    this.metadata[term][field] = metadata\n    return\n  }\n\n  var metadataKeys = Object.keys(metadata)\n\n  for (var i = 0; i < metadataKeys.length; i++) {\n    var key = metadataKeys[i]\n\n    if (key in this.metadata[term][field]) {\n      this.metadata[term][field][key] = this.metadata[term][field][key].concat(metadata[key])\n    } else {\n      this.metadata[term][field][key] = metadata[key]\n    }\n  }\n}\n/**\n * A lunr.Query provides a programmatic way of defining queries to be performed\n * against a {@link lunr.Index}.\n *\n * Prefer constructing a lunr.Query using the {@link lunr.Index#query} method\n * so the query object is pre-initialized with the right index fields.\n *\n * @constructor\n * @property {lunr.Query~Clause[]} clauses - An array of query clauses.\n * @property {string[]} allFields - An array of all available fields in a lunr.Index.\n */\nlunr.Query = function (allFields) {\n  this.clauses = []\n  this.allFields = allFields\n}\n\n/**\n * Constants for indicating what kind of automatic wildcard insertion will be used when constructing a query clause.\n *\n * This allows wildcards to be added to the beginning and end of a term without having to manually do any string\n * concatenation.\n *\n * The wildcard constants can be bitwise combined to select both leading and trailing wildcards.\n *\n * @constant\n * @default\n * @property {number} wildcard.NONE - The term will have no wildcards inserted, this is the default behaviour\n * @property {number} wildcard.LEADING - Prepend the term with a wildcard, unless a leading wildcard already exists\n * @property {number} wildcard.TRAILING - Append a wildcard to the term, unless a trailing wildcard already exists\n * @see lunr.Query~Clause\n * @see lunr.Query#clause\n * @see lunr.Query#term\n * @example <caption>query term with trailing wildcard</caption>\n * query.term('foo', { wildcard: lunr.Query.wildcard.TRAILING })\n * @example <caption>query term with leading and trailing wildcard</caption>\n * query.term('foo', {\n *   wildcard: lunr.Query.wildcard.LEADING | lunr.Query.wildcard.TRAILING\n * })\n */\n\nlunr.Query.wildcard = new String (\"*\")\nlunr.Query.wildcard.NONE = 0\nlunr.Query.wildcard.LEADING = 1\nlunr.Query.wildcard.TRAILING = 2\n\n/**\n * Constants for indicating what kind of presence a term must have in matching documents.\n *\n * @constant\n * @enum {number}\n * @see lunr.Query~Clause\n * @see lunr.Query#clause\n * @see lunr.Query#term\n * @example <caption>query term with required presence</caption>\n * query.term('foo', { presence: lunr.Query.presence.REQUIRED })\n */\nlunr.Query.presence = {\n  /**\n   * Term's presence in a document is optional, this is the default value.\n   */\n  OPTIONAL: 1,\n\n  /**\n   * Term's presence in a document is required, documents that do not contain\n   * this term will not be returned.\n   */\n  REQUIRED: 2,\n\n  /**\n   * Term's presence in a document is prohibited, documents that do contain\n   * this term will not be returned.\n   */\n  PROHIBITED: 3\n}\n\n/**\n * A single clause in a {@link lunr.Query} contains a term and details on how to\n * match that term against a {@link lunr.Index}.\n *\n * @typedef {Object} lunr.Query~Clause\n * @property {string[]} fields - The fields in an index this clause should be matched against.\n * @property {number} [boost=1] - Any boost that should be applied when matching this clause.\n * @property {number} [editDistance] - Whether the term should have fuzzy matching applied, and how fuzzy the match should be.\n * @property {boolean} [usePipeline] - Whether the term should be passed through the search pipeline.\n * @property {number} [wildcard=lunr.Query.wildcard.NONE] - Whether the term should have wildcards appended or prepended.\n * @property {number} [presence=lunr.Query.presence.OPTIONAL] - The terms presence in any matching documents.\n */\n\n/**\n * Adds a {@link lunr.Query~Clause} to this query.\n *\n * Unless the clause contains the fields to be matched all fields will be matched. In addition\n * a default boost of 1 is applied to the clause.\n *\n * @param {lunr.Query~Clause} clause - The clause to add to this query.\n * @see lunr.Query~Clause\n * @returns {lunr.Query}\n */\nlunr.Query.prototype.clause = function (clause) {\n  if (!('fields' in clause)) {\n    clause.fields = this.allFields\n  }\n\n  if (!('boost' in clause)) {\n    clause.boost = 1\n  }\n\n  if (!('usePipeline' in clause)) {\n    clause.usePipeline = true\n  }\n\n  if (!('wildcard' in clause)) {\n    clause.wildcard = lunr.Query.wildcard.NONE\n  }\n\n  if ((clause.wildcard & lunr.Query.wildcard.LEADING) && (clause.term.charAt(0) != lunr.Query.wildcard)) {\n    clause.term = \"*\" + clause.term\n  }\n\n  if ((clause.wildcard & lunr.Query.wildcard.TRAILING) && (clause.term.slice(-1) != lunr.Query.wildcard)) {\n    clause.term = \"\" + clause.term + \"*\"\n  }\n\n  if (!('presence' in clause)) {\n    clause.presence = lunr.Query.presence.OPTIONAL\n  }\n\n  this.clauses.push(clause)\n\n  return this\n}\n\n/**\n * A negated query is one in which every clause has a presence of\n * prohibited. These queries require some special processing to return\n * the expected results.\n *\n * @returns boolean\n */\nlunr.Query.prototype.isNegated = function () {\n  for (var i = 0; i < this.clauses.length; i++) {\n    if (this.clauses[i].presence != lunr.Query.presence.PROHIBITED) {\n      return false\n    }\n  }\n\n  return true\n}\n\n/**\n * Adds a term to the current query, under the covers this will create a {@link lunr.Query~Clause}\n * to the list of clauses that make up this query.\n *\n * The term is used as is, i.e. no tokenization will be performed by this method. Instead conversion\n * to a token or token-like string should be done before calling this method.\n *\n * The term will be converted to a string by calling `toString`. Multiple terms can be passed as an\n * array, each term in the array will share the same options.\n *\n * @param {object|object[]} term - The term(s) to add to the query.\n * @param {object} [options] - Any additional properties to add to the query clause.\n * @returns {lunr.Query}\n * @see lunr.Query#clause\n * @see lunr.Query~Clause\n * @example <caption>adding a single term to a query</caption>\n * query.term(\"foo\")\n * @example <caption>adding a single term to a query and specifying search fields, term boost and automatic trailing wildcard</caption>\n * query.term(\"foo\", {\n *   fields: [\"title\"],\n *   boost: 10,\n *   wildcard: lunr.Query.wildcard.TRAILING\n * })\n * @example <caption>using lunr.tokenizer to convert a string to tokens before using them as terms</caption>\n * query.term(lunr.tokenizer(\"foo bar\"))\n */\nlunr.Query.prototype.term = function (term, options) {\n  if (Array.isArray(term)) {\n    term.forEach(function (t) { this.term(t, lunr.utils.clone(options)) }, this)\n    return this\n  }\n\n  var clause = options || {}\n  clause.term = term.toString()\n\n  this.clause(clause)\n\n  return this\n}\nlunr.QueryParseError = function (message, start, end) {\n  this.name = \"QueryParseError\"\n  this.message = message\n  this.start = start\n  this.end = end\n}\n\nlunr.QueryParseError.prototype = new Error\nlunr.QueryLexer = function (str) {\n  this.lexemes = []\n  this.str = str\n  this.length = str.length\n  this.pos = 0\n  this.start = 0\n  this.escapeCharPositions = []\n}\n\nlunr.QueryLexer.prototype.run = function () {\n  var state = lunr.QueryLexer.lexText\n\n  while (state) {\n    state = state(this)\n  }\n}\n\nlunr.QueryLexer.prototype.sliceString = function () {\n  var subSlices = [],\n      sliceStart = this.start,\n      sliceEnd = this.pos\n\n  for (var i = 0; i < this.escapeCharPositions.length; i++) {\n    sliceEnd = this.escapeCharPositions[i]\n    subSlices.push(this.str.slice(sliceStart, sliceEnd))\n    sliceStart = sliceEnd + 1\n  }\n\n  subSlices.push(this.str.slice(sliceStart, this.pos))\n  this.escapeCharPositions.length = 0\n\n  return subSlices.join('')\n}\n\nlunr.QueryLexer.prototype.emit = function (type) {\n  this.lexemes.push({\n    type: type,\n    str: this.sliceString(),\n    start: this.start,\n    end: this.pos\n  })\n\n  this.start = this.pos\n}\n\nlunr.QueryLexer.prototype.escapeCharacter = function () {\n  this.escapeCharPositions.push(this.pos - 1)\n  this.pos += 1\n}\n\nlunr.QueryLexer.prototype.next = function () {\n  if (this.pos >= this.length) {\n    return lunr.QueryLexer.EOS\n  }\n\n  var char = this.str.charAt(this.pos)\n  this.pos += 1\n  return char\n}\n\nlunr.QueryLexer.prototype.width = function () {\n  return this.pos - this.start\n}\n\nlunr.QueryLexer.prototype.ignore = function () {\n  if (this.start == this.pos) {\n    this.pos += 1\n  }\n\n  this.start = this.pos\n}\n\nlunr.QueryLexer.prototype.backup = function () {\n  this.pos -= 1\n}\n\nlunr.QueryLexer.prototype.acceptDigitRun = function () {\n  var char, charCode\n\n  do {\n    char = this.next()\n    charCode = char.charCodeAt(0)\n  } while (charCode > 47 && charCode < 58)\n\n  if (char != lunr.QueryLexer.EOS) {\n    this.backup()\n  }\n}\n\nlunr.QueryLexer.prototype.more = function () {\n  return this.pos < this.length\n}\n\nlunr.QueryLexer.EOS = 'EOS'\nlunr.QueryLexer.FIELD = 'FIELD'\nlunr.QueryLexer.TERM = 'TERM'\nlunr.QueryLexer.EDIT_DISTANCE = 'EDIT_DISTANCE'\nlunr.QueryLexer.BOOST = 'BOOST'\nlunr.QueryLexer.PRESENCE = 'PRESENCE'\n\nlunr.QueryLexer.lexField = function (lexer) {\n  lexer.backup()\n  lexer.emit(lunr.QueryLexer.FIELD)\n  lexer.ignore()\n  return lunr.QueryLexer.lexText\n}\n\nlunr.QueryLexer.lexTerm = function (lexer) {\n  if (lexer.width() > 1) {\n    lexer.backup()\n    lexer.emit(lunr.QueryLexer.TERM)\n  }\n\n  lexer.ignore()\n\n  if (lexer.more()) {\n    return lunr.QueryLexer.lexText\n  }\n}\n\nlunr.QueryLexer.lexEditDistance = function (lexer) {\n  lexer.ignore()\n  lexer.acceptDigitRun()\n  lexer.emit(lunr.QueryLexer.EDIT_DISTANCE)\n  return lunr.QueryLexer.lexText\n}\n\nlunr.QueryLexer.lexBoost = function (lexer) {\n  lexer.ignore()\n  lexer.acceptDigitRun()\n  lexer.emit(lunr.QueryLexer.BOOST)\n  return lunr.QueryLexer.lexText\n}\n\nlunr.QueryLexer.lexEOS = function (lexer) {\n  if (lexer.width() > 0) {\n    lexer.emit(lunr.QueryLexer.TERM)\n  }\n}\n\n// This matches the separator used when tokenising fields\n// within a document. These should match otherwise it is\n// not possible to search for some tokens within a document.\n//\n// It is possible for the user to change the separator on the\n// tokenizer so it _might_ clash with any other of the special\n// characters already used within the search string, e.g. :.\n//\n// This means that it is possible to change the separator in\n// such a way that makes some words unsearchable using a search\n// string.\nlunr.QueryLexer.termSeparator = lunr.tokenizer.separator\n\nlunr.QueryLexer.lexText = function (lexer) {\n  while (true) {\n    var char = lexer.next()\n\n    if (char == lunr.QueryLexer.EOS) {\n      return lunr.QueryLexer.lexEOS\n    }\n\n    // Escape character is '\\'\n    if (char.charCodeAt(0) == 92) {\n      lexer.escapeCharacter()\n      continue\n    }\n\n    if (char == \":\") {\n      return lunr.QueryLexer.lexField\n    }\n\n    if (char == \"~\") {\n      lexer.backup()\n      if (lexer.width() > 0) {\n        lexer.emit(lunr.QueryLexer.TERM)\n      }\n      return lunr.QueryLexer.lexEditDistance\n    }\n\n    if (char == \"^\") {\n      lexer.backup()\n      if (lexer.width() > 0) {\n        lexer.emit(lunr.QueryLexer.TERM)\n      }\n      return lunr.QueryLexer.lexBoost\n    }\n\n    // \"+\" indicates term presence is required\n    // checking for length to ensure that only\n    // leading \"+\" are considered\n    if (char == \"+\" && lexer.width() === 1) {\n      lexer.emit(lunr.QueryLexer.PRESENCE)\n      return lunr.QueryLexer.lexText\n    }\n\n    // \"-\" indicates term presence is prohibited\n    // checking for length to ensure that only\n    // leading \"-\" are considered\n    if (char == \"-\" && lexer.width() === 1) {\n      lexer.emit(lunr.QueryLexer.PRESENCE)\n      return lunr.QueryLexer.lexText\n    }\n\n    if (char.match(lunr.QueryLexer.termSeparator)) {\n      return lunr.QueryLexer.lexTerm\n    }\n  }\n}\n\nlunr.QueryParser = function (str, query) {\n  this.lexer = new lunr.QueryLexer (str)\n  this.query = query\n  this.currentClause = {}\n  this.lexemeIdx = 0\n}\n\nlunr.QueryParser.prototype.parse = function () {\n  this.lexer.run()\n  this.lexemes = this.lexer.lexemes\n\n  var state = lunr.QueryParser.parseClause\n\n  while (state) {\n    state = state(this)\n  }\n\n  return this.query\n}\n\nlunr.QueryParser.prototype.peekLexeme = function () {\n  return this.lexemes[this.lexemeIdx]\n}\n\nlunr.QueryParser.prototype.consumeLexeme = function () {\n  var lexeme = this.peekLexeme()\n  this.lexemeIdx += 1\n  return lexeme\n}\n\nlunr.QueryParser.prototype.nextClause = function () {\n  var completedClause = this.currentClause\n  this.query.clause(completedClause)\n  this.currentClause = {}\n}\n\nlunr.QueryParser.parseClause = function (parser) {\n  var lexeme = parser.peekLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  switch (lexeme.type) {\n    case lunr.QueryLexer.PRESENCE:\n      return lunr.QueryParser.parsePresence\n    case lunr.QueryLexer.FIELD:\n      return lunr.QueryParser.parseField\n    case lunr.QueryLexer.TERM:\n      return lunr.QueryParser.parseTerm\n    default:\n      var errorMessage = \"expected either a field or a term, found \" + lexeme.type\n\n      if (lexeme.str.length >= 1) {\n        errorMessage += \" with value '\" + lexeme.str + \"'\"\n      }\n\n      throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n}\n\nlunr.QueryParser.parsePresence = function (parser) {\n  var lexeme = parser.consumeLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  switch (lexeme.str) {\n    case \"-\":\n      parser.currentClause.presence = lunr.Query.presence.PROHIBITED\n      break\n    case \"+\":\n      parser.currentClause.presence = lunr.Query.presence.REQUIRED\n      break\n    default:\n      var errorMessage = \"unrecognised presence operator'\" + lexeme.str + \"'\"\n      throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  var nextLexeme = parser.peekLexeme()\n\n  if (nextLexeme == undefined) {\n    var errorMessage = \"expecting term or field, found nothing\"\n    throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  switch (nextLexeme.type) {\n    case lunr.QueryLexer.FIELD:\n      return lunr.QueryParser.parseField\n    case lunr.QueryLexer.TERM:\n      return lunr.QueryParser.parseTerm\n    default:\n      var errorMessage = \"expecting term or field, found '\" + nextLexeme.type + \"'\"\n      throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end)\n  }\n}\n\nlunr.QueryParser.parseField = function (parser) {\n  var lexeme = parser.consumeLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  if (parser.query.allFields.indexOf(lexeme.str) == -1) {\n    var possibleFields = parser.query.allFields.map(function (f) { return \"'\" + f + \"'\" }).join(', '),\n        errorMessage = \"unrecognised field '\" + lexeme.str + \"', possible fields: \" + possibleFields\n\n    throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  parser.currentClause.fields = [lexeme.str]\n\n  var nextLexeme = parser.peekLexeme()\n\n  if (nextLexeme == undefined) {\n    var errorMessage = \"expecting term, found nothing\"\n    throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  switch (nextLexeme.type) {\n    case lunr.QueryLexer.TERM:\n      return lunr.QueryParser.parseTerm\n    default:\n      var errorMessage = \"expecting term, found '\" + nextLexeme.type + \"'\"\n      throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end)\n  }\n}\n\nlunr.QueryParser.parseTerm = function (parser) {\n  var lexeme = parser.consumeLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  parser.currentClause.term = lexeme.str.toLowerCase()\n\n  if (lexeme.str.indexOf(\"*\") != -1) {\n    parser.currentClause.usePipeline = false\n  }\n\n  var nextLexeme = parser.peekLexeme()\n\n  if (nextLexeme == undefined) {\n    parser.nextClause()\n    return\n  }\n\n  switch (nextLexeme.type) {\n    case lunr.QueryLexer.TERM:\n      parser.nextClause()\n      return lunr.QueryParser.parseTerm\n    case lunr.QueryLexer.FIELD:\n      parser.nextClause()\n      return lunr.QueryParser.parseField\n    case lunr.QueryLexer.EDIT_DISTANCE:\n      return lunr.QueryParser.parseEditDistance\n    case lunr.QueryLexer.BOOST:\n      return lunr.QueryParser.parseBoost\n    case lunr.QueryLexer.PRESENCE:\n      parser.nextClause()\n      return lunr.QueryParser.parsePresence\n    default:\n      var errorMessage = \"Unexpected lexeme type '\" + nextLexeme.type + \"'\"\n      throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end)\n  }\n}\n\nlunr.QueryParser.parseEditDistance = function (parser) {\n  var lexeme = parser.consumeLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  var editDistance = parseInt(lexeme.str, 10)\n\n  if (isNaN(editDistance)) {\n    var errorMessage = \"edit distance must be numeric\"\n    throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  parser.currentClause.editDistance = editDistance\n\n  var nextLexeme = parser.peekLexeme()\n\n  if (nextLexeme == undefined) {\n    parser.nextClause()\n    return\n  }\n\n  switch (nextLexeme.type) {\n    case lunr.QueryLexer.TERM:\n      parser.nextClause()\n      return lunr.QueryParser.parseTerm\n    case lunr.QueryLexer.FIELD:\n      parser.nextClause()\n      return lunr.QueryParser.parseField\n    case lunr.QueryLexer.EDIT_DISTANCE:\n      return lunr.QueryParser.parseEditDistance\n    case lunr.QueryLexer.BOOST:\n      return lunr.QueryParser.parseBoost\n    case lunr.QueryLexer.PRESENCE:\n      parser.nextClause()\n      return lunr.QueryParser.parsePresence\n    default:\n      var errorMessage = \"Unexpected lexeme type '\" + nextLexeme.type + \"'\"\n      throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end)\n  }\n}\n\nlunr.QueryParser.parseBoost = function (parser) {\n  var lexeme = parser.consumeLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  var boost = parseInt(lexeme.str, 10)\n\n  if (isNaN(boost)) {\n    var errorMessage = \"boost must be numeric\"\n    throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  parser.currentClause.boost = boost\n\n  var nextLexeme = parser.peekLexeme()\n\n  if (nextLexeme == undefined) {\n    parser.nextClause()\n    return\n  }\n\n  switch (nextLexeme.type) {\n    case lunr.QueryLexer.TERM:\n      parser.nextClause()\n      return lunr.QueryParser.parseTerm\n    case lunr.QueryLexer.FIELD:\n      parser.nextClause()\n      return lunr.QueryParser.parseField\n    case lunr.QueryLexer.EDIT_DISTANCE:\n      return lunr.QueryParser.parseEditDistance\n    case lunr.QueryLexer.BOOST:\n      return lunr.QueryParser.parseBoost\n    case lunr.QueryLexer.PRESENCE:\n      parser.nextClause()\n      return lunr.QueryParser.parsePresence\n    default:\n      var errorMessage = \"Unexpected lexeme type '\" + nextLexeme.type + \"'\"\n      throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end)\n  }\n}\n\n  /**\n   * export the module via AMD, CommonJS or as a browser global\n   * Export code from https://github.com/umdjs/umd/blob/master/returnExports.js\n   */\n  ;(function (root, factory) {\n    if (typeof define === 'function' && define.amd) {\n      // AMD. Register as an anonymous module.\n      define(factory)\n    } else if (typeof exports === 'object') {\n      /**\n       * Node. Does not work with strict CommonJS, but\n       * only CommonJS-like enviroments that support module.exports,\n       * like Node.\n       */\n      module.exports = factory()\n    } else {\n      // Browser globals (root is window)\n      root.lunr = factory()\n    }\n  }(this, function () {\n    /**\n     * Just return a value to define the module export.\n     * This example returns an object, but the module\n     * can return a function as the exported value.\n     */\n    return lunr\n  }))\n})();\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A RTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport lunr from \"lunr\"\n\nimport { getElement } from \"~/browser/element/_\"\nimport \"~/polyfills\"\n\nimport { Search } from \"../../_\"\nimport { SearchConfig } from \"../../config\"\nimport {\n  SearchMessage,\n  SearchMessageType\n} from \"../message\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Add support for `iframe-worker` shim\n *\n * While `importScripts` is synchronous when executed inside of a web worker,\n * it's not possible to provide a synchronous shim implementation. The cool\n * thing is that awaiting a non-Promise will convert it into a Promise, so\n * extending the type definition to return a `Promise` shouldn't break anything.\n *\n * @see https://bit.ly/2PjDnXi - GitHub comment\n *\n * @param urls - Scripts to load\n *\n * @returns Promise resolving with no result\n */\ndeclare global {\n  function importScripts(...urls: string[]): Promise<void> | void\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Search index\n */\nlet index: Search\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch (= import) multi-language support through `lunr-languages`\n *\n * This function automatically imports the stemmers necessary to process the\n * languages which are defined as part of the search configuration.\n *\n * If the worker runs inside of an `iframe` (when using `iframe-worker` as\n * a shim), the base URL for the stemmers to be loaded must be determined by\n * searching for the first `script` element with a `src` attribute, which will\n * contain the contents of this script.\n *\n * @param config - Search configuration\n *\n * @returns Promise resolving with no result\n */\nasync function setupSearchLanguages(\n  config: SearchConfig\n): Promise<void> {\n  let base = \"../lunr\"\n\n  /* Detect `iframe-worker` and fix base URL */\n  if (typeof parent !== \"undefined\" && \"IFrameWorker\" in parent) {\n    const worker = getElement<HTMLScriptElement>(\"script[src]\")!\n    const [path] = worker.src.split(\"/worker\")\n\n    /* Prefix base with path */\n    base = base.replace(\"..\", path)\n  }\n\n  /* Add scripts for languages */\n  const scripts = []\n  for (const lang of config.lang) {\n    switch (lang) {\n\n      /* Add segmenter for Japanese */\n      case \"ja\":\n        scripts.push(`${base}/tinyseg.js`)\n        break\n\n      /* Add segmenter for Hindi and Thai */\n      case \"hi\":\n      case \"th\":\n        scripts.push(`${base}/wordcut.js`)\n        break\n    }\n\n    /* Add language support */\n    if (lang !== \"en\")\n      scripts.push(`${base}/min/lunr.${lang}.min.js`)\n  }\n\n  /* Add multi-language support */\n  if (config.lang.length > 1)\n    scripts.push(`${base}/min/lunr.multi.min.js`)\n\n  /* Load scripts synchronously */\n  if (scripts.length)\n    await importScripts(\n      `${base}/min/lunr.stemmer.support.min.js`,\n      ...scripts\n    )\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Message handler\n *\n * @param message - Source message\n *\n * @returns Target message\n */\nexport async function handler(\n  message: SearchMessage\n): Promise<SearchMessage> {\n  switch (message.type) {\n\n    /* Search setup message */\n    case SearchMessageType.SETUP:\n      await setupSearchLanguages(message.data.config)\n      index = new Search(message.data)\n      return {\n        type: SearchMessageType.READY\n      }\n\n    /* Search query message */\n    case SearchMessageType.QUERY:\n      const query = message.data\n      try {\n        return {\n          type: SearchMessageType.RESULT,\n          data: index.search(query)\n        }\n\n      /* Return empty result in case of error */\n      } catch (err) {\n        console.warn(`Invalid query: ${query} \u2013 see https://bit.ly/2s3ChXG`)\n        console.warn(err)\n        return {\n          type: SearchMessageType.RESULT,\n          data: { items: [] }\n        }\n      }\n\n    /* All other messages */\n    default:\n      throw new TypeError(\"Invalid message type\")\n  }\n}\n\n/* ----------------------------------------------------------------------------\n * Worker\n * ------------------------------------------------------------------------- */\n\n/* Expose Lunr.js in global scope, or stemmers won't work */\nself.lunr = lunr\n\n/* Handle messages */\naddEventListener(\"message\", async ev => {\n  postMessage(await handler(ev.data))\n})\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve all elements matching the query selector\n *\n * @template T - Element type\n *\n * @param selector - Query selector\n * @param node - Node of reference\n *\n * @returns Elements\n */\nexport function getElements<T extends keyof HTMLElementTagNameMap>(\n  selector: T, node?: ParentNode\n): HTMLElementTagNameMap[T][]\n\nexport function getElements<T extends HTMLElement>(\n  selector: string, node?: ParentNode\n): T[]\n\nexport function getElements<T extends HTMLElement>(\n  selector: string, node: ParentNode = document\n): T[] {\n  return Array.from(node.querySelectorAll<T>(selector))\n}\n\n/**\n * Retrieve an element matching a query selector or throw a reference error\n *\n * Note that this function assumes that the element is present. If unsure if an\n * element is existent, use the `getOptionalElement` function instead.\n *\n * @template T - Element type\n *\n * @param selector - Query selector\n * @param node - Node of reference\n *\n * @returns Element\n */\nexport function getElement<T extends keyof HTMLElementTagNameMap>(\n  selector: T, node?: ParentNode\n): HTMLElementTagNameMap[T]\n\nexport function getElement<T extends HTMLElement>(\n  selector: string, node?: ParentNode\n): T\n\nexport function getElement<T extends HTMLElement>(\n  selector: string, node: ParentNode = document\n): T {\n  const el = getOptionalElement<T>(selector, node)\n  if (typeof el === \"undefined\")\n    throw new ReferenceError(\n      `Missing element: expected \"${selector}\" to be present`\n    )\n\n  /* Return element */\n  return el\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Retrieve an optional element matching the query selector\n *\n * @template T - Element type\n *\n * @param selector - Query selector\n * @param node - Node of reference\n *\n * @returns Element or nothing\n */\nexport function getOptionalElement<T extends keyof HTMLElementTagNameMap>(\n  selector: T, node?: ParentNode\n): HTMLElementTagNameMap[T] | undefined\n\nexport function getOptionalElement<T extends HTMLElement>(\n  selector: string, node?: ParentNode\n): T | undefined\n\nexport function getOptionalElement<T extends HTMLElement>(\n  selector: string, node: ParentNode = document\n): T | undefined {\n  return node.querySelector<T>(selector) || undefined\n}\n\n/**\n * Retrieve the currently active element\n *\n * @returns Element or nothing\n */\nexport function getActiveElement(): HTMLElement | undefined {\n  return (\n    document.activeElement?.shadowRoot?.activeElement as HTMLElement ??\n    document.activeElement as HTMLElement ??\n    undefined\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Polyfills\n * ------------------------------------------------------------------------- */\n\n/* Polyfill `Object.entries` */\nif (!Object.entries)\n  Object.entries = function (obj: object) {\n    const data: [string, string][] = []\n    for (const key of Object.keys(obj))\n      // @ts-expect-error - ignore property access warning\n      data.push([key, obj[key]])\n\n    /* Return entries */\n    return data\n  }\n\n/* Polyfill `Object.values` */\nif (!Object.values)\n  Object.values = function (obj: object) {\n    const data: string[] = []\n    for (const key of Object.keys(obj))\n      // @ts-expect-error - ignore property access warning\n      data.push(obj[key])\n\n    /* Return values */\n    return data\n  }\n\n/* ------------------------------------------------------------------------- */\n\n/* Polyfills for `Element` */\nif (typeof Element !== \"undefined\") {\n\n  /* Polyfill `Element.scrollTo` */\n  if (!Element.prototype.scrollTo)\n    Element.prototype.scrollTo = function (\n      x?: ScrollToOptions | number, y?: number\n    ): void {\n      if (typeof x === \"object\") {\n        this.scrollLeft = x.left!\n        this.scrollTop = x.top!\n      } else {\n        this.scrollLeft = x!\n        this.scrollTop = y!\n      }\n    }\n\n  /* Polyfill `Element.replaceWith` */\n  if (!Element.prototype.replaceWith)\n    Element.prototype.replaceWith = function (\n      ...nodes: Array<string | Node>\n    ): void {\n      const parent = this.parentNode\n      if (parent) {\n        if (nodes.length === 0)\n          parent.removeChild(this)\n\n        /* Replace children and create text nodes */\n        for (let i = nodes.length - 1; i >= 0; i--) {\n          let node = nodes[i]\n          if (typeof node === \"string\")\n            node = document.createTextNode(node)\n          else if (node.parentNode)\n            node.parentNode.removeChild(node)\n\n          /* Replace child or insert before previous sibling */\n          if (!i)\n            parent.replaceChild(node, this)\n          else\n            parent.insertBefore(this.previousSibling!, node)\n        }\n      }\n    }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search configuration\n */\nexport interface SearchConfig {\n  lang: string[]                       /* Search languages */\n  separator: string                    /* Search separator */\n  pipeline: SearchPipelineFn[]         /* Search pipeline */\n}\n\n/**\n * Search document\n */\nexport interface SearchDocument {\n  location: string                     /* Document location */\n  title: string                        /* Document title */\n  text: string                         /* Document text */\n  tags?: string[]                      /* Document tags */\n  boost?: number                       /* Document boost */\n  parent?: SearchDocument              /* Document parent */\n}\n\n/**\n * Search options\n */\nexport interface SearchOptions {\n  suggest: boolean                     /* Search suggestions */\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Search index\n */\nexport interface SearchIndex {\n  config: SearchConfig                 /* Search configuration */\n  docs: SearchDocument[]               /* Search documents */\n  options: SearchOptions               /* Search options */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search pipeline function\n */\ntype SearchPipelineFn =\n  | \"trimmer\"                          /* Trimmer */\n  | \"stopWordFilter\"                   /* Stop word filter */\n  | \"stemmer\"                          /* Stemmer */\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Create a search document map\n *\n * This function creates a mapping of URLs (including anchors) to the actual\n * articles and sections. It relies on the invariant that the search index is\n * ordered with the main article appearing before all sections with anchors.\n * If this is not the case, the logic music be changed.\n *\n * @param docs - Search documents\n *\n * @returns Search document map\n */\nexport function setupSearchDocumentMap(\n  docs: SearchDocument[]\n): Map<string, SearchDocument> {\n  const map = new Map<string, SearchDocument>()\n  for (const doc of docs) {\n    const [path] = doc.location.split(\"#\")\n\n    /* Add document article */\n    const article = map.get(path)\n    if (typeof article === \"undefined\") {\n      map.set(path, doc)\n\n      /* Add document section */\n    } else {\n      map.set(doc.location, doc)\n      doc.parent = article\n    }\n  }\n\n  /* Return search document map */\n  return map\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Visitor function\n *\n * @param start - Start offset\n * @param end - End offset\n */\ntype VisitorFn = (\n  start: number, end: number\n) => void\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Split a string using the given separator\n *\n * @param input - Input value\n * @param separator - Separator\n * @param fn - Visitor function\n */\nexport function split(\n  input: string, separator: RegExp, fn: VisitorFn\n): void {\n  separator = new RegExp(separator, \"g\")\n\n  /* Split string using separator */\n  let match: RegExpExecArray | null\n  let index = 0\n  do {\n    match = separator.exec(input)\n\n    /* Emit non-empty range */\n    const until = match?.index ?? input.length\n    if (index < until)\n      fn(index, until)\n\n    /* Update last index */\n    if (match) {\n      const [term] = match\n      index = match.index + term.length\n\n      /* Support zero-length lookaheads */\n      if (term.length === 0)\n        separator.lastIndex = match.index + 1\n    }\n  } while (match)\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Extraction type\n *\n * This type defines the possible values that are encoded into the first two\n * bits of a section that is part of the blocks of a tokenization table. There\n * are three types of interest: HTML opening and closing tags, as well as the\n * actual text content we need to extract for indexing.\n */\nexport const enum Extract {\n  TAG_OPEN  = 0,                       /* HTML opening tag */\n  TEXT      = 1,                       /* Text content */\n  TAG_CLOSE = 2                        /* HTML closing tag */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Visitor function\n *\n * @param block - Block index\n * @param type - Extraction type\n * @param start - Start offset\n * @param end - End offset\n */\ntype VisitorFn = (\n  block: number, type: Extract, start: number, end: number\n) => void\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Split a string into markup and text sections\n *\n * This function scans a string and divides it up into sections of markup and\n * text. For each section, it invokes the given visitor function with the block\n * index, extraction type, as well as start and end offsets. Using a visitor\n * function (= streaming data) is ideal for minimizing pressure on the GC.\n *\n * @param input - Input value\n * @param fn - Visitor function\n */\nexport function extract(\n  input: string, fn: VisitorFn\n): void {\n\n  let block = 0                        /* Current block */\n  let start = 0                        /* Current start offset */\n  let end = 0                          /* Current end offset */\n\n  /* Split string into sections */\n  for (let stack = 0; end < input.length; end++) {\n\n    /* Opening tag after non-empty section */\n    if (input.charAt(end) === \"<\" && end > start) {\n      fn(block, Extract.TEXT, start, start = end)\n\n    /* Closing tag */\n    } else if (input.charAt(end) === \">\") {\n      if (input.charAt(start + 1) === \"/\") {\n        if (--stack === 0)\n          fn(block++, Extract.TAG_CLOSE, start, end + 1)\n\n      /* Tag is not self-closing */\n      } else if (input.charAt(end - 1) !== \"/\") {\n        if (stack++ === 0)\n          fn(block, Extract.TAG_OPEN, start, end + 1)\n      }\n\n      /* New section */\n      start = end + 1\n    }\n  }\n\n  /* Add trailing section */\n  if (end > start)\n    fn(block, Extract.TEXT, start, end)\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Position table\n */\nexport type PositionTable = number[][]\n\n/**\n * Position\n */\nexport type Position = number\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Highlight all occurrences in a string\n *\n * This function receives a field's value (e.g. like `title` or `text`), it's\n * position table that was generated during indexing, and the positions found\n * when executing the query. It then highlights all occurrences, and returns\n * their concatenation. In case of multiple blocks, two are returned.\n *\n * @param input - Input value\n * @param table - Table for indexing\n * @param positions - Occurrences\n * @param full - Full results\n *\n * @returns Highlighted string value\n */\nexport function highlight(\n  input: string, table: PositionTable, positions: Position[], full = false\n): string {\n  return highlightAll([input], table, positions, full).pop()!\n}\n\n/**\n * Highlight all occurrences in a set of strings\n *\n * @param inputs - Input values\n * @param table - Table for indexing\n * @param positions - Occurrences\n * @param full - Full results\n *\n * @returns Highlighted string values\n */\nexport function highlightAll(\n  inputs: string[], table: PositionTable, positions: Position[], full = false\n): string[] {\n\n  /* Map blocks to input values */\n  const mapping = [0]\n  for (let t = 1; t < table.length; t++) {\n    const prev = table[t - 1]\n    const next = table[t]\n\n    /* Check if table points to new block */\n    const p = prev[prev.length - 1] >>> 2 & 0x3FF\n    const q = next[0]               >>> 12\n\n    /* Add block to mapping */\n    mapping.push(+(p > q) + mapping[mapping.length - 1])\n  }\n\n  /* Highlight strings one after another */\n  return inputs.map((input, i) => {\n    let cursor = 0\n\n    /* Map occurrences to blocks */\n    const blocks = new Map<number, number[]>()\n    for (const p of positions.sort((a, b) => a - b)) {\n      const index = p & 0xFFFFF\n      const block = p >>> 20\n      if (mapping[block] !== i)\n        continue\n\n      /* Ensure presence of block group */\n      let group = blocks.get(block)\n      if (typeof group === \"undefined\")\n        blocks.set(block, group = [])\n\n      /* Add index to group */\n      group.push(index)\n    }\n\n    /* Just return string, if no occurrences */\n    if (blocks.size === 0)\n      return input\n\n    /* Compute slices */\n    const slices: string[] = []\n    for (const [block, indexes] of blocks) {\n      const t = table[block]\n\n      /* Extract positions and length */\n      const start  = t[0]            >>> 12\n      const end    = t[t.length - 1] >>> 12\n      const length = t[t.length - 1] >>> 2 & 0x3FF\n\n      /* Add prefix, if full results are desired */\n      if (full && start > cursor)\n        slices.push(input.slice(cursor, start))\n\n      /* Extract and highlight slice */\n      let slice = input.slice(start, end + length)\n      for (const j of indexes.sort((a, b) => b - a)) {\n\n        /* Retrieve offset and length of match */\n        const p = (t[j] >>> 12) - start\n        const q = (t[j] >>> 2 & 0x3FF) + p\n\n        /* Wrap occurrence */\n        slice = [\n          slice.slice(0, p),\n          \"<mark>\",\n          slice.slice(p, q),\n          \"</mark>\",\n          slice.slice(q)\n        ].join(\"\")\n      }\n\n      /* Update cursor */\n      cursor = end + length\n\n      /* Append slice and abort if we have two */\n      if (slices.push(slice) === 2)\n        break\n    }\n\n    /* Add suffix, if full results are desired */\n    if (full && cursor < input.length)\n      slices.push(input.slice(cursor))\n\n    /* Return highlighted slices */\n    return slices.join(\"\")\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { split } from \"../_\"\nimport {\n  Extract,\n  extract\n} from \"../extract\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Split a string or set of strings into tokens\n *\n * This tokenizer supersedes the default tokenizer that is provided by Lunr.js,\n * as it is aware of HTML tags and allows for multi-character splitting.\n *\n * It takes the given inputs, splits each of them into markup and text sections,\n * tokenizes and segments (if necessary) each of them, and then indexes them in\n * a table by using a compact bit representation. Bitwise techniques are used\n * to write and read from the table during indexing and querying.\n *\n * @see https://bit.ly/3W3Xw4J - Search: better, faster, smaller\n *\n * @param input - Input value(s)\n *\n * @returns Tokens\n */\nexport function tokenize(\n  input?: string | string[]\n): lunr.Token[] {\n  const tokens: lunr.Token[] = []\n  if (typeof input === \"undefined\")\n    return tokens\n\n  /* Tokenize strings one after another */\n  const inputs = Array.isArray(input) ? input : [input]\n  for (let i = 0; i < inputs.length; i++) {\n    const table = lunr.tokenizer.table\n    const total = table.length\n\n    /* Split string into sections and tokenize content blocks */\n    extract(inputs[i], (block, type, start, end) => {\n      table[block += total] ||= []\n      switch (type) {\n\n        /* Handle markup */\n        case Extract.TAG_OPEN:\n        case Extract.TAG_CLOSE:\n          table[block].push(\n            start       << 12 |\n            end - start <<  2 |\n            type\n          )\n          break\n\n        /* Handle text content */\n        case Extract.TEXT:\n          const section = inputs[i].slice(start, end)\n          split(section, lunr.tokenizer.separator, (index, until) => {\n\n            /**\n             * Apply segmenter after tokenization. Note that the segmenter will\n             * also split words at word boundaries, which is not what we want,\n             * so we need to check if we can somehow mitigate this behavior.\n             */\n            if (typeof lunr.segmenter !== \"undefined\") {\n              const subsection = section.slice(index, until)\n              if (/^[MHIK]$/.test(lunr.segmenter.ctype_(subsection))) {\n                const segments = lunr.segmenter.segment(subsection)\n                for (let s = 0, l = 0; s < segments.length; s++) {\n\n                  /* Add block to section */\n                  table[block] ||= []\n                  table[block].push(\n                    start + index + l  << 12 |\n                    segments[s].length <<  2 |\n                    type\n                  )\n\n                  /* Add token with position */\n                  tokens.push(new lunr.Token(\n                    segments[s].toLowerCase(), {\n                      position: block << 20 | table[block].length - 1\n                    }\n                  ))\n\n                  /* Keep track of length */\n                  l += segments[s].length\n                }\n                return\n              }\n            }\n\n            /* Add block to section */\n            table[block].push(\n              start + index << 12 |\n              until - index <<  2 |\n              type\n            )\n\n            /* Add token with position */\n            tokens.push(new lunr.Token(\n              section.slice(index, until).toLowerCase(), {\n                position: block << 20 | table[block].length - 1\n              }\n            ))\n          })\n      }\n    })\n  }\n\n  /* Return tokens */\n  return tokens\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Visitor function\n *\n * @param value - String value\n *\n * @returns String term(s)\n */\ntype VisitorFn = (\n  value: string\n) => string | string[]\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Default transformation function\n *\n * 1. Trim excess whitespace from left and right.\n *\n * 2. Search for parts in quotation marks and prepend a `+` modifier to denote\n *    that the resulting document must contain all parts, converting the query\n *    to an `AND` query (as opposed to the default `OR` behavior). While users\n *    may expect parts enclosed in quotation marks to map to span queries, i.e.\n *    for which order is important, Lunr.js doesn't support them, so the best\n *    we can do is to convert the parts to an `AND` query.\n *\n * 3. Replace control characters which are not located at the beginning of the\n *    query or preceded by white space, or are not followed by a non-whitespace\n *    character or are at the end of the query string. Furthermore, filter\n *    unmatched quotation marks.\n *\n * 4. Split the query string at whitespace, then pass each part to the visitor\n *    function for tokenization, and append a wildcard to every resulting term\n *    that is not explicitly marked with a `+`, `-`, `~` or `^` modifier, since\n *    it ensures consistent and stable ranking when multiple terms are entered.\n *    Also, if a fuzzy or boost modifier are given, but no numeric value has\n *    been entered, default to 1 to not induce a query error.\n *\n * @param query - Query value\n * @param fn - Visitor function\n *\n * @returns Transformed query value\n */\nexport function transform(\n  query: string, fn: VisitorFn = term => term\n): string {\n  return query\n\n    /* => 1 */\n    .trim()\n\n    /* => 2 */\n    .split(/\"([^\"]+)\"/g)\n      .map((parts, index) => index & 1\n        ? parts.replace(/^\\b|^(?![^\\x00-\\x7F]|$)|\\s+/g, \" +\")\n        : parts\n      )\n      .join(\"\")\n\n    /* => 3 */\n    .replace(/\"|(?:^|\\s+)[*+\\-:^~]+(?=\\s+|$)/g, \"\")\n\n    /* => 4 */\n    .split(/\\s+/g)\n      .reduce((prev, term) => {\n        const next = fn(term)\n        return [...prev, ...Array.isArray(next) ? next : [next]]\n      }, [] as string[])\n      .map(term => /([~^]$)/.test(term) ? `${term}1` : term)\n      .map(term => /(^[+-]|[~^]\\d+$)/.test(term) ? term : `${term}*`)\n      .join(\" \")\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { split } from \"../../internal\"\nimport { transform } from \"../transform\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search query clause\n */\nexport interface SearchQueryClause {\n  presence: lunr.Query.presence        /* Clause presence */\n  term: string                         /* Clause term */\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Search query terms\n */\nexport type SearchQueryTerms = Record<string, boolean>\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Transform search query\n *\n * This function lexes the given search query and applies the transformation\n * function to each term, preserving markup like `+` and `-` modifiers.\n *\n * @param query - Search query\n *\n * @returns Search query\n */\nexport function transformSearchQuery(\n  query: string\n): string {\n\n  /* Split query terms with tokenizer */\n  return transform(query, part => {\n    const terms: string[] = []\n\n    /* Initialize lexer and analyze part */\n    const lexer = new lunr.QueryLexer(part)\n    lexer.run()\n\n    /* Extract and tokenize term from lexeme */\n    for (const { type, str: term, start, end } of lexer.lexemes)\n      switch (type) {\n\n        /* Hack: remove colon - see https://bit.ly/3wD3T3I */\n        case \"FIELD\":\n          if (![\"title\", \"text\", \"tags\"].includes(term))\n            part = [\n              part.slice(0, end),\n              \" \",\n              part.slice(end + 1)\n            ].join(\"\")\n          break\n\n        /* Tokenize term */\n        case \"TERM\":\n          split(term, lunr.tokenizer.separator, (...range) => {\n            terms.push([\n              part.slice(0, start),\n              term.slice(...range),\n              part.slice(end)\n            ].join(\"\"))\n          })\n      }\n\n    /* Return terms */\n    return terms\n  })\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Parse a search query for analysis\n *\n * Lunr.js itself has a bug where it doesn't detect or remove wildcards for\n * query clauses, so we must do this here.\n *\n * @see https://bit.ly/3DpTGtz - GitHub issue\n *\n * @param value - Query value\n *\n * @returns Search query clauses\n */\nexport function parseSearchQuery(\n  value: string\n): SearchQueryClause[] {\n  const query  = new lunr.Query([\"title\", \"text\", \"tags\"])\n  const parser = new lunr.QueryParser(value, query)\n\n  /* Parse Search query */\n  parser.parse()\n  for (const clause of query.clauses) {\n    clause.usePipeline = true\n\n    /* Handle leading wildcard */\n    if (clause.term.startsWith(\"*\")) {\n      clause.wildcard = lunr.Query.wildcard.LEADING\n      clause.term = clause.term.slice(1)\n    }\n\n    /* Handle trailing wildcard */\n    if (clause.term.endsWith(\"*\")) {\n      clause.wildcard = lunr.Query.wildcard.TRAILING\n      clause.term = clause.term.slice(0, -1)\n    }\n  }\n\n  /* Return query clauses */\n  return query.clauses\n}\n\n/**\n * Analyze the search query clauses in regard to the search terms found\n *\n * @param query - Search query clauses\n * @param terms - Search terms\n *\n * @returns Search query terms\n */\nexport function getSearchQueryTerms(\n  query: SearchQueryClause[], terms: string[]\n): SearchQueryTerms {\n  const clauses = new Set<SearchQueryClause>(query)\n\n  /* Match query clauses against terms */\n  const result: SearchQueryTerms = {}\n  for (let t = 0; t < terms.length; t++)\n    for (const clause of clauses)\n      if (terms[t].startsWith(clause.term)) {\n        result[clause.term] = true\n        clauses.delete(clause)\n      }\n\n  /* Annotate unmatched non-stopword query clauses */\n  for (const clause of clauses)\n    if (lunr.stopWordFilter?.(clause.term))\n      result[clause.term] = false\n\n  /* Return query terms */\n  return result\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Segment a search query using the inverted index\n *\n * This function implements a clever approach to text segmentation for Asian\n * languages, as it used the information already available in the search index.\n * The idea is to greedily segment the search query based on the tokens that are\n * already part of the index, as described in the linked issue.\n *\n * @see https://bit.ly/3lwjrk7 - GitHub issue\n *\n * @param query - Query value\n * @param index - Inverted index\n *\n * @returns Segmented query value\n */\nexport function segment(\n  query: string, index: object\n): Iterable<string> {\n  const segments = new Set<string>()\n\n  /* Segment search query */\n  const wordcuts = new Uint16Array(query.length)\n  for (let i = 0; i < query.length; i++)\n    for (let j = i + 1; j < query.length; j++) {\n      const value = query.slice(i, j)\n      if (value in index)\n        wordcuts[i] = j - i\n    }\n\n  /* Compute longest matches with minimum overlap */\n  const stack = [0]\n  for (let s = stack.length; s > 0;) {\n    const p = stack[--s]\n    for (let q = 1; q < wordcuts[p]; q++)\n      if (wordcuts[p + q] > wordcuts[p] - q) {\n        segments.add(query.slice(p, p + q))\n        stack[s++] = p + q\n      }\n\n    /* Continue at end of query string */\n    const q = p + wordcuts[p]\n    if (wordcuts[q] && q < query.length - 1)\n      stack[s++] = q\n\n    /* Add current segment */\n    segments.add(query.slice(p, q))\n  }\n\n  // @todo fix this case in the code block above, this is a hotfix\n  if (segments.has(\"\"))\n    return new Set([query])\n\n  /* Return segmented query value */\n  return segments\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  SearchDocument,\n  SearchIndex,\n  SearchOptions,\n  setupSearchDocumentMap\n} from \"../config\"\nimport {\n  Position,\n  PositionTable,\n  highlight,\n  highlightAll,\n  tokenize\n} from \"../internal\"\nimport {\n  SearchQueryTerms,\n  getSearchQueryTerms,\n  parseSearchQuery,\n  segment,\n  transformSearchQuery\n} from \"../query\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search item\n */\nexport interface SearchItem\n  extends SearchDocument\n{\n  score: number                        /* Score (relevance) */\n  terms: SearchQueryTerms              /* Search query terms */\n}\n\n/**\n * Search result\n */\nexport interface SearchResult {\n  items: SearchItem[][]                /* Search items */\n  suggest?: string[]                   /* Search suggestions */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Create field extractor factory\n *\n * @param table - Position table map\n *\n * @returns Extractor factory\n */\nfunction extractor(table: Map<string, PositionTable>) {\n  return (name: keyof SearchDocument) => {\n    return (doc: SearchDocument) => {\n      if (typeof doc[name] === \"undefined\")\n        return undefined\n\n      /* Compute identifier and initialize table */\n      const id = [doc.location, name].join(\":\")\n      table.set(id, lunr.tokenizer.table = [])\n\n      /* Return field value */\n      return doc[name]\n    }\n  }\n}\n\n/**\n * Compute the difference of two lists of strings\n *\n * @param a - 1st list of strings\n * @param b - 2nd list of strings\n *\n * @returns Difference\n */\nfunction difference(a: string[], b: string[]): string[] {\n  const [x, y] = [new Set(a), new Set(b)]\n  return [\n    ...new Set([...x].filter(value => !y.has(value)))\n  ]\n}\n\n/* ----------------------------------------------------------------------------\n * Class\n * ------------------------------------------------------------------------- */\n\n/**\n * Search index\n */\nexport class Search {\n\n  /**\n   * Search document map\n   */\n  protected map: Map<string, SearchDocument>\n\n  /**\n   * Search options\n   */\n  protected options: SearchOptions\n\n  /**\n   * The underlying Lunr.js search index\n   */\n  protected index: lunr.Index\n\n  /**\n   * Internal position table map\n   */\n  protected table: Map<string, PositionTable>\n\n  /**\n   * Create the search integration\n   *\n   * @param data - Search index\n   */\n  public constructor({ config, docs, options }: SearchIndex) {\n    const field = extractor(this.table = new Map())\n\n    /* Set up document map and options */\n    this.map = setupSearchDocumentMap(docs)\n    this.options = options\n\n    /* Set up document index */\n    this.index = lunr(function () {\n      this.metadataWhitelist = [\"position\"]\n      this.b(0)\n\n      /* Set up (multi-)language support */\n      if (config.lang.length === 1 && config.lang[0] !== \"en\") {\n        // @ts-expect-error - namespace indexing not supported\n        this.use(lunr[config.lang[0]])\n      } else if (config.lang.length > 1) {\n        this.use(lunr.multiLanguage(...config.lang))\n      }\n\n      /* Set up custom tokenizer (must be after language setup) */\n      this.tokenizer = tokenize as typeof lunr.tokenizer\n      lunr.tokenizer.separator = new RegExp(config.separator)\n\n      /* Set up custom segmenter, if loaded */\n      lunr.segmenter = \"TinySegmenter\" in lunr\n        ? new lunr.TinySegmenter()\n        : undefined\n\n      /* Compute functions to be removed from the pipeline */\n      const fns = difference([\n        \"trimmer\", \"stopWordFilter\", \"stemmer\"\n      ], config.pipeline)\n\n      /* Remove functions from the pipeline for registered languages */\n      for (const lang of config.lang.map(language => (\n        // @ts-expect-error - namespace indexing not supported\n        language === \"en\" ? lunr : lunr[language]\n      )))\n        for (const fn of fns) {\n          this.pipeline.remove(lang[fn])\n          this.searchPipeline.remove(lang[fn])\n        }\n\n      /* Set up index reference */\n      this.ref(\"location\")\n\n      /* Set up index fields */\n      this.field(\"title\", { boost: 1e3, extractor: field(\"title\") })\n      this.field(\"text\",  { boost: 1e0, extractor: field(\"text\") })\n      this.field(\"tags\",  { boost: 1e6, extractor: field(\"tags\") })\n\n      /* Add documents to index */\n      for (const doc of docs)\n        this.add(doc, { boost: doc.boost })\n    })\n  }\n\n  /**\n   * Search for matching documents\n   *\n   * @param query - Search query\n   *\n   * @returns Search result\n   */\n  public search(query: string): SearchResult {\n\n    // Experimental Chinese segmentation\n    query = query.replace(/\\p{sc=Han}+/gu, value => {\n      return [...segment(value, this.index.invertedIndex)]\n        .join(\"* \")\n    })\n\n    // @todo: move segmenter (above) into transformSearchQuery\n    query = transformSearchQuery(query)\n    if (!query)\n      return { items: [] }\n\n    /* Parse query to extract clauses for analysis */\n    const clauses = parseSearchQuery(query)\n      .filter(clause => (\n        clause.presence !== lunr.Query.presence.PROHIBITED\n      ))\n\n    /* Perform search and post-process results */\n    const groups = this.index.search(query)\n\n      /* Apply post-query boosts based on title and search query terms */\n      .reduce<SearchItem[]>((item, { ref, score, matchData }) => {\n        let doc = this.map.get(ref)\n        if (typeof doc !== \"undefined\") {\n\n          /* Shallow copy document */\n          doc = { ...doc }\n          if (doc.tags)\n            doc.tags = [...doc.tags]\n\n          /* Compute and analyze search query terms */\n          const terms = getSearchQueryTerms(\n            clauses,\n            Object.keys(matchData.metadata)\n          )\n\n          /* Highlight matches in fields */\n          for (const field of this.index.fields) {\n            if (typeof doc[field] === \"undefined\")\n              continue\n\n            /* Collect positions from matches */\n            const positions: Position[] = []\n            for (const match of Object.values(matchData.metadata))\n              if (typeof match[field] !== \"undefined\")\n                positions.push(...match[field].position)\n\n            /* Skip highlighting, if no positions were collected */\n            if (!positions.length)\n              continue\n\n            /* Load table and determine highlighting method */\n            const table = this.table.get([doc.location, field].join(\":\"))!\n            const fn = Array.isArray(doc[field])\n              ? highlightAll\n              : highlight\n\n            // @ts-expect-error - stop moaning, TypeScript!\n            doc[field] = fn(doc[field], table, positions, field !== \"text\")\n          }\n\n          /* Highlight title and text and apply post-query boosts */\n          const boost = +!doc.parent +\n            Object.values(terms)\n              .filter(t => t).length /\n            Object.keys(terms).length\n\n          /* Append item */\n          item.push({\n            ...doc,\n            score: score * (1 + boost ** 2),\n            terms\n          })\n        }\n        return item\n      }, [])\n\n      /* Sort search results again after applying boosts */\n      .sort((a, b) => b.score - a.score)\n\n      /* Group search results by article */\n      .reduce((items, result) => {\n        const doc = this.map.get(result.location)\n        if (typeof doc !== \"undefined\") {\n          const ref = doc.parent\n            ? doc.parent.location\n            : doc.location\n          items.set(ref, [...items.get(ref) || [], result])\n        }\n        return items\n      }, new Map<string, SearchItem[]>())\n\n    /* Ensure that every item set has an article */\n    for (const [ref, items] of groups)\n      if (!items.find(item => item.location === ref)) {\n        const doc = this.map.get(ref)!\n        items.push({ ...doc, score: 0, terms: {} })\n      }\n\n    /* Generate search suggestions, if desired */\n    let suggest: string[] | undefined\n    if (this.options.suggest) {\n      const titles = this.index.query(builder => {\n        for (const clause of clauses)\n          builder.term(clause.term, {\n            fields: [\"title\"],\n            presence: lunr.Query.presence.REQUIRED,\n            wildcard: lunr.Query.wildcard.TRAILING\n          })\n      })\n\n      /* Retrieve suggestions for best match */\n      suggest = titles.length\n        ? Object.keys(titles[0].matchData.metadata)\n        : []\n    }\n\n    /* Return search result */\n    return {\n      items: [...groups.values()],\n      ...typeof suggest !== \"undefined\" && { suggest }\n    }\n  }\n}\n"],
+  "sourcesContent": ["/**\n * lunr - http://lunrjs.com - A bit like Solr, but much smaller and not as bright - 2.3.9\n * Copyright (C) 2020 Oliver Nightingale\n * @license MIT\n */\n\n;(function(){\n\n/**\n * A convenience function for configuring and constructing\n * a new lunr Index.\n *\n * A lunr.Builder instance is created and the pipeline setup\n * with a trimmer, stop word filter and stemmer.\n *\n * This builder object is yielded to the configuration function\n * that is passed as a parameter, allowing the list of fields\n * and other builder parameters to be customised.\n *\n * All documents _must_ be added within the passed config function.\n *\n * @example\n * var idx = lunr(function () {\n *   this.field('title')\n *   this.field('body')\n *   this.ref('id')\n *\n *   documents.forEach(function (doc) {\n *     this.add(doc)\n *   }, this)\n * })\n *\n * @see {@link lunr.Builder}\n * @see {@link lunr.Pipeline}\n * @see {@link lunr.trimmer}\n * @see {@link lunr.stopWordFilter}\n * @see {@link lunr.stemmer}\n * @namespace {function} lunr\n */\nvar lunr = function (config) {\n  var builder = new lunr.Builder\n\n  builder.pipeline.add(\n    lunr.trimmer,\n    lunr.stopWordFilter,\n    lunr.stemmer\n  )\n\n  builder.searchPipeline.add(\n    lunr.stemmer\n  )\n\n  config.call(builder, builder)\n  return builder.build()\n}\n\nlunr.version = \"2.3.9\"\n/*!\n * lunr.utils\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * A namespace containing utils for the rest of the lunr library\n * @namespace lunr.utils\n */\nlunr.utils = {}\n\n/**\n * Print a warning message to the console.\n *\n * @param {String} message The message to be printed.\n * @memberOf lunr.utils\n * @function\n */\nlunr.utils.warn = (function (global) {\n  /* eslint-disable no-console */\n  return function (message) {\n    if (global.console && console.warn) {\n      console.warn(message)\n    }\n  }\n  /* eslint-enable no-console */\n})(this)\n\n/**\n * Convert an object to a string.\n *\n * In the case of `null` and `undefined` the function returns\n * the empty string, in all other cases the result of calling\n * `toString` on the passed object is returned.\n *\n * @param {Any} obj The object to convert to a string.\n * @return {String} string representation of the passed object.\n * @memberOf lunr.utils\n */\nlunr.utils.asString = function (obj) {\n  if (obj === void 0 || obj === null) {\n    return \"\"\n  } else {\n    return obj.toString()\n  }\n}\n\n/**\n * Clones an object.\n *\n * Will create a copy of an existing object such that any mutations\n * on the copy cannot affect the original.\n *\n * Only shallow objects are supported, passing a nested object to this\n * function will cause a TypeError.\n *\n * Objects with primitives, and arrays of primitives are supported.\n *\n * @param {Object} obj The object to clone.\n * @return {Object} a clone of the passed object.\n * @throws {TypeError} when a nested object is passed.\n * @memberOf Utils\n */\nlunr.utils.clone = function (obj) {\n  if (obj === null || obj === undefined) {\n    return obj\n  }\n\n  var clone = Object.create(null),\n      keys = Object.keys(obj)\n\n  for (var i = 0; i < keys.length; i++) {\n    var key = keys[i],\n        val = obj[key]\n\n    if (Array.isArray(val)) {\n      clone[key] = val.slice()\n      continue\n    }\n\n    if (typeof val === 'string' ||\n        typeof val === 'number' ||\n        typeof val === 'boolean') {\n      clone[key] = val\n      continue\n    }\n\n    throw new TypeError(\"clone is not deep and does not support nested objects\")\n  }\n\n  return clone\n}\nlunr.FieldRef = function (docRef, fieldName, stringValue) {\n  this.docRef = docRef\n  this.fieldName = fieldName\n  this._stringValue = stringValue\n}\n\nlunr.FieldRef.joiner = \"/\"\n\nlunr.FieldRef.fromString = function (s) {\n  var n = s.indexOf(lunr.FieldRef.joiner)\n\n  if (n === -1) {\n    throw \"malformed field ref string\"\n  }\n\n  var fieldRef = s.slice(0, n),\n      docRef = s.slice(n + 1)\n\n  return new lunr.FieldRef (docRef, fieldRef, s)\n}\n\nlunr.FieldRef.prototype.toString = function () {\n  if (this._stringValue == undefined) {\n    this._stringValue = this.fieldName + lunr.FieldRef.joiner + this.docRef\n  }\n\n  return this._stringValue\n}\n/*!\n * lunr.Set\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * A lunr set.\n *\n * @constructor\n */\nlunr.Set = function (elements) {\n  this.elements = Object.create(null)\n\n  if (elements) {\n    this.length = elements.length\n\n    for (var i = 0; i < this.length; i++) {\n      this.elements[elements[i]] = true\n    }\n  } else {\n    this.length = 0\n  }\n}\n\n/**\n * A complete set that contains all elements.\n *\n * @static\n * @readonly\n * @type {lunr.Set}\n */\nlunr.Set.complete = {\n  intersect: function (other) {\n    return other\n  },\n\n  union: function () {\n    return this\n  },\n\n  contains: function () {\n    return true\n  }\n}\n\n/**\n * An empty set that contains no elements.\n *\n * @static\n * @readonly\n * @type {lunr.Set}\n */\nlunr.Set.empty = {\n  intersect: function () {\n    return this\n  },\n\n  union: function (other) {\n    return other\n  },\n\n  contains: function () {\n    return false\n  }\n}\n\n/**\n * Returns true if this set contains the specified object.\n *\n * @param {object} object - Object whose presence in this set is to be tested.\n * @returns {boolean} - True if this set contains the specified object.\n */\nlunr.Set.prototype.contains = function (object) {\n  return !!this.elements[object]\n}\n\n/**\n * Returns a new set containing only the elements that are present in both\n * this set and the specified set.\n *\n * @param {lunr.Set} other - set to intersect with this set.\n * @returns {lunr.Set} a new set that is the intersection of this and the specified set.\n */\n\nlunr.Set.prototype.intersect = function (other) {\n  var a, b, elements, intersection = []\n\n  if (other === lunr.Set.complete) {\n    return this\n  }\n\n  if (other === lunr.Set.empty) {\n    return other\n  }\n\n  if (this.length < other.length) {\n    a = this\n    b = other\n  } else {\n    a = other\n    b = this\n  }\n\n  elements = Object.keys(a.elements)\n\n  for (var i = 0; i < elements.length; i++) {\n    var element = elements[i]\n    if (element in b.elements) {\n      intersection.push(element)\n    }\n  }\n\n  return new lunr.Set (intersection)\n}\n\n/**\n * Returns a new set combining the elements of this and the specified set.\n *\n * @param {lunr.Set} other - set to union with this set.\n * @return {lunr.Set} a new set that is the union of this and the specified set.\n */\n\nlunr.Set.prototype.union = function (other) {\n  if (other === lunr.Set.complete) {\n    return lunr.Set.complete\n  }\n\n  if (other === lunr.Set.empty) {\n    return this\n  }\n\n  return new lunr.Set(Object.keys(this.elements).concat(Object.keys(other.elements)))\n}\n/**\n * A function to calculate the inverse document frequency for\n * a posting. This is shared between the builder and the index\n *\n * @private\n * @param {object} posting - The posting for a given term\n * @param {number} documentCount - The total number of documents.\n */\nlunr.idf = function (posting, documentCount) {\n  var documentsWithTerm = 0\n\n  for (var fieldName in posting) {\n    if (fieldName == '_index') continue // Ignore the term index, its not a field\n    documentsWithTerm += Object.keys(posting[fieldName]).length\n  }\n\n  var x = (documentCount - documentsWithTerm + 0.5) / (documentsWithTerm + 0.5)\n\n  return Math.log(1 + Math.abs(x))\n}\n\n/**\n * A token wraps a string representation of a token\n * as it is passed through the text processing pipeline.\n *\n * @constructor\n * @param {string} [str=''] - The string token being wrapped.\n * @param {object} [metadata={}] - Metadata associated with this token.\n */\nlunr.Token = function (str, metadata) {\n  this.str = str || \"\"\n  this.metadata = metadata || {}\n}\n\n/**\n * Returns the token string that is being wrapped by this object.\n *\n * @returns {string}\n */\nlunr.Token.prototype.toString = function () {\n  return this.str\n}\n\n/**\n * A token update function is used when updating or optionally\n * when cloning a token.\n *\n * @callback lunr.Token~updateFunction\n * @param {string} str - The string representation of the token.\n * @param {Object} metadata - All metadata associated with this token.\n */\n\n/**\n * Applies the given function to the wrapped string token.\n *\n * @example\n * token.update(function (str, metadata) {\n *   return str.toUpperCase()\n * })\n *\n * @param {lunr.Token~updateFunction} fn - A function to apply to the token string.\n * @returns {lunr.Token}\n */\nlunr.Token.prototype.update = function (fn) {\n  this.str = fn(this.str, this.metadata)\n  return this\n}\n\n/**\n * Creates a clone of this token. Optionally a function can be\n * applied to the cloned token.\n *\n * @param {lunr.Token~updateFunction} [fn] - An optional function to apply to the cloned token.\n * @returns {lunr.Token}\n */\nlunr.Token.prototype.clone = function (fn) {\n  fn = fn || function (s) { return s }\n  return new lunr.Token (fn(this.str, this.metadata), this.metadata)\n}\n/*!\n * lunr.tokenizer\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * A function for splitting a string into tokens ready to be inserted into\n * the search index. Uses `lunr.tokenizer.separator` to split strings, change\n * the value of this property to change how strings are split into tokens.\n *\n * This tokenizer will convert its parameter to a string by calling `toString` and\n * then will split this string on the character in `lunr.tokenizer.separator`.\n * Arrays will have their elements converted to strings and wrapped in a lunr.Token.\n *\n * Optional metadata can be passed to the tokenizer, this metadata will be cloned and\n * added as metadata to every token that is created from the object to be tokenized.\n *\n * @static\n * @param {?(string|object|object[])} obj - The object to convert into tokens\n * @param {?object} metadata - Optional metadata to associate with every token\n * @returns {lunr.Token[]}\n * @see {@link lunr.Pipeline}\n */\nlunr.tokenizer = function (obj, metadata) {\n  if (obj == null || obj == undefined) {\n    return []\n  }\n\n  if (Array.isArray(obj)) {\n    return obj.map(function (t) {\n      return new lunr.Token(\n        lunr.utils.asString(t).toLowerCase(),\n        lunr.utils.clone(metadata)\n      )\n    })\n  }\n\n  var str = obj.toString().toLowerCase(),\n      len = str.length,\n      tokens = []\n\n  for (var sliceEnd = 0, sliceStart = 0; sliceEnd <= len; sliceEnd++) {\n    var char = str.charAt(sliceEnd),\n        sliceLength = sliceEnd - sliceStart\n\n    if ((char.match(lunr.tokenizer.separator) || sliceEnd == len)) {\n\n      if (sliceLength > 0) {\n        var tokenMetadata = lunr.utils.clone(metadata) || {}\n        tokenMetadata[\"position\"] = [sliceStart, sliceLength]\n        tokenMetadata[\"index\"] = tokens.length\n\n        tokens.push(\n          new lunr.Token (\n            str.slice(sliceStart, sliceEnd),\n            tokenMetadata\n          )\n        )\n      }\n\n      sliceStart = sliceEnd + 1\n    }\n\n  }\n\n  return tokens\n}\n\n/**\n * The separator used to split a string into tokens. Override this property to change the behaviour of\n * `lunr.tokenizer` behaviour when tokenizing strings. By default this splits on whitespace and hyphens.\n *\n * @static\n * @see lunr.tokenizer\n */\nlunr.tokenizer.separator = /[\\s\\-]+/\n/*!\n * lunr.Pipeline\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * lunr.Pipelines maintain an ordered list of functions to be applied to all\n * tokens in documents entering the search index and queries being ran against\n * the index.\n *\n * An instance of lunr.Index created with the lunr shortcut will contain a\n * pipeline with a stop word filter and an English language stemmer. Extra\n * functions can be added before or after either of these functions or these\n * default functions can be removed.\n *\n * When run the pipeline will call each function in turn, passing a token, the\n * index of that token in the original list of all tokens and finally a list of\n * all the original tokens.\n *\n * The output of functions in the pipeline will be passed to the next function\n * in the pipeline. To exclude a token from entering the index the function\n * should return undefined, the rest of the pipeline will not be called with\n * this token.\n *\n * For serialisation of pipelines to work, all functions used in an instance of\n * a pipeline should be registered with lunr.Pipeline. Registered functions can\n * then be loaded. If trying to load a serialised pipeline that uses functions\n * that are not registered an error will be thrown.\n *\n * If not planning on serialising the pipeline then registering pipeline functions\n * is not necessary.\n *\n * @constructor\n */\nlunr.Pipeline = function () {\n  this._stack = []\n}\n\nlunr.Pipeline.registeredFunctions = Object.create(null)\n\n/**\n * A pipeline function maps lunr.Token to lunr.Token. A lunr.Token contains the token\n * string as well as all known metadata. A pipeline function can mutate the token string\n * or mutate (or add) metadata for a given token.\n *\n * A pipeline function can indicate that the passed token should be discarded by returning\n * null, undefined or an empty string. This token will not be passed to any downstream pipeline\n * functions and will not be added to the index.\n *\n * Multiple tokens can be returned by returning an array of tokens. Each token will be passed\n * to any downstream pipeline functions and all will returned tokens will be added to the index.\n *\n * Any number of pipeline functions may be chained together using a lunr.Pipeline.\n *\n * @interface lunr.PipelineFunction\n * @param {lunr.Token} token - A token from the document being processed.\n * @param {number} i - The index of this token in the complete list of tokens for this document/field.\n * @param {lunr.Token[]} tokens - All tokens for this document/field.\n * @returns {(?lunr.Token|lunr.Token[])}\n */\n\n/**\n * Register a function with the pipeline.\n *\n * Functions that are used in the pipeline should be registered if the pipeline\n * needs to be serialised, or a serialised pipeline needs to be loaded.\n *\n * Registering a function does not add it to a pipeline, functions must still be\n * added to instances of the pipeline for them to be used when running a pipeline.\n *\n * @param {lunr.PipelineFunction} fn - The function to check for.\n * @param {String} label - The label to register this function with\n */\nlunr.Pipeline.registerFunction = function (fn, label) {\n  if (label in this.registeredFunctions) {\n    lunr.utils.warn('Overwriting existing registered function: ' + label)\n  }\n\n  fn.label = label\n  lunr.Pipeline.registeredFunctions[fn.label] = fn\n}\n\n/**\n * Warns if the function is not registered as a Pipeline function.\n *\n * @param {lunr.PipelineFunction} fn - The function to check for.\n * @private\n */\nlunr.Pipeline.warnIfFunctionNotRegistered = function (fn) {\n  var isRegistered = fn.label && (fn.label in this.registeredFunctions)\n\n  if (!isRegistered) {\n    lunr.utils.warn('Function is not registered with pipeline. This may cause problems when serialising the index.\\n', fn)\n  }\n}\n\n/**\n * Loads a previously serialised pipeline.\n *\n * All functions to be loaded must already be registered with lunr.Pipeline.\n * If any function from the serialised data has not been registered then an\n * error will be thrown.\n *\n * @param {Object} serialised - The serialised pipeline to load.\n * @returns {lunr.Pipeline}\n */\nlunr.Pipeline.load = function (serialised) {\n  var pipeline = new lunr.Pipeline\n\n  serialised.forEach(function (fnName) {\n    var fn = lunr.Pipeline.registeredFunctions[fnName]\n\n    if (fn) {\n      pipeline.add(fn)\n    } else {\n      throw new Error('Cannot load unregistered function: ' + fnName)\n    }\n  })\n\n  return pipeline\n}\n\n/**\n * Adds new functions to the end of the pipeline.\n *\n * Logs a warning if the function has not been registered.\n *\n * @param {lunr.PipelineFunction[]} functions - Any number of functions to add to the pipeline.\n */\nlunr.Pipeline.prototype.add = function () {\n  var fns = Array.prototype.slice.call(arguments)\n\n  fns.forEach(function (fn) {\n    lunr.Pipeline.warnIfFunctionNotRegistered(fn)\n    this._stack.push(fn)\n  }, this)\n}\n\n/**\n * Adds a single function after a function that already exists in the\n * pipeline.\n *\n * Logs a warning if the function has not been registered.\n *\n * @param {lunr.PipelineFunction} existingFn - A function that already exists in the pipeline.\n * @param {lunr.PipelineFunction} newFn - The new function to add to the pipeline.\n */\nlunr.Pipeline.prototype.after = function (existingFn, newFn) {\n  lunr.Pipeline.warnIfFunctionNotRegistered(newFn)\n\n  var pos = this._stack.indexOf(existingFn)\n  if (pos == -1) {\n    throw new Error('Cannot find existingFn')\n  }\n\n  pos = pos + 1\n  this._stack.splice(pos, 0, newFn)\n}\n\n/**\n * Adds a single function before a function that already exists in the\n * pipeline.\n *\n * Logs a warning if the function has not been registered.\n *\n * @param {lunr.PipelineFunction} existingFn - A function that already exists in the pipeline.\n * @param {lunr.PipelineFunction} newFn - The new function to add to the pipeline.\n */\nlunr.Pipeline.prototype.before = function (existingFn, newFn) {\n  lunr.Pipeline.warnIfFunctionNotRegistered(newFn)\n\n  var pos = this._stack.indexOf(existingFn)\n  if (pos == -1) {\n    throw new Error('Cannot find existingFn')\n  }\n\n  this._stack.splice(pos, 0, newFn)\n}\n\n/**\n * Removes a function from the pipeline.\n *\n * @param {lunr.PipelineFunction} fn The function to remove from the pipeline.\n */\nlunr.Pipeline.prototype.remove = function (fn) {\n  var pos = this._stack.indexOf(fn)\n  if (pos == -1) {\n    return\n  }\n\n  this._stack.splice(pos, 1)\n}\n\n/**\n * Runs the current list of functions that make up the pipeline against the\n * passed tokens.\n *\n * @param {Array} tokens The tokens to run through the pipeline.\n * @returns {Array}\n */\nlunr.Pipeline.prototype.run = function (tokens) {\n  var stackLength = this._stack.length\n\n  for (var i = 0; i < stackLength; i++) {\n    var fn = this._stack[i]\n    var memo = []\n\n    for (var j = 0; j < tokens.length; j++) {\n      var result = fn(tokens[j], j, tokens)\n\n      if (result === null || result === void 0 || result === '') continue\n\n      if (Array.isArray(result)) {\n        for (var k = 0; k < result.length; k++) {\n          memo.push(result[k])\n        }\n      } else {\n        memo.push(result)\n      }\n    }\n\n    tokens = memo\n  }\n\n  return tokens\n}\n\n/**\n * Convenience method for passing a string through a pipeline and getting\n * strings out. This method takes care of wrapping the passed string in a\n * token and mapping the resulting tokens back to strings.\n *\n * @param {string} str - The string to pass through the pipeline.\n * @param {?object} metadata - Optional metadata to associate with the token\n * passed to the pipeline.\n * @returns {string[]}\n */\nlunr.Pipeline.prototype.runString = function (str, metadata) {\n  var token = new lunr.Token (str, metadata)\n\n  return this.run([token]).map(function (t) {\n    return t.toString()\n  })\n}\n\n/**\n * Resets the pipeline by removing any existing processors.\n *\n */\nlunr.Pipeline.prototype.reset = function () {\n  this._stack = []\n}\n\n/**\n * Returns a representation of the pipeline ready for serialisation.\n *\n * Logs a warning if the function has not been registered.\n *\n * @returns {Array}\n */\nlunr.Pipeline.prototype.toJSON = function () {\n  return this._stack.map(function (fn) {\n    lunr.Pipeline.warnIfFunctionNotRegistered(fn)\n\n    return fn.label\n  })\n}\n/*!\n * lunr.Vector\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * A vector is used to construct the vector space of documents and queries. These\n * vectors support operations to determine the similarity between two documents or\n * a document and a query.\n *\n * Normally no parameters are required for initializing a vector, but in the case of\n * loading a previously dumped vector the raw elements can be provided to the constructor.\n *\n * For performance reasons vectors are implemented with a flat array, where an elements\n * index is immediately followed by its value. E.g. [index, value, index, value]. This\n * allows the underlying array to be as sparse as possible and still offer decent\n * performance when being used for vector calculations.\n *\n * @constructor\n * @param {Number[]} [elements] - The flat list of element index and element value pairs.\n */\nlunr.Vector = function (elements) {\n  this._magnitude = 0\n  this.elements = elements || []\n}\n\n\n/**\n * Calculates the position within the vector to insert a given index.\n *\n * This is used internally by insert and upsert. If there are duplicate indexes then\n * the position is returned as if the value for that index were to be updated, but it\n * is the callers responsibility to check whether there is a duplicate at that index\n *\n * @param {Number} insertIdx - The index at which the element should be inserted.\n * @returns {Number}\n */\nlunr.Vector.prototype.positionForIndex = function (index) {\n  // For an empty vector the tuple can be inserted at the beginning\n  if (this.elements.length == 0) {\n    return 0\n  }\n\n  var start = 0,\n      end = this.elements.length / 2,\n      sliceLength = end - start,\n      pivotPoint = Math.floor(sliceLength / 2),\n      pivotIndex = this.elements[pivotPoint * 2]\n\n  while (sliceLength > 1) {\n    if (pivotIndex < index) {\n      start = pivotPoint\n    }\n\n    if (pivotIndex > index) {\n      end = pivotPoint\n    }\n\n    if (pivotIndex == index) {\n      break\n    }\n\n    sliceLength = end - start\n    pivotPoint = start + Math.floor(sliceLength / 2)\n    pivotIndex = this.elements[pivotPoint * 2]\n  }\n\n  if (pivotIndex == index) {\n    return pivotPoint * 2\n  }\n\n  if (pivotIndex > index) {\n    return pivotPoint * 2\n  }\n\n  if (pivotIndex < index) {\n    return (pivotPoint + 1) * 2\n  }\n}\n\n/**\n * Inserts an element at an index within the vector.\n *\n * Does not allow duplicates, will throw an error if there is already an entry\n * for this index.\n *\n * @param {Number} insertIdx - The index at which the element should be inserted.\n * @param {Number} val - The value to be inserted into the vector.\n */\nlunr.Vector.prototype.insert = function (insertIdx, val) {\n  this.upsert(insertIdx, val, function () {\n    throw \"duplicate index\"\n  })\n}\n\n/**\n * Inserts or updates an existing index within the vector.\n *\n * @param {Number} insertIdx - The index at which the element should be inserted.\n * @param {Number} val - The value to be inserted into the vector.\n * @param {function} fn - A function that is called for updates, the existing value and the\n * requested value are passed as arguments\n */\nlunr.Vector.prototype.upsert = function (insertIdx, val, fn) {\n  this._magnitude = 0\n  var position = this.positionForIndex(insertIdx)\n\n  if (this.elements[position] == insertIdx) {\n    this.elements[position + 1] = fn(this.elements[position + 1], val)\n  } else {\n    this.elements.splice(position, 0, insertIdx, val)\n  }\n}\n\n/**\n * Calculates the magnitude of this vector.\n *\n * @returns {Number}\n */\nlunr.Vector.prototype.magnitude = function () {\n  if (this._magnitude) return this._magnitude\n\n  var sumOfSquares = 0,\n      elementsLength = this.elements.length\n\n  for (var i = 1; i < elementsLength; i += 2) {\n    var val = this.elements[i]\n    sumOfSquares += val * val\n  }\n\n  return this._magnitude = Math.sqrt(sumOfSquares)\n}\n\n/**\n * Calculates the dot product of this vector and another vector.\n *\n * @param {lunr.Vector} otherVector - The vector to compute the dot product with.\n * @returns {Number}\n */\nlunr.Vector.prototype.dot = function (otherVector) {\n  var dotProduct = 0,\n      a = this.elements, b = otherVector.elements,\n      aLen = a.length, bLen = b.length,\n      aVal = 0, bVal = 0,\n      i = 0, j = 0\n\n  while (i < aLen && j < bLen) {\n    aVal = a[i], bVal = b[j]\n    if (aVal < bVal) {\n      i += 2\n    } else if (aVal > bVal) {\n      j += 2\n    } else if (aVal == bVal) {\n      dotProduct += a[i + 1] * b[j + 1]\n      i += 2\n      j += 2\n    }\n  }\n\n  return dotProduct\n}\n\n/**\n * Calculates the similarity between this vector and another vector.\n *\n * @param {lunr.Vector} otherVector - The other vector to calculate the\n * similarity with.\n * @returns {Number}\n */\nlunr.Vector.prototype.similarity = function (otherVector) {\n  return this.dot(otherVector) / this.magnitude() || 0\n}\n\n/**\n * Converts the vector to an array of the elements within the vector.\n *\n * @returns {Number[]}\n */\nlunr.Vector.prototype.toArray = function () {\n  var output = new Array (this.elements.length / 2)\n\n  for (var i = 1, j = 0; i < this.elements.length; i += 2, j++) {\n    output[j] = this.elements[i]\n  }\n\n  return output\n}\n\n/**\n * A JSON serializable representation of the vector.\n *\n * @returns {Number[]}\n */\nlunr.Vector.prototype.toJSON = function () {\n  return this.elements\n}\n/* eslint-disable */\n/*!\n * lunr.stemmer\n * Copyright (C) 2020 Oliver Nightingale\n * Includes code from - http://tartarus.org/~martin/PorterStemmer/js.txt\n */\n\n/**\n * lunr.stemmer is an english language stemmer, this is a JavaScript\n * implementation of the PorterStemmer taken from http://tartarus.org/~martin\n *\n * @static\n * @implements {lunr.PipelineFunction}\n * @param {lunr.Token} token - The string to stem\n * @returns {lunr.Token}\n * @see {@link lunr.Pipeline}\n * @function\n */\nlunr.stemmer = (function(){\n  var step2list = {\n      \"ational\" : \"ate\",\n      \"tional\" : \"tion\",\n      \"enci\" : \"ence\",\n      \"anci\" : \"ance\",\n      \"izer\" : \"ize\",\n      \"bli\" : \"ble\",\n      \"alli\" : \"al\",\n      \"entli\" : \"ent\",\n      \"eli\" : \"e\",\n      \"ousli\" : \"ous\",\n      \"ization\" : \"ize\",\n      \"ation\" : \"ate\",\n      \"ator\" : \"ate\",\n      \"alism\" : \"al\",\n      \"iveness\" : \"ive\",\n      \"fulness\" : \"ful\",\n      \"ousness\" : \"ous\",\n      \"aliti\" : \"al\",\n      \"iviti\" : \"ive\",\n      \"biliti\" : \"ble\",\n      \"logi\" : \"log\"\n    },\n\n    step3list = {\n      \"icate\" : \"ic\",\n      \"ative\" : \"\",\n      \"alize\" : \"al\",\n      \"iciti\" : \"ic\",\n      \"ical\" : \"ic\",\n      \"ful\" : \"\",\n      \"ness\" : \"\"\n    },\n\n    c = \"[^aeiou]\",          // consonant\n    v = \"[aeiouy]\",          // vowel\n    C = c + \"[^aeiouy]*\",    // consonant sequence\n    V = v + \"[aeiou]*\",      // vowel sequence\n\n    mgr0 = \"^(\" + C + \")?\" + V + C,               // [C]VC... is m>0\n    meq1 = \"^(\" + C + \")?\" + V + C + \"(\" + V + \")?$\",  // [C]VC[V] is m=1\n    mgr1 = \"^(\" + C + \")?\" + V + C + V + C,       // [C]VCVC... is m>1\n    s_v = \"^(\" + C + \")?\" + v;                   // vowel in stem\n\n  var re_mgr0 = new RegExp(mgr0);\n  var re_mgr1 = new RegExp(mgr1);\n  var re_meq1 = new RegExp(meq1);\n  var re_s_v = new RegExp(s_v);\n\n  var re_1a = /^(.+?)(ss|i)es$/;\n  var re2_1a = /^(.+?)([^s])s$/;\n  var re_1b = /^(.+?)eed$/;\n  var re2_1b = /^(.+?)(ed|ing)$/;\n  var re_1b_2 = /.$/;\n  var re2_1b_2 = /(at|bl|iz)$/;\n  var re3_1b_2 = new RegExp(\"([^aeiouylsz])\\\\1$\");\n  var re4_1b_2 = new RegExp(\"^\" + C + v + \"[^aeiouwxy]$\");\n\n  var re_1c = /^(.+?[^aeiou])y$/;\n  var re_2 = /^(.+?)(ational|tional|enci|anci|izer|bli|alli|entli|eli|ousli|ization|ation|ator|alism|iveness|fulness|ousness|aliti|iviti|biliti|logi)$/;\n\n  var re_3 = /^(.+?)(icate|ative|alize|iciti|ical|ful|ness)$/;\n\n  var re_4 = /^(.+?)(al|ance|ence|er|ic|able|ible|ant|ement|ment|ent|ou|ism|ate|iti|ous|ive|ize)$/;\n  var re2_4 = /^(.+?)(s|t)(ion)$/;\n\n  var re_5 = /^(.+?)e$/;\n  var re_5_1 = /ll$/;\n  var re3_5 = new RegExp(\"^\" + C + v + \"[^aeiouwxy]$\");\n\n  var porterStemmer = function porterStemmer(w) {\n    var stem,\n      suffix,\n      firstch,\n      re,\n      re2,\n      re3,\n      re4;\n\n    if (w.length < 3) { return w; }\n\n    firstch = w.substr(0,1);\n    if (firstch == \"y\") {\n      w = firstch.toUpperCase() + w.substr(1);\n    }\n\n    // Step 1a\n    re = re_1a\n    re2 = re2_1a;\n\n    if (re.test(w)) { w = w.replace(re,\"$1$2\"); }\n    else if (re2.test(w)) { w = w.replace(re2,\"$1$2\"); }\n\n    // Step 1b\n    re = re_1b;\n    re2 = re2_1b;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      re = re_mgr0;\n      if (re.test(fp[1])) {\n        re = re_1b_2;\n        w = w.replace(re,\"\");\n      }\n    } else if (re2.test(w)) {\n      var fp = re2.exec(w);\n      stem = fp[1];\n      re2 = re_s_v;\n      if (re2.test(stem)) {\n        w = stem;\n        re2 = re2_1b_2;\n        re3 = re3_1b_2;\n        re4 = re4_1b_2;\n        if (re2.test(w)) { w = w + \"e\"; }\n        else if (re3.test(w)) { re = re_1b_2; w = w.replace(re,\"\"); }\n        else if (re4.test(w)) { w = w + \"e\"; }\n      }\n    }\n\n    // Step 1c - replace suffix y or Y by i if preceded by a non-vowel which is not the first letter of the word (so cry -> cri, by -> by, say -> say)\n    re = re_1c;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      stem = fp[1];\n      w = stem + \"i\";\n    }\n\n    // Step 2\n    re = re_2;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      stem = fp[1];\n      suffix = fp[2];\n      re = re_mgr0;\n      if (re.test(stem)) {\n        w = stem + step2list[suffix];\n      }\n    }\n\n    // Step 3\n    re = re_3;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      stem = fp[1];\n      suffix = fp[2];\n      re = re_mgr0;\n      if (re.test(stem)) {\n        w = stem + step3list[suffix];\n      }\n    }\n\n    // Step 4\n    re = re_4;\n    re2 = re2_4;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      stem = fp[1];\n      re = re_mgr1;\n      if (re.test(stem)) {\n        w = stem;\n      }\n    } else if (re2.test(w)) {\n      var fp = re2.exec(w);\n      stem = fp[1] + fp[2];\n      re2 = re_mgr1;\n      if (re2.test(stem)) {\n        w = stem;\n      }\n    }\n\n    // Step 5\n    re = re_5;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      stem = fp[1];\n      re = re_mgr1;\n      re2 = re_meq1;\n      re3 = re3_5;\n      if (re.test(stem) || (re2.test(stem) && !(re3.test(stem)))) {\n        w = stem;\n      }\n    }\n\n    re = re_5_1;\n    re2 = re_mgr1;\n    if (re.test(w) && re2.test(w)) {\n      re = re_1b_2;\n      w = w.replace(re,\"\");\n    }\n\n    // and turn initial Y back to y\n\n    if (firstch == \"y\") {\n      w = firstch.toLowerCase() + w.substr(1);\n    }\n\n    return w;\n  };\n\n  return function (token) {\n    return token.update(porterStemmer);\n  }\n})();\n\nlunr.Pipeline.registerFunction(lunr.stemmer, 'stemmer')\n/*!\n * lunr.stopWordFilter\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * lunr.generateStopWordFilter builds a stopWordFilter function from the provided\n * list of stop words.\n *\n * The built in lunr.stopWordFilter is built using this generator and can be used\n * to generate custom stopWordFilters for applications or non English languages.\n *\n * @function\n * @param {Array} token The token to pass through the filter\n * @returns {lunr.PipelineFunction}\n * @see lunr.Pipeline\n * @see lunr.stopWordFilter\n */\nlunr.generateStopWordFilter = function (stopWords) {\n  var words = stopWords.reduce(function (memo, stopWord) {\n    memo[stopWord] = stopWord\n    return memo\n  }, {})\n\n  return function (token) {\n    if (token && words[token.toString()] !== token.toString()) return token\n  }\n}\n\n/**\n * lunr.stopWordFilter is an English language stop word list filter, any words\n * contained in the list will not be passed through the filter.\n *\n * This is intended to be used in the Pipeline. If the token does not pass the\n * filter then undefined will be returned.\n *\n * @function\n * @implements {lunr.PipelineFunction}\n * @params {lunr.Token} token - A token to check for being a stop word.\n * @returns {lunr.Token}\n * @see {@link lunr.Pipeline}\n */\nlunr.stopWordFilter = lunr.generateStopWordFilter([\n  'a',\n  'able',\n  'about',\n  'across',\n  'after',\n  'all',\n  'almost',\n  'also',\n  'am',\n  'among',\n  'an',\n  'and',\n  'any',\n  'are',\n  'as',\n  'at',\n  'be',\n  'because',\n  'been',\n  'but',\n  'by',\n  'can',\n  'cannot',\n  'could',\n  'dear',\n  'did',\n  'do',\n  'does',\n  'either',\n  'else',\n  'ever',\n  'every',\n  'for',\n  'from',\n  'get',\n  'got',\n  'had',\n  'has',\n  'have',\n  'he',\n  'her',\n  'hers',\n  'him',\n  'his',\n  'how',\n  'however',\n  'i',\n  'if',\n  'in',\n  'into',\n  'is',\n  'it',\n  'its',\n  'just',\n  'least',\n  'let',\n  'like',\n  'likely',\n  'may',\n  'me',\n  'might',\n  'most',\n  'must',\n  'my',\n  'neither',\n  'no',\n  'nor',\n  'not',\n  'of',\n  'off',\n  'often',\n  'on',\n  'only',\n  'or',\n  'other',\n  'our',\n  'own',\n  'rather',\n  'said',\n  'say',\n  'says',\n  'she',\n  'should',\n  'since',\n  'so',\n  'some',\n  'than',\n  'that',\n  'the',\n  'their',\n  'them',\n  'then',\n  'there',\n  'these',\n  'they',\n  'this',\n  'tis',\n  'to',\n  'too',\n  'twas',\n  'us',\n  'wants',\n  'was',\n  'we',\n  'were',\n  'what',\n  'when',\n  'where',\n  'which',\n  'while',\n  'who',\n  'whom',\n  'why',\n  'will',\n  'with',\n  'would',\n  'yet',\n  'you',\n  'your'\n])\n\nlunr.Pipeline.registerFunction(lunr.stopWordFilter, 'stopWordFilter')\n/*!\n * lunr.trimmer\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * lunr.trimmer is a pipeline function for trimming non word\n * characters from the beginning and end of tokens before they\n * enter the index.\n *\n * This implementation may not work correctly for non latin\n * characters and should either be removed or adapted for use\n * with languages with non-latin characters.\n *\n * @static\n * @implements {lunr.PipelineFunction}\n * @param {lunr.Token} token The token to pass through the filter\n * @returns {lunr.Token}\n * @see lunr.Pipeline\n */\nlunr.trimmer = function (token) {\n  return token.update(function (s) {\n    return s.replace(/^\\W+/, '').replace(/\\W+$/, '')\n  })\n}\n\nlunr.Pipeline.registerFunction(lunr.trimmer, 'trimmer')\n/*!\n * lunr.TokenSet\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * A token set is used to store the unique list of all tokens\n * within an index. Token sets are also used to represent an\n * incoming query to the index, this query token set and index\n * token set are then intersected to find which tokens to look\n * up in the inverted index.\n *\n * A token set can hold multiple tokens, as in the case of the\n * index token set, or it can hold a single token as in the\n * case of a simple query token set.\n *\n * Additionally token sets are used to perform wildcard matching.\n * Leading, contained and trailing wildcards are supported, and\n * from this edit distance matching can also be provided.\n *\n * Token sets are implemented as a minimal finite state automata,\n * where both common prefixes and suffixes are shared between tokens.\n * This helps to reduce the space used for storing the token set.\n *\n * @constructor\n */\nlunr.TokenSet = function () {\n  this.final = false\n  this.edges = {}\n  this.id = lunr.TokenSet._nextId\n  lunr.TokenSet._nextId += 1\n}\n\n/**\n * Keeps track of the next, auto increment, identifier to assign\n * to a new tokenSet.\n *\n * TokenSets require a unique identifier to be correctly minimised.\n *\n * @private\n */\nlunr.TokenSet._nextId = 1\n\n/**\n * Creates a TokenSet instance from the given sorted array of words.\n *\n * @param {String[]} arr - A sorted array of strings to create the set from.\n * @returns {lunr.TokenSet}\n * @throws Will throw an error if the input array is not sorted.\n */\nlunr.TokenSet.fromArray = function (arr) {\n  var builder = new lunr.TokenSet.Builder\n\n  for (var i = 0, len = arr.length; i < len; i++) {\n    builder.insert(arr[i])\n  }\n\n  builder.finish()\n  return builder.root\n}\n\n/**\n * Creates a token set from a query clause.\n *\n * @private\n * @param {Object} clause - A single clause from lunr.Query.\n * @param {string} clause.term - The query clause term.\n * @param {number} [clause.editDistance] - The optional edit distance for the term.\n * @returns {lunr.TokenSet}\n */\nlunr.TokenSet.fromClause = function (clause) {\n  if ('editDistance' in clause) {\n    return lunr.TokenSet.fromFuzzyString(clause.term, clause.editDistance)\n  } else {\n    return lunr.TokenSet.fromString(clause.term)\n  }\n}\n\n/**\n * Creates a token set representing a single string with a specified\n * edit distance.\n *\n * Insertions, deletions, substitutions and transpositions are each\n * treated as an edit distance of 1.\n *\n * Increasing the allowed edit distance will have a dramatic impact\n * on the performance of both creating and intersecting these TokenSets.\n * It is advised to keep the edit distance less than 3.\n *\n * @param {string} str - The string to create the token set from.\n * @param {number} editDistance - The allowed edit distance to match.\n * @returns {lunr.Vector}\n */\nlunr.TokenSet.fromFuzzyString = function (str, editDistance) {\n  var root = new lunr.TokenSet\n\n  var stack = [{\n    node: root,\n    editsRemaining: editDistance,\n    str: str\n  }]\n\n  while (stack.length) {\n    var frame = stack.pop()\n\n    // no edit\n    if (frame.str.length > 0) {\n      var char = frame.str.charAt(0),\n          noEditNode\n\n      if (char in frame.node.edges) {\n        noEditNode = frame.node.edges[char]\n      } else {\n        noEditNode = new lunr.TokenSet\n        frame.node.edges[char] = noEditNode\n      }\n\n      if (frame.str.length == 1) {\n        noEditNode.final = true\n      }\n\n      stack.push({\n        node: noEditNode,\n        editsRemaining: frame.editsRemaining,\n        str: frame.str.slice(1)\n      })\n    }\n\n    if (frame.editsRemaining == 0) {\n      continue\n    }\n\n    // insertion\n    if (\"*\" in frame.node.edges) {\n      var insertionNode = frame.node.edges[\"*\"]\n    } else {\n      var insertionNode = new lunr.TokenSet\n      frame.node.edges[\"*\"] = insertionNode\n    }\n\n    if (frame.str.length == 0) {\n      insertionNode.final = true\n    }\n\n    stack.push({\n      node: insertionNode,\n      editsRemaining: frame.editsRemaining - 1,\n      str: frame.str\n    })\n\n    // deletion\n    // can only do a deletion if we have enough edits remaining\n    // and if there are characters left to delete in the string\n    if (frame.str.length > 1) {\n      stack.push({\n        node: frame.node,\n        editsRemaining: frame.editsRemaining - 1,\n        str: frame.str.slice(1)\n      })\n    }\n\n    // deletion\n    // just removing the last character from the str\n    if (frame.str.length == 1) {\n      frame.node.final = true\n    }\n\n    // substitution\n    // can only do a substitution if we have enough edits remaining\n    // and if there are characters left to substitute\n    if (frame.str.length >= 1) {\n      if (\"*\" in frame.node.edges) {\n        var substitutionNode = frame.node.edges[\"*\"]\n      } else {\n        var substitutionNode = new lunr.TokenSet\n        frame.node.edges[\"*\"] = substitutionNode\n      }\n\n      if (frame.str.length == 1) {\n        substitutionNode.final = true\n      }\n\n      stack.push({\n        node: substitutionNode,\n        editsRemaining: frame.editsRemaining - 1,\n        str: frame.str.slice(1)\n      })\n    }\n\n    // transposition\n    // can only do a transposition if there are edits remaining\n    // and there are enough characters to transpose\n    if (frame.str.length > 1) {\n      var charA = frame.str.charAt(0),\n          charB = frame.str.charAt(1),\n          transposeNode\n\n      if (charB in frame.node.edges) {\n        transposeNode = frame.node.edges[charB]\n      } else {\n        transposeNode = new lunr.TokenSet\n        frame.node.edges[charB] = transposeNode\n      }\n\n      if (frame.str.length == 1) {\n        transposeNode.final = true\n      }\n\n      stack.push({\n        node: transposeNode,\n        editsRemaining: frame.editsRemaining - 1,\n        str: charA + frame.str.slice(2)\n      })\n    }\n  }\n\n  return root\n}\n\n/**\n * Creates a TokenSet from a string.\n *\n * The string may contain one or more wildcard characters (*)\n * that will allow wildcard matching when intersecting with\n * another TokenSet.\n *\n * @param {string} str - The string to create a TokenSet from.\n * @returns {lunr.TokenSet}\n */\nlunr.TokenSet.fromString = function (str) {\n  var node = new lunr.TokenSet,\n      root = node\n\n  /*\n   * Iterates through all characters within the passed string\n   * appending a node for each character.\n   *\n   * When a wildcard character is found then a self\n   * referencing edge is introduced to continually match\n   * any number of any characters.\n   */\n  for (var i = 0, len = str.length; i < len; i++) {\n    var char = str[i],\n        final = (i == len - 1)\n\n    if (char == \"*\") {\n      node.edges[char] = node\n      node.final = final\n\n    } else {\n      var next = new lunr.TokenSet\n      next.final = final\n\n      node.edges[char] = next\n      node = next\n    }\n  }\n\n  return root\n}\n\n/**\n * Converts this TokenSet into an array of strings\n * contained within the TokenSet.\n *\n * This is not intended to be used on a TokenSet that\n * contains wildcards, in these cases the results are\n * undefined and are likely to cause an infinite loop.\n *\n * @returns {string[]}\n */\nlunr.TokenSet.prototype.toArray = function () {\n  var words = []\n\n  var stack = [{\n    prefix: \"\",\n    node: this\n  }]\n\n  while (stack.length) {\n    var frame = stack.pop(),\n        edges = Object.keys(frame.node.edges),\n        len = edges.length\n\n    if (frame.node.final) {\n      /* In Safari, at this point the prefix is sometimes corrupted, see:\n       * https://github.com/olivernn/lunr.js/issues/279 Calling any\n       * String.prototype method forces Safari to \"cast\" this string to what\n       * it's supposed to be, fixing the bug. */\n      frame.prefix.charAt(0)\n      words.push(frame.prefix)\n    }\n\n    for (var i = 0; i < len; i++) {\n      var edge = edges[i]\n\n      stack.push({\n        prefix: frame.prefix.concat(edge),\n        node: frame.node.edges[edge]\n      })\n    }\n  }\n\n  return words\n}\n\n/**\n * Generates a string representation of a TokenSet.\n *\n * This is intended to allow TokenSets to be used as keys\n * in objects, largely to aid the construction and minimisation\n * of a TokenSet. As such it is not designed to be a human\n * friendly representation of the TokenSet.\n *\n * @returns {string}\n */\nlunr.TokenSet.prototype.toString = function () {\n  // NOTE: Using Object.keys here as this.edges is very likely\n  // to enter 'hash-mode' with many keys being added\n  //\n  // avoiding a for-in loop here as it leads to the function\n  // being de-optimised (at least in V8). From some simple\n  // benchmarks the performance is comparable, but allowing\n  // V8 to optimize may mean easy performance wins in the future.\n\n  if (this._str) {\n    return this._str\n  }\n\n  var str = this.final ? '1' : '0',\n      labels = Object.keys(this.edges).sort(),\n      len = labels.length\n\n  for (var i = 0; i < len; i++) {\n    var label = labels[i],\n        node = this.edges[label]\n\n    str = str + label + node.id\n  }\n\n  return str\n}\n\n/**\n * Returns a new TokenSet that is the intersection of\n * this TokenSet and the passed TokenSet.\n *\n * This intersection will take into account any wildcards\n * contained within the TokenSet.\n *\n * @param {lunr.TokenSet} b - An other TokenSet to intersect with.\n * @returns {lunr.TokenSet}\n */\nlunr.TokenSet.prototype.intersect = function (b) {\n  var output = new lunr.TokenSet,\n      frame = undefined\n\n  var stack = [{\n    qNode: b,\n    output: output,\n    node: this\n  }]\n\n  while (stack.length) {\n    frame = stack.pop()\n\n    // NOTE: As with the #toString method, we are using\n    // Object.keys and a for loop instead of a for-in loop\n    // as both of these objects enter 'hash' mode, causing\n    // the function to be de-optimised in V8\n    var qEdges = Object.keys(frame.qNode.edges),\n        qLen = qEdges.length,\n        nEdges = Object.keys(frame.node.edges),\n        nLen = nEdges.length\n\n    for (var q = 0; q < qLen; q++) {\n      var qEdge = qEdges[q]\n\n      for (var n = 0; n < nLen; n++) {\n        var nEdge = nEdges[n]\n\n        if (nEdge == qEdge || qEdge == '*') {\n          var node = frame.node.edges[nEdge],\n              qNode = frame.qNode.edges[qEdge],\n              final = node.final && qNode.final,\n              next = undefined\n\n          if (nEdge in frame.output.edges) {\n            // an edge already exists for this character\n            // no need to create a new node, just set the finality\n            // bit unless this node is already final\n            next = frame.output.edges[nEdge]\n            next.final = next.final || final\n\n          } else {\n            // no edge exists yet, must create one\n            // set the finality bit and insert it\n            // into the output\n            next = new lunr.TokenSet\n            next.final = final\n            frame.output.edges[nEdge] = next\n          }\n\n          stack.push({\n            qNode: qNode,\n            output: next,\n            node: node\n          })\n        }\n      }\n    }\n  }\n\n  return output\n}\nlunr.TokenSet.Builder = function () {\n  this.previousWord = \"\"\n  this.root = new lunr.TokenSet\n  this.uncheckedNodes = []\n  this.minimizedNodes = {}\n}\n\nlunr.TokenSet.Builder.prototype.insert = function (word) {\n  var node,\n      commonPrefix = 0\n\n  if (word < this.previousWord) {\n    throw new Error (\"Out of order word insertion\")\n  }\n\n  for (var i = 0; i < word.length && i < this.previousWord.length; i++) {\n    if (word[i] != this.previousWord[i]) break\n    commonPrefix++\n  }\n\n  this.minimize(commonPrefix)\n\n  if (this.uncheckedNodes.length == 0) {\n    node = this.root\n  } else {\n    node = this.uncheckedNodes[this.uncheckedNodes.length - 1].child\n  }\n\n  for (var i = commonPrefix; i < word.length; i++) {\n    var nextNode = new lunr.TokenSet,\n        char = word[i]\n\n    node.edges[char] = nextNode\n\n    this.uncheckedNodes.push({\n      parent: node,\n      char: char,\n      child: nextNode\n    })\n\n    node = nextNode\n  }\n\n  node.final = true\n  this.previousWord = word\n}\n\nlunr.TokenSet.Builder.prototype.finish = function () {\n  this.minimize(0)\n}\n\nlunr.TokenSet.Builder.prototype.minimize = function (downTo) {\n  for (var i = this.uncheckedNodes.length - 1; i >= downTo; i--) {\n    var node = this.uncheckedNodes[i],\n        childKey = node.child.toString()\n\n    if (childKey in this.minimizedNodes) {\n      node.parent.edges[node.char] = this.minimizedNodes[childKey]\n    } else {\n      // Cache the key for this node since\n      // we know it can't change anymore\n      node.child._str = childKey\n\n      this.minimizedNodes[childKey] = node.child\n    }\n\n    this.uncheckedNodes.pop()\n  }\n}\n/*!\n * lunr.Index\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * An index contains the built index of all documents and provides a query interface\n * to the index.\n *\n * Usually instances of lunr.Index will not be created using this constructor, instead\n * lunr.Builder should be used to construct new indexes, or lunr.Index.load should be\n * used to load previously built and serialized indexes.\n *\n * @constructor\n * @param {Object} attrs - The attributes of the built search index.\n * @param {Object} attrs.invertedIndex - An index of term/field to document reference.\n * @param {Object<string, lunr.Vector>} attrs.fieldVectors - Field vectors\n * @param {lunr.TokenSet} attrs.tokenSet - An set of all corpus tokens.\n * @param {string[]} attrs.fields - The names of indexed document fields.\n * @param {lunr.Pipeline} attrs.pipeline - The pipeline to use for search terms.\n */\nlunr.Index = function (attrs) {\n  this.invertedIndex = attrs.invertedIndex\n  this.fieldVectors = attrs.fieldVectors\n  this.tokenSet = attrs.tokenSet\n  this.fields = attrs.fields\n  this.pipeline = attrs.pipeline\n}\n\n/**\n * A result contains details of a document matching a search query.\n * @typedef {Object} lunr.Index~Result\n * @property {string} ref - The reference of the document this result represents.\n * @property {number} score - A number between 0 and 1 representing how similar this document is to the query.\n * @property {lunr.MatchData} matchData - Contains metadata about this match including which term(s) caused the match.\n */\n\n/**\n * Although lunr provides the ability to create queries using lunr.Query, it also provides a simple\n * query language which itself is parsed into an instance of lunr.Query.\n *\n * For programmatically building queries it is advised to directly use lunr.Query, the query language\n * is best used for human entered text rather than program generated text.\n *\n * At its simplest queries can just be a single term, e.g. `hello`, multiple terms are also supported\n * and will be combined with OR, e.g `hello world` will match documents that contain either 'hello'\n * or 'world', though those that contain both will rank higher in the results.\n *\n * Wildcards can be included in terms to match one or more unspecified characters, these wildcards can\n * be inserted anywhere within the term, and more than one wildcard can exist in a single term. Adding\n * wildcards will increase the number of documents that will be found but can also have a negative\n * impact on query performance, especially with wildcards at the beginning of a term.\n *\n * Terms can be restricted to specific fields, e.g. `title:hello`, only documents with the term\n * hello in the title field will match this query. Using a field not present in the index will lead\n * to an error being thrown.\n *\n * Modifiers can also be added to terms, lunr supports edit distance and boost modifiers on terms. A term\n * boost will make documents matching that term score higher, e.g. `foo^5`. Edit distance is also supported\n * to provide fuzzy matching, e.g. 'hello~2' will match documents with hello with an edit distance of 2.\n * Avoid large values for edit distance to improve query performance.\n *\n * Each term also supports a presence modifier. By default a term's presence in document is optional, however\n * this can be changed to either required or prohibited. For a term's presence to be required in a document the\n * term should be prefixed with a '+', e.g. `+foo bar` is a search for documents that must contain 'foo' and\n * optionally contain 'bar'. Conversely a leading '-' sets the terms presence to prohibited, i.e. it must not\n * appear in a document, e.g. `-foo bar` is a search for documents that do not contain 'foo' but may contain 'bar'.\n *\n * To escape special characters the backslash character '\\' can be used, this allows searches to include\n * characters that would normally be considered modifiers, e.g. `foo\\~2` will search for a term \"foo~2\" instead\n * of attempting to apply a boost of 2 to the search term \"foo\".\n *\n * @typedef {string} lunr.Index~QueryString\n * @example <caption>Simple single term query</caption>\n * hello\n * @example <caption>Multiple term query</caption>\n * hello world\n * @example <caption>term scoped to a field</caption>\n * title:hello\n * @example <caption>term with a boost of 10</caption>\n * hello^10\n * @example <caption>term with an edit distance of 2</caption>\n * hello~2\n * @example <caption>terms with presence modifiers</caption>\n * -foo +bar baz\n */\n\n/**\n * Performs a search against the index using lunr query syntax.\n *\n * Results will be returned sorted by their score, the most relevant results\n * will be returned first.  For details on how the score is calculated, please see\n * the {@link https://lunrjs.com/guides/searching.html#scoring|guide}.\n *\n * For more programmatic querying use lunr.Index#query.\n *\n * @param {lunr.Index~QueryString} queryString - A string containing a lunr query.\n * @throws {lunr.QueryParseError} If the passed query string cannot be parsed.\n * @returns {lunr.Index~Result[]}\n */\nlunr.Index.prototype.search = function (queryString) {\n  return this.query(function (query) {\n    var parser = new lunr.QueryParser(queryString, query)\n    parser.parse()\n  })\n}\n\n/**\n * A query builder callback provides a query object to be used to express\n * the query to perform on the index.\n *\n * @callback lunr.Index~queryBuilder\n * @param {lunr.Query} query - The query object to build up.\n * @this lunr.Query\n */\n\n/**\n * Performs a query against the index using the yielded lunr.Query object.\n *\n * If performing programmatic queries against the index, this method is preferred\n * over lunr.Index#search so as to avoid the additional query parsing overhead.\n *\n * A query object is yielded to the supplied function which should be used to\n * express the query to be run against the index.\n *\n * Note that although this function takes a callback parameter it is _not_ an\n * asynchronous operation, the callback is just yielded a query object to be\n * customized.\n *\n * @param {lunr.Index~queryBuilder} fn - A function that is used to build the query.\n * @returns {lunr.Index~Result[]}\n */\nlunr.Index.prototype.query = function (fn) {\n  // for each query clause\n  // * process terms\n  // * expand terms from token set\n  // * find matching documents and metadata\n  // * get document vectors\n  // * score documents\n\n  var query = new lunr.Query(this.fields),\n      matchingFields = Object.create(null),\n      queryVectors = Object.create(null),\n      termFieldCache = Object.create(null),\n      requiredMatches = Object.create(null),\n      prohibitedMatches = Object.create(null)\n\n  /*\n   * To support field level boosts a query vector is created per\n   * field. An empty vector is eagerly created to support negated\n   * queries.\n   */\n  for (var i = 0; i < this.fields.length; i++) {\n    queryVectors[this.fields[i]] = new lunr.Vector\n  }\n\n  fn.call(query, query)\n\n  for (var i = 0; i < query.clauses.length; i++) {\n    /*\n     * Unless the pipeline has been disabled for this term, which is\n     * the case for terms with wildcards, we need to pass the clause\n     * term through the search pipeline. A pipeline returns an array\n     * of processed terms. Pipeline functions may expand the passed\n     * term, which means we may end up performing multiple index lookups\n     * for a single query term.\n     */\n    var clause = query.clauses[i],\n        terms = null,\n        clauseMatches = lunr.Set.empty\n\n    if (clause.usePipeline) {\n      terms = this.pipeline.runString(clause.term, {\n        fields: clause.fields\n      })\n    } else {\n      terms = [clause.term]\n    }\n\n    for (var m = 0; m < terms.length; m++) {\n      var term = terms[m]\n\n      /*\n       * Each term returned from the pipeline needs to use the same query\n       * clause object, e.g. the same boost and or edit distance. The\n       * simplest way to do this is to re-use the clause object but mutate\n       * its term property.\n       */\n      clause.term = term\n\n      /*\n       * From the term in the clause we create a token set which will then\n       * be used to intersect the indexes token set to get a list of terms\n       * to lookup in the inverted index\n       */\n      var termTokenSet = lunr.TokenSet.fromClause(clause),\n          expandedTerms = this.tokenSet.intersect(termTokenSet).toArray()\n\n      /*\n       * If a term marked as required does not exist in the tokenSet it is\n       * impossible for the search to return any matches. We set all the field\n       * scoped required matches set to empty and stop examining any further\n       * clauses.\n       */\n      if (expandedTerms.length === 0 && clause.presence === lunr.Query.presence.REQUIRED) {\n        for (var k = 0; k < clause.fields.length; k++) {\n          var field = clause.fields[k]\n          requiredMatches[field] = lunr.Set.empty\n        }\n\n        break\n      }\n\n      for (var j = 0; j < expandedTerms.length; j++) {\n        /*\n         * For each term get the posting and termIndex, this is required for\n         * building the query vector.\n         */\n        var expandedTerm = expandedTerms[j],\n            posting = this.invertedIndex[expandedTerm],\n            termIndex = posting._index\n\n        for (var k = 0; k < clause.fields.length; k++) {\n          /*\n           * For each field that this query term is scoped by (by default\n           * all fields are in scope) we need to get all the document refs\n           * that have this term in that field.\n           *\n           * The posting is the entry in the invertedIndex for the matching\n           * term from above.\n           */\n          var field = clause.fields[k],\n              fieldPosting = posting[field],\n              matchingDocumentRefs = Object.keys(fieldPosting),\n              termField = expandedTerm + \"/\" + field,\n              matchingDocumentsSet = new lunr.Set(matchingDocumentRefs)\n\n          /*\n           * if the presence of this term is required ensure that the matching\n           * documents are added to the set of required matches for this clause.\n           *\n           */\n          if (clause.presence == lunr.Query.presence.REQUIRED) {\n            clauseMatches = clauseMatches.union(matchingDocumentsSet)\n\n            if (requiredMatches[field] === undefined) {\n              requiredMatches[field] = lunr.Set.complete\n            }\n          }\n\n          /*\n           * if the presence of this term is prohibited ensure that the matching\n           * documents are added to the set of prohibited matches for this field,\n           * creating that set if it does not yet exist.\n           */\n          if (clause.presence == lunr.Query.presence.PROHIBITED) {\n            if (prohibitedMatches[field] === undefined) {\n              prohibitedMatches[field] = lunr.Set.empty\n            }\n\n            prohibitedMatches[field] = prohibitedMatches[field].union(matchingDocumentsSet)\n\n            /*\n             * Prohibited matches should not be part of the query vector used for\n             * similarity scoring and no metadata should be extracted so we continue\n             * to the next field\n             */\n            continue\n          }\n\n          /*\n           * The query field vector is populated using the termIndex found for\n           * the term and a unit value with the appropriate boost applied.\n           * Using upsert because there could already be an entry in the vector\n           * for the term we are working with. In that case we just add the scores\n           * together.\n           */\n          queryVectors[field].upsert(termIndex, clause.boost, function (a, b) { return a + b })\n\n          /**\n           * If we've already seen this term, field combo then we've already collected\n           * the matching documents and metadata, no need to go through all that again\n           */\n          if (termFieldCache[termField]) {\n            continue\n          }\n\n          for (var l = 0; l < matchingDocumentRefs.length; l++) {\n            /*\n             * All metadata for this term/field/document triple\n             * are then extracted and collected into an instance\n             * of lunr.MatchData ready to be returned in the query\n             * results\n             */\n            var matchingDocumentRef = matchingDocumentRefs[l],\n                matchingFieldRef = new lunr.FieldRef (matchingDocumentRef, field),\n                metadata = fieldPosting[matchingDocumentRef],\n                fieldMatch\n\n            if ((fieldMatch = matchingFields[matchingFieldRef]) === undefined) {\n              matchingFields[matchingFieldRef] = new lunr.MatchData (expandedTerm, field, metadata)\n            } else {\n              fieldMatch.add(expandedTerm, field, metadata)\n            }\n\n          }\n\n          termFieldCache[termField] = true\n        }\n      }\n    }\n\n    /**\n     * If the presence was required we need to update the requiredMatches field sets.\n     * We do this after all fields for the term have collected their matches because\n     * the clause terms presence is required in _any_ of the fields not _all_ of the\n     * fields.\n     */\n    if (clause.presence === lunr.Query.presence.REQUIRED) {\n      for (var k = 0; k < clause.fields.length; k++) {\n        var field = clause.fields[k]\n        requiredMatches[field] = requiredMatches[field].intersect(clauseMatches)\n      }\n    }\n  }\n\n  /**\n   * Need to combine the field scoped required and prohibited\n   * matching documents into a global set of required and prohibited\n   * matches\n   */\n  var allRequiredMatches = lunr.Set.complete,\n      allProhibitedMatches = lunr.Set.empty\n\n  for (var i = 0; i < this.fields.length; i++) {\n    var field = this.fields[i]\n\n    if (requiredMatches[field]) {\n      allRequiredMatches = allRequiredMatches.intersect(requiredMatches[field])\n    }\n\n    if (prohibitedMatches[field]) {\n      allProhibitedMatches = allProhibitedMatches.union(prohibitedMatches[field])\n    }\n  }\n\n  var matchingFieldRefs = Object.keys(matchingFields),\n      results = [],\n      matches = Object.create(null)\n\n  /*\n   * If the query is negated (contains only prohibited terms)\n   * we need to get _all_ fieldRefs currently existing in the\n   * index. This is only done when we know that the query is\n   * entirely prohibited terms to avoid any cost of getting all\n   * fieldRefs unnecessarily.\n   *\n   * Additionally, blank MatchData must be created to correctly\n   * populate the results.\n   */\n  if (query.isNegated()) {\n    matchingFieldRefs = Object.keys(this.fieldVectors)\n\n    for (var i = 0; i < matchingFieldRefs.length; i++) {\n      var matchingFieldRef = matchingFieldRefs[i]\n      var fieldRef = lunr.FieldRef.fromString(matchingFieldRef)\n      matchingFields[matchingFieldRef] = new lunr.MatchData\n    }\n  }\n\n  for (var i = 0; i < matchingFieldRefs.length; i++) {\n    /*\n     * Currently we have document fields that match the query, but we\n     * need to return documents. The matchData and scores are combined\n     * from multiple fields belonging to the same document.\n     *\n     * Scores are calculated by field, using the query vectors created\n     * above, and combined into a final document score using addition.\n     */\n    var fieldRef = lunr.FieldRef.fromString(matchingFieldRefs[i]),\n        docRef = fieldRef.docRef\n\n    if (!allRequiredMatches.contains(docRef)) {\n      continue\n    }\n\n    if (allProhibitedMatches.contains(docRef)) {\n      continue\n    }\n\n    var fieldVector = this.fieldVectors[fieldRef],\n        score = queryVectors[fieldRef.fieldName].similarity(fieldVector),\n        docMatch\n\n    if ((docMatch = matches[docRef]) !== undefined) {\n      docMatch.score += score\n      docMatch.matchData.combine(matchingFields[fieldRef])\n    } else {\n      var match = {\n        ref: docRef,\n        score: score,\n        matchData: matchingFields[fieldRef]\n      }\n      matches[docRef] = match\n      results.push(match)\n    }\n  }\n\n  /*\n   * Sort the results objects by score, highest first.\n   */\n  return results.sort(function (a, b) {\n    return b.score - a.score\n  })\n}\n\n/**\n * Prepares the index for JSON serialization.\n *\n * The schema for this JSON blob will be described in a\n * separate JSON schema file.\n *\n * @returns {Object}\n */\nlunr.Index.prototype.toJSON = function () {\n  var invertedIndex = Object.keys(this.invertedIndex)\n    .sort()\n    .map(function (term) {\n      return [term, this.invertedIndex[term]]\n    }, this)\n\n  var fieldVectors = Object.keys(this.fieldVectors)\n    .map(function (ref) {\n      return [ref, this.fieldVectors[ref].toJSON()]\n    }, this)\n\n  return {\n    version: lunr.version,\n    fields: this.fields,\n    fieldVectors: fieldVectors,\n    invertedIndex: invertedIndex,\n    pipeline: this.pipeline.toJSON()\n  }\n}\n\n/**\n * Loads a previously serialized lunr.Index\n *\n * @param {Object} serializedIndex - A previously serialized lunr.Index\n * @returns {lunr.Index}\n */\nlunr.Index.load = function (serializedIndex) {\n  var attrs = {},\n      fieldVectors = {},\n      serializedVectors = serializedIndex.fieldVectors,\n      invertedIndex = Object.create(null),\n      serializedInvertedIndex = serializedIndex.invertedIndex,\n      tokenSetBuilder = new lunr.TokenSet.Builder,\n      pipeline = lunr.Pipeline.load(serializedIndex.pipeline)\n\n  if (serializedIndex.version != lunr.version) {\n    lunr.utils.warn(\"Version mismatch when loading serialised index. Current version of lunr '\" + lunr.version + \"' does not match serialized index '\" + serializedIndex.version + \"'\")\n  }\n\n  for (var i = 0; i < serializedVectors.length; i++) {\n    var tuple = serializedVectors[i],\n        ref = tuple[0],\n        elements = tuple[1]\n\n    fieldVectors[ref] = new lunr.Vector(elements)\n  }\n\n  for (var i = 0; i < serializedInvertedIndex.length; i++) {\n    var tuple = serializedInvertedIndex[i],\n        term = tuple[0],\n        posting = tuple[1]\n\n    tokenSetBuilder.insert(term)\n    invertedIndex[term] = posting\n  }\n\n  tokenSetBuilder.finish()\n\n  attrs.fields = serializedIndex.fields\n\n  attrs.fieldVectors = fieldVectors\n  attrs.invertedIndex = invertedIndex\n  attrs.tokenSet = tokenSetBuilder.root\n  attrs.pipeline = pipeline\n\n  return new lunr.Index(attrs)\n}\n/*!\n * lunr.Builder\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * lunr.Builder performs indexing on a set of documents and\n * returns instances of lunr.Index ready for querying.\n *\n * All configuration of the index is done via the builder, the\n * fields to index, the document reference, the text processing\n * pipeline and document scoring parameters are all set on the\n * builder before indexing.\n *\n * @constructor\n * @property {string} _ref - Internal reference to the document reference field.\n * @property {string[]} _fields - Internal reference to the document fields to index.\n * @property {object} invertedIndex - The inverted index maps terms to document fields.\n * @property {object} documentTermFrequencies - Keeps track of document term frequencies.\n * @property {object} documentLengths - Keeps track of the length of documents added to the index.\n * @property {lunr.tokenizer} tokenizer - Function for splitting strings into tokens for indexing.\n * @property {lunr.Pipeline} pipeline - The pipeline performs text processing on tokens before indexing.\n * @property {lunr.Pipeline} searchPipeline - A pipeline for processing search terms before querying the index.\n * @property {number} documentCount - Keeps track of the total number of documents indexed.\n * @property {number} _b - A parameter to control field length normalization, setting this to 0 disabled normalization, 1 fully normalizes field lengths, the default value is 0.75.\n * @property {number} _k1 - A parameter to control how quickly an increase in term frequency results in term frequency saturation, the default value is 1.2.\n * @property {number} termIndex - A counter incremented for each unique term, used to identify a terms position in the vector space.\n * @property {array} metadataWhitelist - A list of metadata keys that have been whitelisted for entry in the index.\n */\nlunr.Builder = function () {\n  this._ref = \"id\"\n  this._fields = Object.create(null)\n  this._documents = Object.create(null)\n  this.invertedIndex = Object.create(null)\n  this.fieldTermFrequencies = {}\n  this.fieldLengths = {}\n  this.tokenizer = lunr.tokenizer\n  this.pipeline = new lunr.Pipeline\n  this.searchPipeline = new lunr.Pipeline\n  this.documentCount = 0\n  this._b = 0.75\n  this._k1 = 1.2\n  this.termIndex = 0\n  this.metadataWhitelist = []\n}\n\n/**\n * Sets the document field used as the document reference. Every document must have this field.\n * The type of this field in the document should be a string, if it is not a string it will be\n * coerced into a string by calling toString.\n *\n * The default ref is 'id'.\n *\n * The ref should _not_ be changed during indexing, it should be set before any documents are\n * added to the index. Changing it during indexing can lead to inconsistent results.\n *\n * @param {string} ref - The name of the reference field in the document.\n */\nlunr.Builder.prototype.ref = function (ref) {\n  this._ref = ref\n}\n\n/**\n * A function that is used to extract a field from a document.\n *\n * Lunr expects a field to be at the top level of a document, if however the field\n * is deeply nested within a document an extractor function can be used to extract\n * the right field for indexing.\n *\n * @callback fieldExtractor\n * @param {object} doc - The document being added to the index.\n * @returns {?(string|object|object[])} obj - The object that will be indexed for this field.\n * @example <caption>Extracting a nested field</caption>\n * function (doc) { return doc.nested.field }\n */\n\n/**\n * Adds a field to the list of document fields that will be indexed. Every document being\n * indexed should have this field. Null values for this field in indexed documents will\n * not cause errors but will limit the chance of that document being retrieved by searches.\n *\n * All fields should be added before adding documents to the index. Adding fields after\n * a document has been indexed will have no effect on already indexed documents.\n *\n * Fields can be boosted at build time. This allows terms within that field to have more\n * importance when ranking search results. Use a field boost to specify that matches within\n * one field are more important than other fields.\n *\n * @param {string} fieldName - The name of a field to index in all documents.\n * @param {object} attributes - Optional attributes associated with this field.\n * @param {number} [attributes.boost=1] - Boost applied to all terms within this field.\n * @param {fieldExtractor} [attributes.extractor] - Function to extract a field from a document.\n * @throws {RangeError} fieldName cannot contain unsupported characters '/'\n */\nlunr.Builder.prototype.field = function (fieldName, attributes) {\n  if (/\\//.test(fieldName)) {\n    throw new RangeError (\"Field '\" + fieldName + \"' contains illegal character '/'\")\n  }\n\n  this._fields[fieldName] = attributes || {}\n}\n\n/**\n * A parameter to tune the amount of field length normalisation that is applied when\n * calculating relevance scores. A value of 0 will completely disable any normalisation\n * and a value of 1 will fully normalise field lengths. The default is 0.75. Values of b\n * will be clamped to the range 0 - 1.\n *\n * @param {number} number - The value to set for this tuning parameter.\n */\nlunr.Builder.prototype.b = function (number) {\n  if (number < 0) {\n    this._b = 0\n  } else if (number > 1) {\n    this._b = 1\n  } else {\n    this._b = number\n  }\n}\n\n/**\n * A parameter that controls the speed at which a rise in term frequency results in term\n * frequency saturation. The default value is 1.2. Setting this to a higher value will give\n * slower saturation levels, a lower value will result in quicker saturation.\n *\n * @param {number} number - The value to set for this tuning parameter.\n */\nlunr.Builder.prototype.k1 = function (number) {\n  this._k1 = number\n}\n\n/**\n * Adds a document to the index.\n *\n * Before adding fields to the index the index should have been fully setup, with the document\n * ref and all fields to index already having been specified.\n *\n * The document must have a field name as specified by the ref (by default this is 'id') and\n * it should have all fields defined for indexing, though null or undefined values will not\n * cause errors.\n *\n * Entire documents can be boosted at build time. Applying a boost to a document indicates that\n * this document should rank higher in search results than other documents.\n *\n * @param {object} doc - The document to add to the index.\n * @param {object} attributes - Optional attributes associated with this document.\n * @param {number} [attributes.boost=1] - Boost applied to all terms within this document.\n */\nlunr.Builder.prototype.add = function (doc, attributes) {\n  var docRef = doc[this._ref],\n      fields = Object.keys(this._fields)\n\n  this._documents[docRef] = attributes || {}\n  this.documentCount += 1\n\n  for (var i = 0; i < fields.length; i++) {\n    var fieldName = fields[i],\n        extractor = this._fields[fieldName].extractor,\n        field = extractor ? extractor(doc) : doc[fieldName],\n        tokens = this.tokenizer(field, {\n          fields: [fieldName]\n        }),\n        terms = this.pipeline.run(tokens),\n        fieldRef = new lunr.FieldRef (docRef, fieldName),\n        fieldTerms = Object.create(null)\n\n    this.fieldTermFrequencies[fieldRef] = fieldTerms\n    this.fieldLengths[fieldRef] = 0\n\n    // store the length of this field for this document\n    this.fieldLengths[fieldRef] += terms.length\n\n    // calculate term frequencies for this field\n    for (var j = 0; j < terms.length; j++) {\n      var term = terms[j]\n\n      if (fieldTerms[term] == undefined) {\n        fieldTerms[term] = 0\n      }\n\n      fieldTerms[term] += 1\n\n      // add to inverted index\n      // create an initial posting if one doesn't exist\n      if (this.invertedIndex[term] == undefined) {\n        var posting = Object.create(null)\n        posting[\"_index\"] = this.termIndex\n        this.termIndex += 1\n\n        for (var k = 0; k < fields.length; k++) {\n          posting[fields[k]] = Object.create(null)\n        }\n\n        this.invertedIndex[term] = posting\n      }\n\n      // add an entry for this term/fieldName/docRef to the invertedIndex\n      if (this.invertedIndex[term][fieldName][docRef] == undefined) {\n        this.invertedIndex[term][fieldName][docRef] = Object.create(null)\n      }\n\n      // store all whitelisted metadata about this token in the\n      // inverted index\n      for (var l = 0; l < this.metadataWhitelist.length; l++) {\n        var metadataKey = this.metadataWhitelist[l],\n            metadata = term.metadata[metadataKey]\n\n        if (this.invertedIndex[term][fieldName][docRef][metadataKey] == undefined) {\n          this.invertedIndex[term][fieldName][docRef][metadataKey] = []\n        }\n\n        this.invertedIndex[term][fieldName][docRef][metadataKey].push(metadata)\n      }\n    }\n\n  }\n}\n\n/**\n * Calculates the average document length for this index\n *\n * @private\n */\nlunr.Builder.prototype.calculateAverageFieldLengths = function () {\n\n  var fieldRefs = Object.keys(this.fieldLengths),\n      numberOfFields = fieldRefs.length,\n      accumulator = {},\n      documentsWithField = {}\n\n  for (var i = 0; i < numberOfFields; i++) {\n    var fieldRef = lunr.FieldRef.fromString(fieldRefs[i]),\n        field = fieldRef.fieldName\n\n    documentsWithField[field] || (documentsWithField[field] = 0)\n    documentsWithField[field] += 1\n\n    accumulator[field] || (accumulator[field] = 0)\n    accumulator[field] += this.fieldLengths[fieldRef]\n  }\n\n  var fields = Object.keys(this._fields)\n\n  for (var i = 0; i < fields.length; i++) {\n    var fieldName = fields[i]\n    accumulator[fieldName] = accumulator[fieldName] / documentsWithField[fieldName]\n  }\n\n  this.averageFieldLength = accumulator\n}\n\n/**\n * Builds a vector space model of every document using lunr.Vector\n *\n * @private\n */\nlunr.Builder.prototype.createFieldVectors = function () {\n  var fieldVectors = {},\n      fieldRefs = Object.keys(this.fieldTermFrequencies),\n      fieldRefsLength = fieldRefs.length,\n      termIdfCache = Object.create(null)\n\n  for (var i = 0; i < fieldRefsLength; i++) {\n    var fieldRef = lunr.FieldRef.fromString(fieldRefs[i]),\n        fieldName = fieldRef.fieldName,\n        fieldLength = this.fieldLengths[fieldRef],\n        fieldVector = new lunr.Vector,\n        termFrequencies = this.fieldTermFrequencies[fieldRef],\n        terms = Object.keys(termFrequencies),\n        termsLength = terms.length\n\n\n    var fieldBoost = this._fields[fieldName].boost || 1,\n        docBoost = this._documents[fieldRef.docRef].boost || 1\n\n    for (var j = 0; j < termsLength; j++) {\n      var term = terms[j],\n          tf = termFrequencies[term],\n          termIndex = this.invertedIndex[term]._index,\n          idf, score, scoreWithPrecision\n\n      if (termIdfCache[term] === undefined) {\n        idf = lunr.idf(this.invertedIndex[term], this.documentCount)\n        termIdfCache[term] = idf\n      } else {\n        idf = termIdfCache[term]\n      }\n\n      score = idf * ((this._k1 + 1) * tf) / (this._k1 * (1 - this._b + this._b * (fieldLength / this.averageFieldLength[fieldName])) + tf)\n      score *= fieldBoost\n      score *= docBoost\n      scoreWithPrecision = Math.round(score * 1000) / 1000\n      // Converts 1.23456789 to 1.234.\n      // Reducing the precision so that the vectors take up less\n      // space when serialised. Doing it now so that they behave\n      // the same before and after serialisation. Also, this is\n      // the fastest approach to reducing a number's precision in\n      // JavaScript.\n\n      fieldVector.insert(termIndex, scoreWithPrecision)\n    }\n\n    fieldVectors[fieldRef] = fieldVector\n  }\n\n  this.fieldVectors = fieldVectors\n}\n\n/**\n * Creates a token set of all tokens in the index using lunr.TokenSet\n *\n * @private\n */\nlunr.Builder.prototype.createTokenSet = function () {\n  this.tokenSet = lunr.TokenSet.fromArray(\n    Object.keys(this.invertedIndex).sort()\n  )\n}\n\n/**\n * Builds the index, creating an instance of lunr.Index.\n *\n * This completes the indexing process and should only be called\n * once all documents have been added to the index.\n *\n * @returns {lunr.Index}\n */\nlunr.Builder.prototype.build = function () {\n  this.calculateAverageFieldLengths()\n  this.createFieldVectors()\n  this.createTokenSet()\n\n  return new lunr.Index({\n    invertedIndex: this.invertedIndex,\n    fieldVectors: this.fieldVectors,\n    tokenSet: this.tokenSet,\n    fields: Object.keys(this._fields),\n    pipeline: this.searchPipeline\n  })\n}\n\n/**\n * Applies a plugin to the index builder.\n *\n * A plugin is a function that is called with the index builder as its context.\n * Plugins can be used to customise or extend the behaviour of the index\n * in some way. A plugin is just a function, that encapsulated the custom\n * behaviour that should be applied when building the index.\n *\n * The plugin function will be called with the index builder as its argument, additional\n * arguments can also be passed when calling use. The function will be called\n * with the index builder as its context.\n *\n * @param {Function} plugin The plugin to apply.\n */\nlunr.Builder.prototype.use = function (fn) {\n  var args = Array.prototype.slice.call(arguments, 1)\n  args.unshift(this)\n  fn.apply(this, args)\n}\n/**\n * Contains and collects metadata about a matching document.\n * A single instance of lunr.MatchData is returned as part of every\n * lunr.Index~Result.\n *\n * @constructor\n * @param {string} term - The term this match data is associated with\n * @param {string} field - The field in which the term was found\n * @param {object} metadata - The metadata recorded about this term in this field\n * @property {object} metadata - A cloned collection of metadata associated with this document.\n * @see {@link lunr.Index~Result}\n */\nlunr.MatchData = function (term, field, metadata) {\n  var clonedMetadata = Object.create(null),\n      metadataKeys = Object.keys(metadata || {})\n\n  // Cloning the metadata to prevent the original\n  // being mutated during match data combination.\n  // Metadata is kept in an array within the inverted\n  // index so cloning the data can be done with\n  // Array#slice\n  for (var i = 0; i < metadataKeys.length; i++) {\n    var key = metadataKeys[i]\n    clonedMetadata[key] = metadata[key].slice()\n  }\n\n  this.metadata = Object.create(null)\n\n  if (term !== undefined) {\n    this.metadata[term] = Object.create(null)\n    this.metadata[term][field] = clonedMetadata\n  }\n}\n\n/**\n * An instance of lunr.MatchData will be created for every term that matches a\n * document. However only one instance is required in a lunr.Index~Result. This\n * method combines metadata from another instance of lunr.MatchData with this\n * objects metadata.\n *\n * @param {lunr.MatchData} otherMatchData - Another instance of match data to merge with this one.\n * @see {@link lunr.Index~Result}\n */\nlunr.MatchData.prototype.combine = function (otherMatchData) {\n  var terms = Object.keys(otherMatchData.metadata)\n\n  for (var i = 0; i < terms.length; i++) {\n    var term = terms[i],\n        fields = Object.keys(otherMatchData.metadata[term])\n\n    if (this.metadata[term] == undefined) {\n      this.metadata[term] = Object.create(null)\n    }\n\n    for (var j = 0; j < fields.length; j++) {\n      var field = fields[j],\n          keys = Object.keys(otherMatchData.metadata[term][field])\n\n      if (this.metadata[term][field] == undefined) {\n        this.metadata[term][field] = Object.create(null)\n      }\n\n      for (var k = 0; k < keys.length; k++) {\n        var key = keys[k]\n\n        if (this.metadata[term][field][key] == undefined) {\n          this.metadata[term][field][key] = otherMatchData.metadata[term][field][key]\n        } else {\n          this.metadata[term][field][key] = this.metadata[term][field][key].concat(otherMatchData.metadata[term][field][key])\n        }\n\n      }\n    }\n  }\n}\n\n/**\n * Add metadata for a term/field pair to this instance of match data.\n *\n * @param {string} term - The term this match data is associated with\n * @param {string} field - The field in which the term was found\n * @param {object} metadata - The metadata recorded about this term in this field\n */\nlunr.MatchData.prototype.add = function (term, field, metadata) {\n  if (!(term in this.metadata)) {\n    this.metadata[term] = Object.create(null)\n    this.metadata[term][field] = metadata\n    return\n  }\n\n  if (!(field in this.metadata[term])) {\n    this.metadata[term][field] = metadata\n    return\n  }\n\n  var metadataKeys = Object.keys(metadata)\n\n  for (var i = 0; i < metadataKeys.length; i++) {\n    var key = metadataKeys[i]\n\n    if (key in this.metadata[term][field]) {\n      this.metadata[term][field][key] = this.metadata[term][field][key].concat(metadata[key])\n    } else {\n      this.metadata[term][field][key] = metadata[key]\n    }\n  }\n}\n/**\n * A lunr.Query provides a programmatic way of defining queries to be performed\n * against a {@link lunr.Index}.\n *\n * Prefer constructing a lunr.Query using the {@link lunr.Index#query} method\n * so the query object is pre-initialized with the right index fields.\n *\n * @constructor\n * @property {lunr.Query~Clause[]} clauses - An array of query clauses.\n * @property {string[]} allFields - An array of all available fields in a lunr.Index.\n */\nlunr.Query = function (allFields) {\n  this.clauses = []\n  this.allFields = allFields\n}\n\n/**\n * Constants for indicating what kind of automatic wildcard insertion will be used when constructing a query clause.\n *\n * This allows wildcards to be added to the beginning and end of a term without having to manually do any string\n * concatenation.\n *\n * The wildcard constants can be bitwise combined to select both leading and trailing wildcards.\n *\n * @constant\n * @default\n * @property {number} wildcard.NONE - The term will have no wildcards inserted, this is the default behaviour\n * @property {number} wildcard.LEADING - Prepend the term with a wildcard, unless a leading wildcard already exists\n * @property {number} wildcard.TRAILING - Append a wildcard to the term, unless a trailing wildcard already exists\n * @see lunr.Query~Clause\n * @see lunr.Query#clause\n * @see lunr.Query#term\n * @example <caption>query term with trailing wildcard</caption>\n * query.term('foo', { wildcard: lunr.Query.wildcard.TRAILING })\n * @example <caption>query term with leading and trailing wildcard</caption>\n * query.term('foo', {\n *   wildcard: lunr.Query.wildcard.LEADING | lunr.Query.wildcard.TRAILING\n * })\n */\n\nlunr.Query.wildcard = new String (\"*\")\nlunr.Query.wildcard.NONE = 0\nlunr.Query.wildcard.LEADING = 1\nlunr.Query.wildcard.TRAILING = 2\n\n/**\n * Constants for indicating what kind of presence a term must have in matching documents.\n *\n * @constant\n * @enum {number}\n * @see lunr.Query~Clause\n * @see lunr.Query#clause\n * @see lunr.Query#term\n * @example <caption>query term with required presence</caption>\n * query.term('foo', { presence: lunr.Query.presence.REQUIRED })\n */\nlunr.Query.presence = {\n  /**\n   * Term's presence in a document is optional, this is the default value.\n   */\n  OPTIONAL: 1,\n\n  /**\n   * Term's presence in a document is required, documents that do not contain\n   * this term will not be returned.\n   */\n  REQUIRED: 2,\n\n  /**\n   * Term's presence in a document is prohibited, documents that do contain\n   * this term will not be returned.\n   */\n  PROHIBITED: 3\n}\n\n/**\n * A single clause in a {@link lunr.Query} contains a term and details on how to\n * match that term against a {@link lunr.Index}.\n *\n * @typedef {Object} lunr.Query~Clause\n * @property {string[]} fields - The fields in an index this clause should be matched against.\n * @property {number} [boost=1] - Any boost that should be applied when matching this clause.\n * @property {number} [editDistance] - Whether the term should have fuzzy matching applied, and how fuzzy the match should be.\n * @property {boolean} [usePipeline] - Whether the term should be passed through the search pipeline.\n * @property {number} [wildcard=lunr.Query.wildcard.NONE] - Whether the term should have wildcards appended or prepended.\n * @property {number} [presence=lunr.Query.presence.OPTIONAL] - The terms presence in any matching documents.\n */\n\n/**\n * Adds a {@link lunr.Query~Clause} to this query.\n *\n * Unless the clause contains the fields to be matched all fields will be matched. In addition\n * a default boost of 1 is applied to the clause.\n *\n * @param {lunr.Query~Clause} clause - The clause to add to this query.\n * @see lunr.Query~Clause\n * @returns {lunr.Query}\n */\nlunr.Query.prototype.clause = function (clause) {\n  if (!('fields' in clause)) {\n    clause.fields = this.allFields\n  }\n\n  if (!('boost' in clause)) {\n    clause.boost = 1\n  }\n\n  if (!('usePipeline' in clause)) {\n    clause.usePipeline = true\n  }\n\n  if (!('wildcard' in clause)) {\n    clause.wildcard = lunr.Query.wildcard.NONE\n  }\n\n  if ((clause.wildcard & lunr.Query.wildcard.LEADING) && (clause.term.charAt(0) != lunr.Query.wildcard)) {\n    clause.term = \"*\" + clause.term\n  }\n\n  if ((clause.wildcard & lunr.Query.wildcard.TRAILING) && (clause.term.slice(-1) != lunr.Query.wildcard)) {\n    clause.term = \"\" + clause.term + \"*\"\n  }\n\n  if (!('presence' in clause)) {\n    clause.presence = lunr.Query.presence.OPTIONAL\n  }\n\n  this.clauses.push(clause)\n\n  return this\n}\n\n/**\n * A negated query is one in which every clause has a presence of\n * prohibited. These queries require some special processing to return\n * the expected results.\n *\n * @returns boolean\n */\nlunr.Query.prototype.isNegated = function () {\n  for (var i = 0; i < this.clauses.length; i++) {\n    if (this.clauses[i].presence != lunr.Query.presence.PROHIBITED) {\n      return false\n    }\n  }\n\n  return true\n}\n\n/**\n * Adds a term to the current query, under the covers this will create a {@link lunr.Query~Clause}\n * to the list of clauses that make up this query.\n *\n * The term is used as is, i.e. no tokenization will be performed by this method. Instead conversion\n * to a token or token-like string should be done before calling this method.\n *\n * The term will be converted to a string by calling `toString`. Multiple terms can be passed as an\n * array, each term in the array will share the same options.\n *\n * @param {object|object[]} term - The term(s) to add to the query.\n * @param {object} [options] - Any additional properties to add to the query clause.\n * @returns {lunr.Query}\n * @see lunr.Query#clause\n * @see lunr.Query~Clause\n * @example <caption>adding a single term to a query</caption>\n * query.term(\"foo\")\n * @example <caption>adding a single term to a query and specifying search fields, term boost and automatic trailing wildcard</caption>\n * query.term(\"foo\", {\n *   fields: [\"title\"],\n *   boost: 10,\n *   wildcard: lunr.Query.wildcard.TRAILING\n * })\n * @example <caption>using lunr.tokenizer to convert a string to tokens before using them as terms</caption>\n * query.term(lunr.tokenizer(\"foo bar\"))\n */\nlunr.Query.prototype.term = function (term, options) {\n  if (Array.isArray(term)) {\n    term.forEach(function (t) { this.term(t, lunr.utils.clone(options)) }, this)\n    return this\n  }\n\n  var clause = options || {}\n  clause.term = term.toString()\n\n  this.clause(clause)\n\n  return this\n}\nlunr.QueryParseError = function (message, start, end) {\n  this.name = \"QueryParseError\"\n  this.message = message\n  this.start = start\n  this.end = end\n}\n\nlunr.QueryParseError.prototype = new Error\nlunr.QueryLexer = function (str) {\n  this.lexemes = []\n  this.str = str\n  this.length = str.length\n  this.pos = 0\n  this.start = 0\n  this.escapeCharPositions = []\n}\n\nlunr.QueryLexer.prototype.run = function () {\n  var state = lunr.QueryLexer.lexText\n\n  while (state) {\n    state = state(this)\n  }\n}\n\nlunr.QueryLexer.prototype.sliceString = function () {\n  var subSlices = [],\n      sliceStart = this.start,\n      sliceEnd = this.pos\n\n  for (var i = 0; i < this.escapeCharPositions.length; i++) {\n    sliceEnd = this.escapeCharPositions[i]\n    subSlices.push(this.str.slice(sliceStart, sliceEnd))\n    sliceStart = sliceEnd + 1\n  }\n\n  subSlices.push(this.str.slice(sliceStart, this.pos))\n  this.escapeCharPositions.length = 0\n\n  return subSlices.join('')\n}\n\nlunr.QueryLexer.prototype.emit = function (type) {\n  this.lexemes.push({\n    type: type,\n    str: this.sliceString(),\n    start: this.start,\n    end: this.pos\n  })\n\n  this.start = this.pos\n}\n\nlunr.QueryLexer.prototype.escapeCharacter = function () {\n  this.escapeCharPositions.push(this.pos - 1)\n  this.pos += 1\n}\n\nlunr.QueryLexer.prototype.next = function () {\n  if (this.pos >= this.length) {\n    return lunr.QueryLexer.EOS\n  }\n\n  var char = this.str.charAt(this.pos)\n  this.pos += 1\n  return char\n}\n\nlunr.QueryLexer.prototype.width = function () {\n  return this.pos - this.start\n}\n\nlunr.QueryLexer.prototype.ignore = function () {\n  if (this.start == this.pos) {\n    this.pos += 1\n  }\n\n  this.start = this.pos\n}\n\nlunr.QueryLexer.prototype.backup = function () {\n  this.pos -= 1\n}\n\nlunr.QueryLexer.prototype.acceptDigitRun = function () {\n  var char, charCode\n\n  do {\n    char = this.next()\n    charCode = char.charCodeAt(0)\n  } while (charCode > 47 && charCode < 58)\n\n  if (char != lunr.QueryLexer.EOS) {\n    this.backup()\n  }\n}\n\nlunr.QueryLexer.prototype.more = function () {\n  return this.pos < this.length\n}\n\nlunr.QueryLexer.EOS = 'EOS'\nlunr.QueryLexer.FIELD = 'FIELD'\nlunr.QueryLexer.TERM = 'TERM'\nlunr.QueryLexer.EDIT_DISTANCE = 'EDIT_DISTANCE'\nlunr.QueryLexer.BOOST = 'BOOST'\nlunr.QueryLexer.PRESENCE = 'PRESENCE'\n\nlunr.QueryLexer.lexField = function (lexer) {\n  lexer.backup()\n  lexer.emit(lunr.QueryLexer.FIELD)\n  lexer.ignore()\n  return lunr.QueryLexer.lexText\n}\n\nlunr.QueryLexer.lexTerm = function (lexer) {\n  if (lexer.width() > 1) {\n    lexer.backup()\n    lexer.emit(lunr.QueryLexer.TERM)\n  }\n\n  lexer.ignore()\n\n  if (lexer.more()) {\n    return lunr.QueryLexer.lexText\n  }\n}\n\nlunr.QueryLexer.lexEditDistance = function (lexer) {\n  lexer.ignore()\n  lexer.acceptDigitRun()\n  lexer.emit(lunr.QueryLexer.EDIT_DISTANCE)\n  return lunr.QueryLexer.lexText\n}\n\nlunr.QueryLexer.lexBoost = function (lexer) {\n  lexer.ignore()\n  lexer.acceptDigitRun()\n  lexer.emit(lunr.QueryLexer.BOOST)\n  return lunr.QueryLexer.lexText\n}\n\nlunr.QueryLexer.lexEOS = function (lexer) {\n  if (lexer.width() > 0) {\n    lexer.emit(lunr.QueryLexer.TERM)\n  }\n}\n\n// This matches the separator used when tokenising fields\n// within a document. These should match otherwise it is\n// not possible to search for some tokens within a document.\n//\n// It is possible for the user to change the separator on the\n// tokenizer so it _might_ clash with any other of the special\n// characters already used within the search string, e.g. :.\n//\n// This means that it is possible to change the separator in\n// such a way that makes some words unsearchable using a search\n// string.\nlunr.QueryLexer.termSeparator = lunr.tokenizer.separator\n\nlunr.QueryLexer.lexText = function (lexer) {\n  while (true) {\n    var char = lexer.next()\n\n    if (char == lunr.QueryLexer.EOS) {\n      return lunr.QueryLexer.lexEOS\n    }\n\n    // Escape character is '\\'\n    if (char.charCodeAt(0) == 92) {\n      lexer.escapeCharacter()\n      continue\n    }\n\n    if (char == \":\") {\n      return lunr.QueryLexer.lexField\n    }\n\n    if (char == \"~\") {\n      lexer.backup()\n      if (lexer.width() > 0) {\n        lexer.emit(lunr.QueryLexer.TERM)\n      }\n      return lunr.QueryLexer.lexEditDistance\n    }\n\n    if (char == \"^\") {\n      lexer.backup()\n      if (lexer.width() > 0) {\n        lexer.emit(lunr.QueryLexer.TERM)\n      }\n      return lunr.QueryLexer.lexBoost\n    }\n\n    // \"+\" indicates term presence is required\n    // checking for length to ensure that only\n    // leading \"+\" are considered\n    if (char == \"+\" && lexer.width() === 1) {\n      lexer.emit(lunr.QueryLexer.PRESENCE)\n      return lunr.QueryLexer.lexText\n    }\n\n    // \"-\" indicates term presence is prohibited\n    // checking for length to ensure that only\n    // leading \"-\" are considered\n    if (char == \"-\" && lexer.width() === 1) {\n      lexer.emit(lunr.QueryLexer.PRESENCE)\n      return lunr.QueryLexer.lexText\n    }\n\n    if (char.match(lunr.QueryLexer.termSeparator)) {\n      return lunr.QueryLexer.lexTerm\n    }\n  }\n}\n\nlunr.QueryParser = function (str, query) {\n  this.lexer = new lunr.QueryLexer (str)\n  this.query = query\n  this.currentClause = {}\n  this.lexemeIdx = 0\n}\n\nlunr.QueryParser.prototype.parse = function () {\n  this.lexer.run()\n  this.lexemes = this.lexer.lexemes\n\n  var state = lunr.QueryParser.parseClause\n\n  while (state) {\n    state = state(this)\n  }\n\n  return this.query\n}\n\nlunr.QueryParser.prototype.peekLexeme = function () {\n  return this.lexemes[this.lexemeIdx]\n}\n\nlunr.QueryParser.prototype.consumeLexeme = function () {\n  var lexeme = this.peekLexeme()\n  this.lexemeIdx += 1\n  return lexeme\n}\n\nlunr.QueryParser.prototype.nextClause = function () {\n  var completedClause = this.currentClause\n  this.query.clause(completedClause)\n  this.currentClause = {}\n}\n\nlunr.QueryParser.parseClause = function (parser) {\n  var lexeme = parser.peekLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  switch (lexeme.type) {\n    case lunr.QueryLexer.PRESENCE:\n      return lunr.QueryParser.parsePresence\n    case lunr.QueryLexer.FIELD:\n      return lunr.QueryParser.parseField\n    case lunr.QueryLexer.TERM:\n      return lunr.QueryParser.parseTerm\n    default:\n      var errorMessage = \"expected either a field or a term, found \" + lexeme.type\n\n      if (lexeme.str.length >= 1) {\n        errorMessage += \" with value '\" + lexeme.str + \"'\"\n      }\n\n      throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n}\n\nlunr.QueryParser.parsePresence = function (parser) {\n  var lexeme = parser.consumeLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  switch (lexeme.str) {\n    case \"-\":\n      parser.currentClause.presence = lunr.Query.presence.PROHIBITED\n      break\n    case \"+\":\n      parser.currentClause.presence = lunr.Query.presence.REQUIRED\n      break\n    default:\n      var errorMessage = \"unrecognised presence operator'\" + lexeme.str + \"'\"\n      throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  var nextLexeme = parser.peekLexeme()\n\n  if (nextLexeme == undefined) {\n    var errorMessage = \"expecting term or field, found nothing\"\n    throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  switch (nextLexeme.type) {\n    case lunr.QueryLexer.FIELD:\n      return lunr.QueryParser.parseField\n    case lunr.QueryLexer.TERM:\n      return lunr.QueryParser.parseTerm\n    default:\n      var errorMessage = \"expecting term or field, found '\" + nextLexeme.type + \"'\"\n      throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end)\n  }\n}\n\nlunr.QueryParser.parseField = function (parser) {\n  var lexeme = parser.consumeLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  if (parser.query.allFields.indexOf(lexeme.str) == -1) {\n    var possibleFields = parser.query.allFields.map(function (f) { return \"'\" + f + \"'\" }).join(', '),\n        errorMessage = \"unrecognised field '\" + lexeme.str + \"', possible fields: \" + possibleFields\n\n    throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  parser.currentClause.fields = [lexeme.str]\n\n  var nextLexeme = parser.peekLexeme()\n\n  if (nextLexeme == undefined) {\n    var errorMessage = \"expecting term, found nothing\"\n    throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  switch (nextLexeme.type) {\n    case lunr.QueryLexer.TERM:\n      return lunr.QueryParser.parseTerm\n    default:\n      var errorMessage = \"expecting term, found '\" + nextLexeme.type + \"'\"\n      throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end)\n  }\n}\n\nlunr.QueryParser.parseTerm = function (parser) {\n  var lexeme = parser.consumeLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  parser.currentClause.term = lexeme.str.toLowerCase()\n\n  if (lexeme.str.indexOf(\"*\") != -1) {\n    parser.currentClause.usePipeline = false\n  }\n\n  var nextLexeme = parser.peekLexeme()\n\n  if (nextLexeme == undefined) {\n    parser.nextClause()\n    return\n  }\n\n  switch (nextLexeme.type) {\n    case lunr.QueryLexer.TERM:\n      parser.nextClause()\n      return lunr.QueryParser.parseTerm\n    case lunr.QueryLexer.FIELD:\n      parser.nextClause()\n      return lunr.QueryParser.parseField\n    case lunr.QueryLexer.EDIT_DISTANCE:\n      return lunr.QueryParser.parseEditDistance\n    case lunr.QueryLexer.BOOST:\n      return lunr.QueryParser.parseBoost\n    case lunr.QueryLexer.PRESENCE:\n      parser.nextClause()\n      return lunr.QueryParser.parsePresence\n    default:\n      var errorMessage = \"Unexpected lexeme type '\" + nextLexeme.type + \"'\"\n      throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end)\n  }\n}\n\nlunr.QueryParser.parseEditDistance = function (parser) {\n  var lexeme = parser.consumeLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  var editDistance = parseInt(lexeme.str, 10)\n\n  if (isNaN(editDistance)) {\n    var errorMessage = \"edit distance must be numeric\"\n    throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  parser.currentClause.editDistance = editDistance\n\n  var nextLexeme = parser.peekLexeme()\n\n  if (nextLexeme == undefined) {\n    parser.nextClause()\n    return\n  }\n\n  switch (nextLexeme.type) {\n    case lunr.QueryLexer.TERM:\n      parser.nextClause()\n      return lunr.QueryParser.parseTerm\n    case lunr.QueryLexer.FIELD:\n      parser.nextClause()\n      return lunr.QueryParser.parseField\n    case lunr.QueryLexer.EDIT_DISTANCE:\n      return lunr.QueryParser.parseEditDistance\n    case lunr.QueryLexer.BOOST:\n      return lunr.QueryParser.parseBoost\n    case lunr.QueryLexer.PRESENCE:\n      parser.nextClause()\n      return lunr.QueryParser.parsePresence\n    default:\n      var errorMessage = \"Unexpected lexeme type '\" + nextLexeme.type + \"'\"\n      throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end)\n  }\n}\n\nlunr.QueryParser.parseBoost = function (parser) {\n  var lexeme = parser.consumeLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  var boost = parseInt(lexeme.str, 10)\n\n  if (isNaN(boost)) {\n    var errorMessage = \"boost must be numeric\"\n    throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  parser.currentClause.boost = boost\n\n  var nextLexeme = parser.peekLexeme()\n\n  if (nextLexeme == undefined) {\n    parser.nextClause()\n    return\n  }\n\n  switch (nextLexeme.type) {\n    case lunr.QueryLexer.TERM:\n      parser.nextClause()\n      return lunr.QueryParser.parseTerm\n    case lunr.QueryLexer.FIELD:\n      parser.nextClause()\n      return lunr.QueryParser.parseField\n    case lunr.QueryLexer.EDIT_DISTANCE:\n      return lunr.QueryParser.parseEditDistance\n    case lunr.QueryLexer.BOOST:\n      return lunr.QueryParser.parseBoost\n    case lunr.QueryLexer.PRESENCE:\n      parser.nextClause()\n      return lunr.QueryParser.parsePresence\n    default:\n      var errorMessage = \"Unexpected lexeme type '\" + nextLexeme.type + \"'\"\n      throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end)\n  }\n}\n\n  /**\n   * export the module via AMD, CommonJS or as a browser global\n   * Export code from https://github.com/umdjs/umd/blob/master/returnExports.js\n   */\n  ;(function (root, factory) {\n    if (typeof define === 'function' && define.amd) {\n      // AMD. Register as an anonymous module.\n      define(factory)\n    } else if (typeof exports === 'object') {\n      /**\n       * Node. Does not work with strict CommonJS, but\n       * only CommonJS-like enviroments that support module.exports,\n       * like Node.\n       */\n      module.exports = factory()\n    } else {\n      // Browser globals (root is window)\n      root.lunr = factory()\n    }\n  }(this, function () {\n    /**\n     * Just return a value to define the module export.\n     * This example returns an object, but the module\n     * can return a function as the exported value.\n     */\n    return lunr\n  }))\n})();\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A RTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport lunr from \"lunr\"\n\nimport { getElement } from \"~/browser/element/_\"\nimport \"~/polyfills\"\n\nimport { Search } from \"../../_\"\nimport { SearchConfig } from \"../../config\"\nimport {\n  SearchMessage,\n  SearchMessageType\n} from \"../message\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Add support for `iframe-worker` shim\n *\n * While `importScripts` is synchronous when executed inside of a web worker,\n * it's not possible to provide a synchronous shim implementation. The cool\n * thing is that awaiting a non-Promise will convert it into a Promise, so\n * extending the type definition to return a `Promise` shouldn't break anything.\n *\n * @see https://bit.ly/2PjDnXi - GitHub comment\n *\n * @param urls - Scripts to load\n *\n * @returns Promise resolving with no result\n */\ndeclare global {\n  function importScripts(...urls: string[]): Promise<void> | void\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Search index\n */\nlet index: Search\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch (= import) multi-language support through `lunr-languages`\n *\n * This function automatically imports the stemmers necessary to process the\n * languages which are defined as part of the search configuration.\n *\n * If the worker runs inside of an `iframe` (when using `iframe-worker` as\n * a shim), the base URL for the stemmers to be loaded must be determined by\n * searching for the first `script` element with a `src` attribute, which will\n * contain the contents of this script.\n *\n * @param config - Search configuration\n *\n * @returns Promise resolving with no result\n */\nasync function setupSearchLanguages(\n  config: SearchConfig\n): Promise<void> {\n  let base = \"../lunr\"\n\n  /* Detect `iframe-worker` and fix base URL */\n  if (typeof parent !== \"undefined\" && \"IFrameWorker\" in parent) {\n    const worker = getElement<HTMLScriptElement>(\"script[src]\")\n    const [path] = worker.src.split(\"/worker\")\n\n    /* Prefix base with path */\n    base = base.replace(\"..\", path)\n  }\n\n  /* Add scripts for languages */\n  const scripts = []\n  for (const lang of config.lang) {\n    switch (lang) {\n\n      /* Add segmenter for Japanese */\n      case \"ja\":\n        scripts.push(`${base}/tinyseg.js`)\n        break\n\n      /* Add segmenter for Hindi and Thai */\n      case \"hi\":\n      case \"th\":\n        scripts.push(`${base}/wordcut.js`)\n        break\n    }\n\n    /* Add language support */\n    if (lang !== \"en\")\n      scripts.push(`${base}/min/lunr.${lang}.min.js`)\n  }\n\n  /* Add multi-language support */\n  if (config.lang.length > 1)\n    scripts.push(`${base}/min/lunr.multi.min.js`)\n\n  /* Load scripts synchronously */\n  if (scripts.length)\n    await importScripts(\n      `${base}/min/lunr.stemmer.support.min.js`,\n      ...scripts\n    )\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Message handler\n *\n * @param message - Source message\n *\n * @returns Target message\n */\nexport async function handler(\n  message: SearchMessage\n): Promise<SearchMessage> {\n  switch (message.type) {\n\n    /* Search setup message */\n    case SearchMessageType.SETUP:\n      await setupSearchLanguages(message.data.config)\n      index = new Search(message.data)\n      return {\n        type: SearchMessageType.READY\n      }\n\n    /* Search query message */\n    case SearchMessageType.QUERY:\n      const query = message.data\n      try {\n        return {\n          type: SearchMessageType.RESULT,\n          data: index.search(query)\n        }\n\n      /* Return empty result in case of error */\n      } catch (err) {\n        console.warn(`Invalid query: ${query} \u2013 see https://bit.ly/2s3ChXG`)\n        console.warn(err)\n        return {\n          type: SearchMessageType.RESULT,\n          data: { items: [] }\n        }\n      }\n\n    /* All other messages */\n    default:\n      throw new TypeError(\"Invalid message type\")\n  }\n}\n\n/* ----------------------------------------------------------------------------\n * Worker\n * ------------------------------------------------------------------------- */\n\n/* Expose Lunr.js in global scope, or stemmers won't work */\nself.lunr = lunr\n\n/* Handle messages */\naddEventListener(\"message\", async ev => {\n  postMessage(await handler(ev.data))\n})\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve all elements matching the query selector\n *\n * @template T - Element type\n *\n * @param selector - Query selector\n * @param node - Node of reference\n *\n * @returns Elements\n */\nexport function getElements<T extends keyof HTMLElementTagNameMap>(\n  selector: T, node?: ParentNode\n): HTMLElementTagNameMap[T][]\n\nexport function getElements<T extends HTMLElement>(\n  selector: string, node?: ParentNode\n): T[]\n\nexport function getElements<T extends HTMLElement>(\n  selector: string, node: ParentNode = document\n): T[] {\n  return Array.from(node.querySelectorAll<T>(selector))\n}\n\n/**\n * Retrieve an element matching a query selector or throw a reference error\n *\n * Note that this function assumes that the element is present. If unsure if an\n * element is existent, use the `getOptionalElement` function instead.\n *\n * @template T - Element type\n *\n * @param selector - Query selector\n * @param node - Node of reference\n *\n * @returns Element\n */\nexport function getElement<T extends keyof HTMLElementTagNameMap>(\n  selector: T, node?: ParentNode\n): HTMLElementTagNameMap[T]\n\nexport function getElement<T extends HTMLElement>(\n  selector: string, node?: ParentNode\n): T\n\nexport function getElement<T extends HTMLElement>(\n  selector: string, node: ParentNode = document\n): T {\n  const el = getOptionalElement<T>(selector, node)\n  if (typeof el === \"undefined\")\n    throw new ReferenceError(\n      `Missing element: expected \"${selector}\" to be present`\n    )\n\n  /* Return element */\n  return el\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Retrieve an optional element matching the query selector\n *\n * @template T - Element type\n *\n * @param selector - Query selector\n * @param node - Node of reference\n *\n * @returns Element or nothing\n */\nexport function getOptionalElement<T extends keyof HTMLElementTagNameMap>(\n  selector: T, node?: ParentNode\n): HTMLElementTagNameMap[T] | undefined\n\nexport function getOptionalElement<T extends HTMLElement>(\n  selector: string, node?: ParentNode\n): T | undefined\n\nexport function getOptionalElement<T extends HTMLElement>(\n  selector: string, node: ParentNode = document\n): T | undefined {\n  return node.querySelector<T>(selector) || undefined\n}\n\n/**\n * Retrieve the currently active element\n *\n * @returns Element or nothing\n */\nexport function getActiveElement(): HTMLElement | undefined {\n  return (\n    document.activeElement?.shadowRoot?.activeElement as HTMLElement ??\n    document.activeElement as HTMLElement ??\n    undefined\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Polyfills\n * ------------------------------------------------------------------------- */\n\n/* Polyfill `Object.entries` */\nif (!Object.entries)\n  Object.entries = function (obj: object) {\n    const data: [string, string][] = []\n    for (const key of Object.keys(obj))\n      // @ts-expect-error - ignore property access warning\n      data.push([key, obj[key]])\n\n    /* Return entries */\n    return data\n  }\n\n/* Polyfill `Object.values` */\nif (!Object.values)\n  Object.values = function (obj: object) {\n    const data: string[] = []\n    for (const key of Object.keys(obj))\n      // @ts-expect-error - ignore property access warning\n      data.push(obj[key])\n\n    /* Return values */\n    return data\n  }\n\n/* ------------------------------------------------------------------------- */\n\n/* Polyfills for `Element` */\nif (typeof Element !== \"undefined\") {\n\n  /* Polyfill `Element.scrollTo` */\n  if (!Element.prototype.scrollTo)\n    Element.prototype.scrollTo = function (\n      x?: ScrollToOptions | number, y?: number\n    ): void {\n      if (typeof x === \"object\") {\n        this.scrollLeft = x.left!\n        this.scrollTop = x.top!\n      } else {\n        this.scrollLeft = x!\n        this.scrollTop = y!\n      }\n    }\n\n  /* Polyfill `Element.replaceWith` */\n  if (!Element.prototype.replaceWith)\n    Element.prototype.replaceWith = function (\n      ...nodes: Array<string | Node>\n    ): void {\n      const parent = this.parentNode\n      if (parent) {\n        if (nodes.length === 0)\n          parent.removeChild(this)\n\n        /* Replace children and create text nodes */\n        for (let i = nodes.length - 1; i >= 0; i--) {\n          let node = nodes[i]\n          if (typeof node === \"string\")\n            node = document.createTextNode(node)\n          else if (node.parentNode)\n            node.parentNode.removeChild(node)\n\n          /* Replace child or insert before previous sibling */\n          if (!i)\n            parent.replaceChild(node, this)\n          else\n            parent.insertBefore(this.previousSibling!, node)\n        }\n      }\n    }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search configuration\n */\nexport interface SearchConfig {\n  lang: string[]                       /* Search languages */\n  separator: string                    /* Search separator */\n  pipeline: SearchPipelineFn[]         /* Search pipeline */\n}\n\n/**\n * Search document\n */\nexport interface SearchDocument {\n  location: string                     /* Document location */\n  title: string                        /* Document title */\n  text: string                         /* Document text */\n  tags?: string[]                      /* Document tags */\n  boost?: number                       /* Document boost */\n  parent?: SearchDocument              /* Document parent */\n}\n\n/**\n * Search options\n */\nexport interface SearchOptions {\n  suggest: boolean                     /* Search suggestions */\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Search index\n */\nexport interface SearchIndex {\n  config: SearchConfig                 /* Search configuration */\n  docs: SearchDocument[]               /* Search documents */\n  options: SearchOptions               /* Search options */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search pipeline function\n */\ntype SearchPipelineFn =\n  | \"trimmer\"                          /* Trimmer */\n  | \"stopWordFilter\"                   /* Stop word filter */\n  | \"stemmer\"                          /* Stemmer */\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Create a search document map\n *\n * This function creates a mapping of URLs (including anchors) to the actual\n * articles and sections. It relies on the invariant that the search index is\n * ordered with the main article appearing before all sections with anchors.\n * If this is not the case, the logic music be changed.\n *\n * @param docs - Search documents\n *\n * @returns Search document map\n */\nexport function setupSearchDocumentMap(\n  docs: SearchDocument[]\n): Map<string, SearchDocument> {\n  const map = new Map<string, SearchDocument>()\n  for (const doc of docs) {\n    const [path] = doc.location.split(\"#\")\n\n    /* Add document article */\n    const article = map.get(path)\n    if (typeof article === \"undefined\") {\n      map.set(path, doc)\n\n      /* Add document section */\n    } else {\n      map.set(doc.location, doc)\n      doc.parent = article\n    }\n  }\n\n  /* Return search document map */\n  return map\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Visitor function\n *\n * @param start - Start offset\n * @param end - End offset\n */\ntype VisitorFn = (\n  start: number, end: number\n) => void\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Split a string using the given separator\n *\n * @param input - Input value\n * @param separator - Separator\n * @param fn - Visitor function\n */\nexport function split(\n  input: string, separator: RegExp, fn: VisitorFn\n): void {\n  separator = new RegExp(separator, \"g\")\n\n  /* Split string using separator */\n  let match: RegExpExecArray | null\n  let index = 0\n  do {\n    match = separator.exec(input)\n\n    /* Emit non-empty range */\n    const until = match?.index ?? input.length\n    if (index < until)\n      fn(index, until)\n\n    /* Update last index */\n    if (match) {\n      const [term] = match\n      index = match.index + term.length\n\n      /* Support zero-length lookaheads */\n      if (term.length === 0)\n        separator.lastIndex = match.index + 1\n    }\n  } while (match)\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Extraction type\n *\n * This type defines the possible values that are encoded into the first two\n * bits of a section that is part of the blocks of a tokenization table. There\n * are three types of interest: HTML opening and closing tags, as well as the\n * actual text content we need to extract for indexing.\n */\nexport const enum Extract {\n  TAG_OPEN  = 0,                       /* HTML opening tag */\n  TEXT      = 1,                       /* Text content */\n  TAG_CLOSE = 2                        /* HTML closing tag */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Visitor function\n *\n * @param block - Block index\n * @param type - Extraction type\n * @param start - Start offset\n * @param end - End offset\n */\ntype VisitorFn = (\n  block: number, type: Extract, start: number, end: number\n) => void\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Split a string into markup and text sections\n *\n * This function scans a string and divides it up into sections of markup and\n * text. For each section, it invokes the given visitor function with the block\n * index, extraction type, as well as start and end offsets. Using a visitor\n * function (= streaming data) is ideal for minimizing pressure on the GC.\n *\n * @param input - Input value\n * @param fn - Visitor function\n */\nexport function extract(\n  input: string, fn: VisitorFn\n): void {\n\n  let block = 0                        /* Current block */\n  let start = 0                        /* Current start offset */\n  let end = 0                          /* Current end offset */\n\n  /* Split string into sections */\n  for (let stack = 0; end < input.length; end++) {\n\n    /* Opening tag after non-empty section */\n    if (input.charAt(end) === \"<\" && end > start) {\n      fn(block, Extract.TEXT, start, start = end)\n\n    /* Closing tag */\n    } else if (input.charAt(end) === \">\") {\n      if (input.charAt(start + 1) === \"/\") {\n        if (--stack === 0)\n          fn(block++, Extract.TAG_CLOSE, start, end + 1)\n\n      /* Tag is not self-closing */\n      } else if (input.charAt(end - 1) !== \"/\") {\n        if (stack++ === 0)\n          fn(block, Extract.TAG_OPEN, start, end + 1)\n      }\n\n      /* New section */\n      start = end + 1\n    }\n  }\n\n  /* Add trailing section */\n  if (end > start)\n    fn(block, Extract.TEXT, start, end)\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Position table\n */\nexport type PositionTable = number[][]\n\n/**\n * Position\n */\nexport type Position = number\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Highlight all occurrences in a string\n *\n * This function receives a field's value (e.g. like `title` or `text`), it's\n * position table that was generated during indexing, and the positions found\n * when executing the query. It then highlights all occurrences, and returns\n * their concatenation. In case of multiple blocks, two are returned.\n *\n * @param input - Input value\n * @param table - Table for indexing\n * @param positions - Occurrences\n * @param full - Full results\n *\n * @returns Highlighted string value\n */\nexport function highlight(\n  input: string, table: PositionTable, positions: Position[], full = false\n): string {\n  return highlightAll([input], table, positions, full).pop()!\n}\n\n/**\n * Highlight all occurrences in a set of strings\n *\n * @param inputs - Input values\n * @param table - Table for indexing\n * @param positions - Occurrences\n * @param full - Full results\n *\n * @returns Highlighted string values\n */\nexport function highlightAll(\n  inputs: string[], table: PositionTable, positions: Position[], full = false\n): string[] {\n\n  /* Map blocks to input values */\n  const mapping = [0]\n  for (let t = 1; t < table.length; t++) {\n    const prev = table[t - 1]\n    const next = table[t]\n\n    /* Check if table points to new block */\n    const p = prev[prev.length - 1] >>> 2 & 0x3FF\n    const q = next[0]               >>> 12\n\n    /* Add block to mapping */\n    mapping.push(+(p > q) + mapping[mapping.length - 1])\n  }\n\n  /* Highlight strings one after another */\n  return inputs.map((input, i) => {\n    let cursor = 0\n\n    /* Map occurrences to blocks */\n    const blocks = new Map<number, number[]>()\n    for (const p of positions.sort((a, b) => a - b)) {\n      const index = p & 0xFFFFF\n      const block = p >>> 20\n      if (mapping[block] !== i)\n        continue\n\n      /* Ensure presence of block group */\n      let group = blocks.get(block)\n      if (typeof group === \"undefined\")\n        blocks.set(block, group = [])\n\n      /* Add index to group */\n      group.push(index)\n    }\n\n    /* Just return string, if no occurrences */\n    if (blocks.size === 0)\n      return input\n\n    /* Compute slices */\n    const slices: string[] = []\n    for (const [block, indexes] of blocks) {\n      const t = table[block]\n\n      /* Extract positions and length */\n      const start  = t[0]            >>> 12\n      const end    = t[t.length - 1] >>> 12\n      const length = t[t.length - 1] >>> 2 & 0x3FF\n\n      /* Add prefix, if full results are desired */\n      if (full && start > cursor)\n        slices.push(input.slice(cursor, start))\n\n      /* Extract and highlight slice */\n      let slice = input.slice(start, end + length)\n      for (const j of indexes.sort((a, b) => b - a)) {\n\n        /* Retrieve offset and length of match */\n        const p = (t[j] >>> 12) - start\n        const q = (t[j] >>> 2 & 0x3FF) + p\n\n        /* Wrap occurrence */\n        slice = [\n          slice.slice(0, p),\n          \"<mark>\",\n          slice.slice(p, q),\n          \"</mark>\",\n          slice.slice(q)\n        ].join(\"\")\n      }\n\n      /* Update cursor */\n      cursor = end + length\n\n      /* Append slice and abort if we have two */\n      if (slices.push(slice) === 2)\n        break\n    }\n\n    /* Add suffix, if full results are desired */\n    if (full && cursor < input.length)\n      slices.push(input.slice(cursor))\n\n    /* Return highlighted slices */\n    return slices.join(\"\")\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { split } from \"../_\"\nimport {\n  Extract,\n  extract\n} from \"../extract\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Split a string or set of strings into tokens\n *\n * This tokenizer supersedes the default tokenizer that is provided by Lunr.js,\n * as it is aware of HTML tags and allows for multi-character splitting.\n *\n * It takes the given inputs, splits each of them into markup and text sections,\n * tokenizes and segments (if necessary) each of them, and then indexes them in\n * a table by using a compact bit representation. Bitwise techniques are used\n * to write and read from the table during indexing and querying.\n *\n * @see https://bit.ly/3W3Xw4J - Search: better, faster, smaller\n *\n * @param input - Input value(s)\n *\n * @returns Tokens\n */\nexport function tokenize(\n  input?: string | string[]\n): lunr.Token[] {\n  const tokens: lunr.Token[] = []\n  if (typeof input === \"undefined\")\n    return tokens\n\n  /* Tokenize strings one after another */\n  const inputs = Array.isArray(input) ? input : [input]\n  for (let i = 0; i < inputs.length; i++) {\n    const table = lunr.tokenizer.table\n    const total = table.length\n\n    /* Split string into sections and tokenize content blocks */\n    extract(inputs[i], (block, type, start, end) => {\n      table[block += total] ||= []\n      switch (type) {\n\n        /* Handle markup */\n        case Extract.TAG_OPEN:\n        case Extract.TAG_CLOSE:\n          table[block].push(\n            start       << 12 |\n            end - start <<  2 |\n            type\n          )\n          break\n\n        /* Handle text content */\n        case Extract.TEXT:\n          const section = inputs[i].slice(start, end)\n          split(section, lunr.tokenizer.separator, (index, until) => {\n\n            /**\n             * Apply segmenter after tokenization. Note that the segmenter will\n             * also split words at word boundaries, which is not what we want,\n             * so we need to check if we can somehow mitigate this behavior.\n             */\n            if (typeof lunr.segmenter !== \"undefined\") {\n              const subsection = section.slice(index, until)\n              if (/^[MHIK]$/.test(lunr.segmenter.ctype_(subsection))) {\n                const segments = lunr.segmenter.segment(subsection)\n                for (let s = 0, l = 0; s < segments.length; s++) {\n\n                  /* Add block to section */\n                  table[block] ||= []\n                  table[block].push(\n                    start + index + l  << 12 |\n                    segments[s].length <<  2 |\n                    type\n                  )\n\n                  /* Add token with position */\n                  tokens.push(new lunr.Token(\n                    segments[s].toLowerCase(), {\n                      position: block << 20 | table[block].length - 1\n                    }\n                  ))\n\n                  /* Keep track of length */\n                  l += segments[s].length\n                }\n                return\n              }\n            }\n\n            /* Add block to section */\n            table[block].push(\n              start + index << 12 |\n              until - index <<  2 |\n              type\n            )\n\n            /* Add token with position */\n            tokens.push(new lunr.Token(\n              section.slice(index, until).toLowerCase(), {\n                position: block << 20 | table[block].length - 1\n              }\n            ))\n          })\n      }\n    })\n  }\n\n  /* Return tokens */\n  return tokens\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Visitor function\n *\n * @param value - String value\n *\n * @returns String term(s)\n */\ntype VisitorFn = (\n  value: string\n) => string | string[]\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Default transformation function\n *\n * 1. Trim excess whitespace from left and right.\n *\n * 2. Search for parts in quotation marks and prepend a `+` modifier to denote\n *    that the resulting document must contain all parts, converting the query\n *    to an `AND` query (as opposed to the default `OR` behavior). While users\n *    may expect parts enclosed in quotation marks to map to span queries, i.e.\n *    for which order is important, Lunr.js doesn't support them, so the best\n *    we can do is to convert the parts to an `AND` query.\n *\n * 3. Replace control characters which are not located at the beginning of the\n *    query or preceded by white space, or are not followed by a non-whitespace\n *    character or are at the end of the query string. Furthermore, filter\n *    unmatched quotation marks.\n *\n * 4. Split the query string at whitespace, then pass each part to the visitor\n *    function for tokenization, and append a wildcard to every resulting term\n *    that is not explicitly marked with a `+`, `-`, `~` or `^` modifier, since\n *    it ensures consistent and stable ranking when multiple terms are entered.\n *    Also, if a fuzzy or boost modifier are given, but no numeric value has\n *    been entered, default to 1 to not induce a query error.\n *\n * @param query - Query value\n * @param fn - Visitor function\n *\n * @returns Transformed query value\n */\nexport function transform(\n  query: string, fn: VisitorFn = term => term\n): string {\n  return query\n\n    /* => 1 */\n    .trim()\n\n    /* => 2 */\n    .split(/\"([^\"]+)\"/g)\n      .map((parts, index) => index & 1\n        ? parts.replace(/^\\b|^(?![^\\x00-\\x7F]|$)|\\s+/g, \" +\")\n        : parts\n      )\n      .join(\"\")\n\n    /* => 3 */\n    .replace(/\"|(?:^|\\s+)[*+\\-:^~]+(?=\\s+|$)/g, \"\")\n\n    /* => 4 */\n    .split(/\\s+/g)\n      .reduce((prev, term) => {\n        const next = fn(term)\n        return [...prev, ...Array.isArray(next) ? next : [next]]\n      }, [] as string[])\n      .map(term => /([~^]$)/.test(term) ? `${term}1` : term)\n      .map(term => /(^[+-]|[~^]\\d+$)/.test(term) ? term : `${term}*`)\n      .join(\" \")\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { split } from \"../../internal\"\nimport { transform } from \"../transform\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search query clause\n */\nexport interface SearchQueryClause {\n  presence: lunr.Query.presence        /* Clause presence */\n  term: string                         /* Clause term */\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Search query terms\n */\nexport type SearchQueryTerms = Record<string, boolean>\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Transform search query\n *\n * This function lexes the given search query and applies the transformation\n * function to each term, preserving markup like `+` and `-` modifiers.\n *\n * @param query - Search query\n *\n * @returns Search query\n */\nexport function transformSearchQuery(\n  query: string\n): string {\n\n  /* Split query terms with tokenizer */\n  return transform(query, part => {\n    const terms: string[] = []\n\n    /* Initialize lexer and analyze part */\n    const lexer = new lunr.QueryLexer(part)\n    lexer.run()\n\n    /* Extract and tokenize term from lexeme */\n    for (const { type, str: term, start, end } of lexer.lexemes)\n      switch (type) {\n\n        /* Hack: remove colon - see https://bit.ly/3wD3T3I */\n        case \"FIELD\":\n          if (![\"title\", \"text\", \"tags\"].includes(term))\n            part = [\n              part.slice(0, end),\n              \" \",\n              part.slice(end + 1)\n            ].join(\"\")\n          break\n\n        /* Tokenize term */\n        case \"TERM\":\n          split(term, lunr.tokenizer.separator, (...range) => {\n            terms.push([\n              part.slice(0, start),\n              term.slice(...range),\n              part.slice(end)\n            ].join(\"\"))\n          })\n      }\n\n    /* Return terms */\n    return terms\n  })\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Parse a search query for analysis\n *\n * Lunr.js itself has a bug where it doesn't detect or remove wildcards for\n * query clauses, so we must do this here.\n *\n * @see https://bit.ly/3DpTGtz - GitHub issue\n *\n * @param value - Query value\n *\n * @returns Search query clauses\n */\nexport function parseSearchQuery(\n  value: string\n): SearchQueryClause[] {\n  const query  = new lunr.Query([\"title\", \"text\", \"tags\"])\n  const parser = new lunr.QueryParser(value, query)\n\n  /* Parse Search query */\n  parser.parse()\n  for (const clause of query.clauses) {\n    clause.usePipeline = true\n\n    /* Handle leading wildcard */\n    if (clause.term.startsWith(\"*\")) {\n      clause.wildcard = lunr.Query.wildcard.LEADING\n      clause.term = clause.term.slice(1)\n    }\n\n    /* Handle trailing wildcard */\n    if (clause.term.endsWith(\"*\")) {\n      clause.wildcard = lunr.Query.wildcard.TRAILING\n      clause.term = clause.term.slice(0, -1)\n    }\n  }\n\n  /* Return query clauses */\n  return query.clauses\n}\n\n/**\n * Analyze the search query clauses in regard to the search terms found\n *\n * @param query - Search query clauses\n * @param terms - Search terms\n *\n * @returns Search query terms\n */\nexport function getSearchQueryTerms(\n  query: SearchQueryClause[], terms: string[]\n): SearchQueryTerms {\n  const clauses = new Set<SearchQueryClause>(query)\n\n  /* Match query clauses against terms */\n  const result: SearchQueryTerms = {}\n  for (let t = 0; t < terms.length; t++)\n    for (const clause of clauses)\n      if (terms[t].startsWith(clause.term)) {\n        result[clause.term] = true\n        clauses.delete(clause)\n      }\n\n  /* Annotate unmatched non-stopword query clauses */\n  for (const clause of clauses)\n    if (lunr.stopWordFilter?.(clause.term))\n      result[clause.term] = false\n\n  /* Return query terms */\n  return result\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Segment a search query using the inverted index\n *\n * This function implements a clever approach to text segmentation for Asian\n * languages, as it used the information already available in the search index.\n * The idea is to greedily segment the search query based on the tokens that are\n * already part of the index, as described in the linked issue.\n *\n * @see https://bit.ly/3lwjrk7 - GitHub issue\n *\n * @param query - Query value\n * @param index - Inverted index\n *\n * @returns Segmented query value\n */\nexport function segment(\n  query: string, index: object\n): Iterable<string> {\n  const segments = new Set<string>()\n\n  /* Segment search query */\n  const wordcuts = new Uint16Array(query.length)\n  for (let i = 0; i < query.length; i++)\n    for (let j = i + 1; j < query.length; j++) {\n      const value = query.slice(i, j)\n      if (value in index)\n        wordcuts[i] = j - i\n    }\n\n  /* Compute longest matches with minimum overlap */\n  const stack = [0]\n  for (let s = stack.length; s > 0;) {\n    const p = stack[--s]\n    for (let q = 1; q < wordcuts[p]; q++)\n      if (wordcuts[p + q] > wordcuts[p] - q) {\n        segments.add(query.slice(p, p + q))\n        stack[s++] = p + q\n      }\n\n    /* Continue at end of query string */\n    const q = p + wordcuts[p]\n    if (wordcuts[q] && q < query.length - 1)\n      stack[s++] = q\n\n    /* Add current segment */\n    segments.add(query.slice(p, q))\n  }\n\n  // @todo fix this case in the code block above, this is a hotfix\n  if (segments.has(\"\"))\n    return new Set([query])\n\n  /* Return segmented query value */\n  return segments\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  SearchDocument,\n  SearchIndex,\n  SearchOptions,\n  setupSearchDocumentMap\n} from \"../config\"\nimport {\n  Position,\n  PositionTable,\n  highlight,\n  highlightAll,\n  tokenize\n} from \"../internal\"\nimport {\n  SearchQueryTerms,\n  getSearchQueryTerms,\n  parseSearchQuery,\n  segment,\n  transformSearchQuery\n} from \"../query\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search item\n */\nexport interface SearchItem\n  extends SearchDocument\n{\n  score: number                        /* Score (relevance) */\n  terms: SearchQueryTerms              /* Search query terms */\n}\n\n/**\n * Search result\n */\nexport interface SearchResult {\n  items: SearchItem[][]                /* Search items */\n  suggest?: string[]                   /* Search suggestions */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Create field extractor factory\n *\n * @param table - Position table map\n *\n * @returns Extractor factory\n */\nfunction extractor(table: Map<string, PositionTable>) {\n  return (name: keyof SearchDocument) => {\n    return (doc: SearchDocument) => {\n      if (typeof doc[name] === \"undefined\")\n        return undefined\n\n      /* Compute identifier and initialize table */\n      const id = [doc.location, name].join(\":\")\n      table.set(id, lunr.tokenizer.table = [])\n\n      /* Return field value */\n      return doc[name]\n    }\n  }\n}\n\n/**\n * Compute the difference of two lists of strings\n *\n * @param a - 1st list of strings\n * @param b - 2nd list of strings\n *\n * @returns Difference\n */\nfunction difference(a: string[], b: string[]): string[] {\n  const [x, y] = [new Set(a), new Set(b)]\n  return [\n    ...new Set([...x].filter(value => !y.has(value)))\n  ]\n}\n\n/* ----------------------------------------------------------------------------\n * Class\n * ------------------------------------------------------------------------- */\n\n/**\n * Search index\n */\nexport class Search {\n\n  /**\n   * Search document map\n   */\n  protected map: Map<string, SearchDocument>\n\n  /**\n   * Search options\n   */\n  protected options: SearchOptions\n\n  /**\n   * The underlying Lunr.js search index\n   */\n  protected index: lunr.Index\n\n  /**\n   * Internal position table map\n   */\n  protected table: Map<string, PositionTable>\n\n  /**\n   * Create the search integration\n   *\n   * @param data - Search index\n   */\n  public constructor({ config, docs, options }: SearchIndex) {\n    const field = extractor(this.table = new Map())\n\n    /* Set up document map and options */\n    this.map = setupSearchDocumentMap(docs)\n    this.options = options\n\n    /* Set up document index */\n    this.index = lunr(function () {\n      this.metadataWhitelist = [\"position\"]\n      this.b(0)\n\n      /* Set up (multi-)language support */\n      if (config.lang.length === 1 && config.lang[0] !== \"en\") {\n        // @ts-expect-error - namespace indexing not supported\n        this.use(lunr[config.lang[0]])\n      } else if (config.lang.length > 1) {\n        this.use(lunr.multiLanguage(...config.lang))\n      }\n\n      /* Set up custom tokenizer (must be after language setup) */\n      this.tokenizer = tokenize as typeof lunr.tokenizer\n      lunr.tokenizer.separator = new RegExp(config.separator)\n\n      /* Set up custom segmenter, if loaded */\n      lunr.segmenter = \"TinySegmenter\" in lunr\n        ? new lunr.TinySegmenter()\n        : undefined\n\n      /* Compute functions to be removed from the pipeline */\n      const fns = difference([\n        \"trimmer\", \"stopWordFilter\", \"stemmer\"\n      ], config.pipeline)\n\n      /* Remove functions from the pipeline for registered languages */\n      for (const lang of config.lang.map(language => (\n        // @ts-expect-error - namespace indexing not supported\n        language === \"en\" ? lunr : lunr[language]\n      )))\n        for (const fn of fns) {\n          this.pipeline.remove(lang[fn])\n          this.searchPipeline.remove(lang[fn])\n        }\n\n      /* Set up index reference */\n      this.ref(\"location\")\n\n      /* Set up index fields */\n      this.field(\"title\", { boost: 1e3, extractor: field(\"title\") })\n      this.field(\"text\",  { boost: 1e0, extractor: field(\"text\") })\n      this.field(\"tags\",  { boost: 1e6, extractor: field(\"tags\") })\n\n      /* Add documents to index */\n      for (const doc of docs)\n        this.add(doc, { boost: doc.boost })\n    })\n  }\n\n  /**\n   * Search for matching documents\n   *\n   * @param query - Search query\n   *\n   * @returns Search result\n   */\n  public search(query: string): SearchResult {\n\n    // Experimental Chinese segmentation\n    query = query.replace(/\\p{sc=Han}+/gu, value => {\n      return [...segment(value, this.index.invertedIndex)]\n        .join(\"* \")\n    })\n\n    // @todo: move segmenter (above) into transformSearchQuery\n    query = transformSearchQuery(query)\n    if (!query)\n      return { items: [] }\n\n    /* Parse query to extract clauses for analysis */\n    const clauses = parseSearchQuery(query)\n      .filter(clause => (\n        clause.presence !== lunr.Query.presence.PROHIBITED\n      ))\n\n    /* Perform search and post-process results */\n    const groups = this.index.search(query)\n\n      /* Apply post-query boosts based on title and search query terms */\n      .reduce<SearchItem[]>((item, { ref, score, matchData }) => {\n        let doc = this.map.get(ref)\n        if (typeof doc !== \"undefined\") {\n\n          /* Shallow copy document */\n          doc = { ...doc }\n          if (doc.tags)\n            doc.tags = [...doc.tags]\n\n          /* Compute and analyze search query terms */\n          const terms = getSearchQueryTerms(\n            clauses,\n            Object.keys(matchData.metadata)\n          )\n\n          /* Highlight matches in fields */\n          for (const field of this.index.fields) {\n            if (typeof doc[field] === \"undefined\")\n              continue\n\n            /* Collect positions from matches */\n            const positions: Position[] = []\n            for (const match of Object.values(matchData.metadata))\n              if (typeof match[field] !== \"undefined\")\n                positions.push(...match[field].position)\n\n            /* Skip highlighting, if no positions were collected */\n            if (!positions.length)\n              continue\n\n            /* Load table and determine highlighting method */\n            const table = this.table.get([doc.location, field].join(\":\"))!\n            const fn = Array.isArray(doc[field])\n              ? highlightAll\n              : highlight\n\n            // @ts-expect-error - stop moaning, TypeScript!\n            doc[field] = fn(doc[field], table, positions, field !== \"text\")\n          }\n\n          /* Highlight title and text and apply post-query boosts */\n          const boost = +!doc.parent +\n            Object.values(terms)\n              .filter(t => t).length /\n            Object.keys(terms).length\n\n          /* Append item */\n          item.push({\n            ...doc,\n            score: score * (1 + boost ** 2),\n            terms\n          })\n        }\n        return item\n      }, [])\n\n      /* Sort search results again after applying boosts */\n      .sort((a, b) => b.score - a.score)\n\n      /* Group search results by article */\n      .reduce((items, result) => {\n        const doc = this.map.get(result.location)\n        if (typeof doc !== \"undefined\") {\n          const ref = doc.parent\n            ? doc.parent.location\n            : doc.location\n          items.set(ref, [...items.get(ref) || [], result])\n        }\n        return items\n      }, new Map<string, SearchItem[]>())\n\n    /* Ensure that every item set has an article */\n    for (const [ref, items] of groups)\n      if (!items.find(item => item.location === ref)) {\n        const doc = this.map.get(ref)!\n        items.push({ ...doc, score: 0, terms: {} })\n      }\n\n    /* Generate search suggestions, if desired */\n    let suggest: string[] | undefined\n    if (this.options.suggest) {\n      const titles = this.index.query(builder => {\n        for (const clause of clauses)\n          builder.term(clause.term, {\n            fields: [\"title\"],\n            presence: lunr.Query.presence.REQUIRED,\n            wildcard: lunr.Query.wildcard.TRAILING\n          })\n      })\n\n      /* Retrieve suggestions for best match */\n      suggest = titles.length\n        ? Object.keys(titles[0].matchData.metadata)\n        : []\n    }\n\n    /* Return search result */\n    return {\n      items: [...groups.values()],\n      ...typeof suggest !== \"undefined\" && { suggest }\n    }\n  }\n}\n"],
   "mappings": 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@@ -38,14 +38,14 @@
     
   
   
-  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6zm80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3z"/></svg>');}</style>
+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
-  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4V7Z"/></svg>');}</style>
+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -62,7 +62,7 @@
       
     
     
-    <script>__md_scope=new URL("..",location),__md_hash=e=>[...e].reduce((e,_)=>(e<<5)-e+_.charCodeAt(0),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
+    <script>__md_scope=new URL("..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -107,12 +107,12 @@
     <a href=".." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -140,7 +140,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
       </label>
     
   
@@ -150,7 +150,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
       </label>
     
   
@@ -158,13 +158,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -173,15 +173,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -204,7 +204,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -375,7 +375,7 @@
     <a href=".." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     Documentation of RobotDART
@@ -385,7 +385,7 @@
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+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -840,6 +840,39 @@
     </span>
   </a>
   
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#known-issues" class="md-nav__link">
+    <span class="md-ellipsis">
+      Known Issues
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Known Issues">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#graphics-issues-on-mac" class="md-nav__link">
+    <span class="md-ellipsis">
+      Graphics issues on Mac
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#graphics-issues-on-wsl-windows" class="md-nav__link">
+    <span class="md-ellipsis">
+      Graphics issues on WSL (Windows)
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
 </li>
       
     </ul>
@@ -1747,6 +1780,39 @@
     </span>
   </a>
   
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#known-issues" class="md-nav__link">
+    <span class="md-ellipsis">
+      Known Issues
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Known Issues">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#graphics-issues-on-mac" class="md-nav__link">
+    <span class="md-ellipsis">
+      Graphics issues on Mac
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#graphics-issues-on-wsl-windows" class="md-nav__link">
+    <span class="md-ellipsis">
+      Graphics issues on WSL (Windows)
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
 </li>
       
     </ul>
@@ -3267,6 +3333,17 @@ <h2 id="where-can-i-find-complete-working-examples-for-either-c-or-python"><stro
 <div class="admonition note">
 <p class="admonition-title"><a href="https://github.com/NOSALRO/robot_dart/tree/master/src/examples/python">Python examples</a></p>
 </div>
+<h2 id="known-issues"><strong>Known Issues</strong><a class="headerlink" href="#known-issues" title="Permanent link">&para;</a></h2>
+<h3 id="graphics-issues-on-mac">Graphics issues on Mac<a class="headerlink" href="#graphics-issues-on-mac" title="Permanent link">&para;</a></h3>
+<p>Recent versions of macOS do not fully support OpenGL (see <a href="https://developer.apple.com/library/archive/documentation/GraphicsImaging/Conceptual/OpenGL-MacProgGuide/opengl_intro/opengl_intro.html">here</a>). RobotDART is using OpenGL for its graphical interface. For this reason, you might experience one of the following issues:</p>
+<ul>
+<li>Segfaults when shadows are enabled (see <a href="https://github.com/NOSALRO/robot_dart/issues/204">here</a>). For this reason, <strong>on Mac PCs we are disabling by default the shadows</strong>.</li>
+<li>Status bar not showing correctly or not at all (see <a href="https://github.com/NOSALRO/robot_dart/issues/205">here</a>)</li>
+<li>When using RobotDART with a graphics window (<em>remember that you can use RobotDART with graphics without any window!</em>), saving images or videos might not work properly (see <a href="https://github.com/NOSALRO/robot_dart/issues/209">here</a>)</li>
+</ul>
+<p>Finally, although not an issue, but this is related to Mac not fully supporting OpenGL, <code>Windowsless GLContext</code> is unsupported in Mac. Thus, a few examples (like <code>example_parallel.py</code>, see <a href="https://github.com/NOSALRO/robot_dart/issues/208">here</a>) are not working on Mac PCs.</p>
+<h3 id="graphics-issues-on-wsl-windows">Graphics issues on WSL (Windows)<a class="headerlink" href="#graphics-issues-on-wsl-windows" title="Permanent link">&para;</a></h3>
+<p>You might experience some issues with the graphical interface (see <a href="https://github.com/NOSALRO/robot_dart/issues/214">here</a>).</p>
 
 
 
@@ -3289,14 +3366,14 @@ <h2 id="where-can-i-find-complete-working-examples-for-either-c-or-python"><stro
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -3330,10 +3407,10 @@ <h2 id="where-can-i-find-complete-working-examples-for-either-c-or-python"><stro
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../javascripts/mathjax.js"></script>
       
diff --git a/docs/index.html b/docs/index.html
index 650c3eda..2b70f35d 100644
--- a/docs/index.html
+++ b/docs/index.html
@@ -16,7 +16,7 @@
       
       
       <link rel="icon" href="assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -24,7 +24,7 @@
       
     
     
-      <link rel="stylesheet" href="assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="assets/stylesheets/palette.06af60db.min.css">
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@@ -60,7 +60,7 @@
       
     
     
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@@ -105,12 +105,12 @@
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     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -138,7 +138,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
       </label>
     
   
@@ -148,7 +148,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
       </label>
     
   
@@ -156,13 +156,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -171,15 +171,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -202,7 +202,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -373,7 +373,7 @@
     <a href="." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -383,7 +383,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1248,14 +1248,14 @@ <h2 id="what-robotdart-is-not">What RobotDART is not<a class="headerlink" href="
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1289,10 +1289,10 @@ <h2 id="what-robotdart-is-not">What RobotDART is not<a class="headerlink" href="
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="javascripts/mathjax.js"></script>
       
diff --git a/docs/install/index.html b/docs/install/index.html
index e8c3f247..0a22951a 100644
--- a/docs/install/index.html
+++ b/docs/install/index.html
@@ -18,7 +18,7 @@
       
       
       <link rel="icon" href="../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -26,7 +26,7 @@
       
     
     
-      <link rel="stylesheet" href="../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../assets/stylesheets/palette.06af60db.min.css">
@@ -38,14 +38,14 @@
     
   
   
-  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6zm80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3z"/></svg>');}</style>
+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
-  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4V7Z"/></svg>');}</style>
+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -62,7 +62,7 @@
       
     
     
-    <script>__md_scope=new URL("..",location),__md_hash=e=>[...e].reduce((e,_)=>(e<<5)-e+_.charCodeAt(0),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
+    <script>__md_scope=new URL("..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -107,12 +107,12 @@
     <a href=".." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -140,7 +140,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
       </label>
     
   
@@ -150,7 +150,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
       </label>
     
   
@@ -158,13 +158,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -173,15 +173,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -204,7 +204,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
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     NOSALRO/robot_dart
@@ -375,7 +375,7 @@
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
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     Documentation of RobotDART
@@ -385,7 +385,7 @@
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   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1533,14 +1533,14 @@ <h4 id="common-issues-with-python-bindings">Common Issues with Python bindings<a
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+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
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@@ -1574,10 +1574,10 @@ <h4 id="common-issues-with-python-bindings">Common Issues with Python bindings<a
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+    <script id="__config" type="application/json">{"base": "..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../assets/javascripts/bundle.56dfad97.min.js"></script>
       
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diff --git a/docs/pubs/index.html b/docs/pubs/index.html
index 1f049a70..988735f5 100644
--- a/docs/pubs/index.html
+++ b/docs/pubs/index.html
@@ -18,7 +18,7 @@
       
       
       <link rel="icon" href="../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -26,7 +26,7 @@
       
     
     
-      <link rel="stylesheet" href="../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../assets/stylesheets/main.35f28582.min.css">
       
         
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@@ -62,7 +62,7 @@
       
     
     
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+    <script>__md_scope=new URL("..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -107,12 +107,12 @@
     <a href=".." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -140,7 +140,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
       </label>
     
   
@@ -150,7 +150,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -158,13 +158,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -173,15 +173,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -204,7 +204,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -375,7 +375,7 @@
     <a href=".." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -385,7 +385,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
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-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     NOSALRO/robot_dart
@@ -1280,14 +1280,14 @@ <h2 id="scientific-publications-indicative-list-ordered-by-date_1">Scientific Pu
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+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
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-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1321,10 +1321,10 @@ <h2 id="scientific-publications-indicative-list-ordered-by-date_1">Scientific Pu
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-    <script id="__config" type="application/json">{"base": "..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../javascripts/mathjax.js"></script>
       
diff --git a/docs/quick_install/index.html b/docs/quick_install/index.html
index 079d8be6..232f0290 100644
--- a/docs/quick_install/index.html
+++ b/docs/quick_install/index.html
@@ -18,7 +18,7 @@
       
       
       <link rel="icon" href="../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -26,7 +26,7 @@
       
     
     
-      <link rel="stylesheet" href="../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../assets/stylesheets/main.35f28582.min.css">
       
         
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -204,7 +204,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -375,7 +375,7 @@
     <a href=".." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     Documentation of RobotDART
@@ -385,7 +385,7 @@
       <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
   </div>
   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -1311,14 +1311,14 @@ <h3 id="osx">OSX<a class="headerlink" href="#osx" title="Permanent link">&para;<
             </div>
           
           
-  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var tab,labels=set.querySelector(".tabbed-labels");for(tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
+  <script>var tabs=__md_get("__tabs");if(Array.isArray(tabs))e:for(var set of document.querySelectorAll(".tabbed-set")){var labels=set.querySelector(".tabbed-labels");for(var tab of tabs)for(var label of labels.getElementsByTagName("label"))if(label.innerText.trim()===tab){var input=document.getElementById(label.htmlFor);input.checked=!0;continue e}}</script>
 
 <script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
           <button type="button" class="md-top md-icon" data-md-component="top" hidden>
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8z"/></svg>
   Back to top
 </button>
         
@@ -1352,10 +1352,10 @@ <h3 id="osx">OSX<a class="headerlink" href="#osx" title="Permanent link">&para;<
     </div>
     
     
-    <script id="__config" type="application/json">{"base": "..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "..", "features": ["navigation.tabs", "navigation.tabs.sticky", "navigation.top", "navigation.instant", "content.tabs.link", "content.code.annotate", "toc.follow"], "search": "../assets/javascripts/workers/search.07f07601.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
-      <script src="../assets/javascripts/bundle.fe8b6f2b.min.js"></script>
+      <script src="../assets/javascripts/bundle.56dfad97.min.js"></script>
       
         <script src="../javascripts/mathjax.js"></script>
       
diff --git a/docs/robots/index.html b/docs/robots/index.html
index f792cfe3..632781a1 100644
--- a/docs/robots/index.html
+++ b/docs/robots/index.html
@@ -18,7 +18,7 @@
       
       
       <link rel="icon" href="../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.30">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.34">
     
     
       
@@ -26,7 +26,7 @@
       
     
     
-      <link rel="stylesheet" href="../assets/stylesheets/main.3cba04c6.min.css">
+      <link rel="stylesheet" href="../assets/stylesheets/main.35f28582.min.css">
       
         
         <link rel="stylesheet" href="../assets/stylesheets/palette.06af60db.min.css">
@@ -38,14 +38,14 @@
     
   
   
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+  <style>:root{--md-admonition-icon--note:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 640 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M392.8 1.2c-17-4.9-34.7 5-39.6 22l-128 448c-4.9 17 5 34.7 22 39.6s34.7-5 39.6-22l128-448c4.9-17-5-34.7-22-39.6m80.6 120.1c-12.5 12.5-12.5 32.8 0 45.3l89.3 89.4-89.4 89.4c-12.5 12.5-12.5 32.8 0 45.3s32.8 12.5 45.3 0l112-112c12.5-12.5 12.5-32.8 0-45.3l-112-112c-12.5-12.5-32.8-12.5-45.3 0zm-306.7 0c-12.5-12.5-32.8-12.5-45.3 0l-112 112c-12.5 12.5-12.5 32.8 0 45.3l112 112c12.5 12.5 32.8 12.5 45.3 0s12.5-32.8 0-45.3L77.3 256l89.4-89.4c12.5-12.5 12.5-32.8 0-45.3"/></svg>');}</style>
 
 
   
   
   
   
-  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4V7Z"/></svg>');}</style>
+  <style>:root{--md-annotation-icon:url('data:image/svg+xml;charset=utf-8,<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 20c-4.41 0-8-3.59-8-8s3.59-8 8-8 8 3.59 8 8-3.59 8-8 8m0-18A10 10 0 0 0 2 12a10 10 0 0 0 10 10 10 10 0 0 0 10-10A10 10 0 0 0 12 2m1 5h-2v4H7v2h4v4h2v-4h4v-2h-4z"/></svg>');}</style>
 
 
     
@@ -62,7 +62,7 @@
       
     
     
-    <script>__md_scope=new URL("..",location),__md_hash=e=>[...e].reduce((e,_)=>(e<<5)-e+_.charCodeAt(0),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
+    <script>__md_scope=new URL("..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
@@ -107,12 +107,12 @@
     <a href=".." title="Documentation of RobotDART" class="md-header__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
-  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5Z"/></svg>
+  <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a2 2 0 0 1 2 2c0 .74-.4 1.39-1 1.73V7h1a7 7 0 0 1 7 7h1a1 1 0 0 1 1 1v3a1 1 0 0 1-1 1h-1v1a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-1H2a1 1 0 0 1-1-1v-3a1 1 0 0 1 1-1h1a7 7 0 0 1 7-7h1V5.73c-.6-.34-1-.99-1-1.73a2 2 0 0 1 2-2M7.5 13A2.5 2.5 0 0 0 5 15.5 2.5 2.5 0 0 0 7.5 18a2.5 2.5 0 0 0 2.5-2.5A2.5 2.5 0 0 0 7.5 13m9 0a2.5 2.5 0 0 0-2.5 2.5 2.5 2.5 0 0 0 2.5 2.5 2.5 2.5 0 0 0 2.5-2.5 2.5 2.5 0 0 0-2.5-2.5"/></svg>
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
       
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
@@ -140,7 +140,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="deep-puprle" data-md-color-accent="purple"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
     
       <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9v1Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 0-7 7c0 2.38 1.19 4.47 3 5.74V17a1 1 0 0 0 1 1h6a1 1 0 0 0 1-1v-2.26c1.81-1.27 3-3.36 3-5.74a7 7 0 0 0-7-7M9 21a1 1 0 0 0 1 1h4a1 1 0 0 0 1-1v-1H9z"/></svg>
       </label>
     
   
@@ -150,7 +150,7 @@
     <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="deep-purple" data-md-color-accent="purple"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
     
       <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 2a7 7 0 0 1 7 7c0 2.38-1.19 4.47-3 5.74V17a1 1 0 0 1-1 1H9a1 1 0 0 1-1-1v-2.26C6.19 13.47 5 11.38 5 9a7 7 0 0 1 7-7M9 21v-1h6v1a1 1 0 0 1-1 1h-4a1 1 0 0 1-1-1m3-17a5 5 0 0 0-5 5c0 2.05 1.23 3.81 3 4.58V16h4v-2.42c1.77-.77 3-2.53 3-4.58a5 5 0 0 0-5-5"/></svg>
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@@ -158,13 +158,13 @@
       
     
     
-      <script>var media,input,key,value,palette=__md_get("__palette");if(palette&&palette.color){"(prefers-color-scheme)"===palette.color.media&&(media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']"),palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent"));for([key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -173,15 +173,15 @@
       <input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
         
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="Search">
         
         <button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
           
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
@@ -204,7 +204,7 @@
         <a href="https://github.com/NOSALRO/robot_dart" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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   <div class="md-source__repository">
     NOSALRO/robot_dart
@@ -375,7 +375,7 @@
     <a href=".." title="Documentation of RobotDART" class="md-nav__button md-logo" aria-label="Documentation of RobotDART" data-md-component="logo">
       
   
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     Documentation of RobotDART
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-{"config":{"lang":["en"],"separator":"[\\s\\-]+","pipeline":["stopWordFilter"]},"docs":[{"location":"","title":"Home","text":""},{"location":"#robotdart","title":"RobotDART","text":"<p>RobotDART is a C++ robot simulator (with optional Python bindings) built on top of the DART physics engine. The RobotDART simulator is intended to be used by Robotics and Machine Learning researchers who want to write controllers or test learning algorithms without the delays and overhead that usually comes with other simulators (e.g., Gazebo, Coppelia-sim).</p> <p>For this reason, the simulator runs headless by default, and there is the possibility of rendering the scene (e.g., through a camera sensor) without opening a graphics window. All RobotDART's code is thread-safe (including graphics and camera sensors), and thus enables its users to use their code in parallel jobs in multicore computers.</p> <p></p> <p>In a few words, RobotDART combines:</p> <ul> <li>a physics engine (DART)</li> <li>an optional graphics engine (Magnum)</li> <li>a few sensor classes (IMU, force/torque sensors, cameras, etc.)</li> <li>a curated URDF library</li> <li>... and a few useful features to make the life of roboticists/researchers easier</li> </ul> <p> </p>"},{"location":"#main-features","title":"Main Features","text":"<ul> <li>Modern C++ code that makes it easy to develop environments and applications</li> <li>Fast and reliable simulation of robotic mechanisms and their interactions (through the DART physics engine)</li> <li>A structured <code>Robot</code> class that enables a unified creation and access to all important values: in RobotDART you can load any robot description file (URDF, SDF, SKEL, and MuJoCo files) with the same command, and all robot measurements can be queried without using any DART code</li> <li>A generic <code>RobotControl</code> class that enables fast prototyping of any type of controller</li> <li>A generic <code>Sensor</code> class that allows the creation of any kind of sensor</li> <li>A growing list of already implemented sensors, that includes 6-axis <code>ForceTorque</code>, <code>IMU</code>, <code>RGB</code>, and <code>RGB-D</code> sensors</li> <li>A simulation class (<code>RobotDARTSimu</code>) that handles multiple robots and sensors, and allows for step-by-step simulation</li> <li>A growing list of supported robots along with edited and optimized models to be used with RobotDART (see the robots page for details and examples):<ul> <li>PAL Talos humanoid</li> <li>Franka Emika Panda</li> <li>KUKA LBR Iiwa (14kg version)</li> <li>IIT iCub humanoid (without hands)</li> <li>Unitree A1 quadruped robot</li> <li>Dynamixel-based 6-legged robot</li> <li>A simple arm for educational purposes</li> <li>and you can use any URDF</li> </ul> </li> <li>A custom graphical interface built on top of Magnum that allows generic customization</li> <li>Support for windowless OpenGL context creation (even in parallel threads!) to allow for camera sensor usage even in parallel jobs running on clusters</li> <li>Support for video recording in simulation time (i.e., not affected by delays of simulator and/or graphics) for visualization or debugging purposes</li> <li>Full-featured Python bindings for fast prototyping</li> <li>RobotDART runs on any Linux distribution and Mac OS</li> </ul>"},{"location":"#what-robotdart-is-not","title":"What RobotDART is not","text":"<ul> <li>RobotDART is primarily intended to be non-interactive (run a simulation, record/view the result),</li> <li>Interaction is limited to changing the view and your own code. No GUI for adding objects or interactively build an environment,</li> <li>RobotDART is not optimized for wheeled robots,</li> <li>RobotDART is not optimized for simulating complex (e.g., mountain-like) terrains.</li> </ul>"},{"location":"faq/","title":"FAQ","text":""},{"location":"faq/#frequently-asked-questions","title":"Frequently Asked Questions","text":"<p>This pages provides a user guide of the library through Frequently Asked Questions (FAQ).</p>"},{"location":"faq/#what-is-a-minimal-working-example-of-robotdart","title":"What is a minimal working example of RobotDART?","text":"<p>You can find a minimal working example at hello_world.cpp. This example is creating a world where a hexapod robot is placed just above a floor and left to fall. The robot has no actuation, and there is the simplest graphics configuration. Let's split it down.</p> <ul> <li>We first include the appropriate files:</li> </ul> C++Python <pre><code>#include &lt;robot_dart/robot_dart_simu.hpp&gt;\n\n#ifdef GRAPHIC\n#include &lt;robot_dart/gui/magnum/graphics.hpp&gt;\n#endif\n</code></pre> <pre><code>import RobotDART as rd\n</code></pre> <ul> <li>We then load our hexapod robot:</li> </ul> C++Python <pre><code>auto robot = std::make_shared&lt;robot_dart::Robot&gt;(\"pexod.urdf\");\n</code></pre> <pre><code>robot = rd.Robot(\"pexod.urdf\");\n</code></pre> <ul> <li>We need to place it above the floor to avoid collision (we can use RobotDART's helpers ;)):</li> </ul> C++Python <pre><code>robot-&gt;set_base_pose(robot_dart::make_tf({0., 0., 0.2}));\n</code></pre> <pre><code># pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)\nrobot.set_base_pose([0., 0., 0., 0., 0., 0.2])\n</code></pre> <ul> <li>We can now create the simulation object and add the robot and the floor:</li> </ul> C++Python <pre><code>robot_dart::RobotDARTSimu simu(0.001); // dt=0.001, 1KHz simulation\nsimu.add_floor();\nsimu.add_robot(robot);\n</code></pre> <pre><code>simu = rd.RobotDARTSimu(0.001); # dt=0.001, 1KHz simulation\nsimu.add_floor();\nsimu.add_robot(robot);\n</code></pre> <ul> <li>If needed or wanted, we can add a graphics component to visualize the scene:</li> </ul> C++Python <pre><code>auto graphics = std::make_shared&lt;robot_dart::gui::magnum::Graphics&gt;();\nsimu.set_graphics(graphics);\ngraphics-&gt;look_at({0.5, 3., 0.75}, {0.5, 0., 0.2});\n</code></pre> <pre><code>graphics = rd.gui.Graphics()\nsimu.set_graphics(graphics)\ngraphics.look_at([0.5, 3., 0.75], [0.5, 0., 0.2])\n</code></pre> <ul> <li>Once everything is configured, we can run our simulation for a few seconds:</li> </ul> C++Python <pre><code>simu.run(10.);\n</code></pre> <pre><code>simu.run(10.)\n</code></pre> <ul> <li>Here's how it looks:</li> </ul> <p> </p>"},{"location":"faq/#what-robots-are-supported-in-robotdart","title":"What robots are supported in RobotDART?","text":"<p>RobotDART supports any robot that can be described by a URDF, SDF, SKEL or MJCF file. Nevertheless, we have a curated list of robots with edited and optimized models to be used with RobotDART (see the robots page for details and examples).</p>"},{"location":"faq/#how-can-i-load-my-own-urdfsdfskelmjcf-file","title":"How can I load my own URDF/SDF/SKEL/MJCF file?","text":"<p>See the robots page for details.</p>"},{"location":"faq/#how-do-i-enable-graphics-in-my-code","title":"How do I enable graphics in my code?","text":"<p>To enable graphics in your code, you need to do the following:</p> <ul> <li>Install Magnum. See the installation page for details.</li> <li>Create and set a graphics object in the simulation object. Here's an example:</li> </ul> C++Python <pre><code>auto graphics = std::make_shared&lt;robot_dart::gui::magnum::Graphics&gt;();\nsimu.set_graphics(graphics);\ngraphics-&gt;look_at({0.5, 3., 0.75}, {0.5, 0., 0.2});\n</code></pre> <pre><code>graphics = rd.gui.Graphics()\nsimu.set_graphics(graphics)\ngraphics.look_at([0.5, 3., 0.75], [0.5, 0., 0.2])\n</code></pre>"},{"location":"faq/#i-want-to-have-multiple-camera-sensors-is-it-possible","title":"I want to have multiple camera sensors. Is it possible?","text":"<p>Having multiple camera sensors is indeed possible. We can add as many cameras as we wish along the main camera defined in How do I record a video:</p> C++Python <pre><code>// Add camera\nauto camera = std::make_shared&lt;robot_dart::sensor::Camera&gt;(graphics-&gt;magnum_app(), 256, 256);\n</code></pre> <pre><code># Add camera\ncamera = rd.sensor.Camera(graphics.magnum_app(), 32, 32)\n</code></pre>"},{"location":"faq/#how-do-i-record-a-video","title":"How do I record a video?","text":"<p>In order to record a video (1) of what the main or any other camera \"sees\", you need to call the function <code>record_video(path)</code> of the graphics class:</p> <ol> <li> Make sure that you have <code>ffmpeg</code> installed on your system.</li> </ol> C++Python <pre><code>graphics-&gt;record_video(\"talos_dancing.mp4\");\n</code></pre> <pre><code>graphics.record_video(\"talos_dancing.mp4\")\n</code></pre> <p>Or the camera class:</p> C++Python <pre><code>// cameras can also record video\ncamera-&gt;record_video(\"video-camera.mp4\");\n</code></pre> <pre><code># cameras can also record video\ncamera.record_video(\"video-camera.mp4\")\n</code></pre>"},{"location":"faq/#how-can-i-position-a-camera-to-the-environment","title":"How can I position a camera to the environment?","text":"<p>In order to position a camera inside the world, we need to use the <code>lookAt</code> method of the camera/graphics object:</p> C++Python <pre><code>// set the position of the camera, and the position where the main camera is looking at\nEigen::Vector3d cam_pos = {-0.5, -3., 0.75};\nEigen::Vector3d cam_looks_at = {0.5, 0., 0.2};\ncamera-&gt;look_at(cam_pos, cam_looks_at);\n</code></pre> <pre><code># set the position of the camera, and the position where the main camera is looking at\ncam_pos = [-0.5, -3., 0.75]\ncam_looks_at = [0.5, 0., 0.2]\ncamera.look_at(cam_pos, cam_looks_at)\n</code></pre>"},{"location":"faq/#how-can-i-attach-a-camera-to-a-moving-link","title":"How can I attach a camera to a moving link?","text":"<p>Cameras can be easily attached to a moving link:</p> C++Python <pre><code>Eigen::Isometry3d tf;\ntf = Eigen::AngleAxisd(3.14, Eigen::Vector3d{1., 0., 0.});\ntf *= Eigen::AngleAxisd(1.57, Eigen::Vector3d{0., 0., 1.});\ntf.translation() = Eigen::Vector3d(0., 0., 0.1);\ncamera-&gt;attach_to_body(robot-&gt;body_node(\"iiwa_link_ee\"), tf); // cameras are looking towards -z by default\n</code></pre> <pre><code>tf = dartpy.math.Isometry3()\nrot = dartpy.math.AngleAxis(3.14, [1., 0., 0.])\nrot = rot.multiply(dartpy.math.AngleAxis(1.57, [0., 0., 1.])).to_rotation_matrix()\ntf.set_translation([0., 0., 0.1])\ntf.set_rotation(rot)\ncamera.attach_to_body(robot.body_node(\"iiwa_link_ee\"), tf)  # cameras are looking towards -z by default\n</code></pre>"},{"location":"faq/#how-can-i-manipulate-the-camera-object","title":"How can I manipulate the camera object?","text":"<p>Every camera has its own parameters, i.e a Near plane, a far plane, a Field Of View (FOV), a width and a height (that define the aspect ratio), you can manipulate each one separately:</p> C++Python <pre><code>camera-&gt;camera().set_far_plane(5.f);\ncamera-&gt;camera().set_near_plane(0.01f);\ncamera-&gt;camera().set_fov(60.0f);\n</code></pre> <pre><code>camera.camera().set_far_plane(5.)\ncamera.camera().set_near_plane(0.01)\ncamera.camera().set_fov(60.0)\n</code></pre> <p>or all at once:</p> C++Python <pre><code>camera-&gt;camera().set_camera_params(5., // far plane\n    0.01f, // near plane\n    60.0f, // field of view\n    600, // width\n    400 // height\n);\n</code></pre> <pre><code>camera.camera().set_camera_params(5.,  # far plane\n                                  0.01,  # near plane\n                                  60.0,  # field of view\n                                  600,  # width\n                                  400)  # height\n</code></pre> <p>You can find a complete example at cameras.cpp and cameras.py.</p>"},{"location":"faq/#how-can-i-interact-with-the-camera","title":"How can I interact with the camera?","text":"<p>We can move translate the cameras with the <code>WASD</code> keys, zoom in and out using the <code>mouse wheel</code> and rotate the camera with holding the <code>left mouse key</code> and moving the mouse.</p>"},{"location":"faq/#what-do-the-numbers-in-the-status-bar-mean","title":"What do the numbers in the status bar mean?","text":"<p>The status bar looks like this:</p> <p></p> <p>Where simulation time gives us the total simulated time (in seconds), wall time gives us the total time (in seconds) that has passed in real-time once we have started simulating. The next number X.Xx gives us the real-time factor: for example, 1.1x means that the simulation runs 1.1 times faster than real-time, whereas 0.7x means that the simulation runs slower than real-time. The value it: XX ms reports the time it took the last iteration (in milliseconds). The last part gives us whether the simulation tries to adhere to real-time or not. sync means that RobotDART will slow down the simulation in order for it to be in real-time, whereas no-sync means that RobotDART will try to run the simulation as fast as possible.</p>"},{"location":"faq/#how-can-i-alter-the-graphics-scene-eg-change-lighting-conditions","title":"How can I alter the graphics scene (e.g., change lighting conditions)?","text":"<p>When creating a graphics object, you can pass a <code>GraphicsConfiguration</code> object that changes the default values:</p> C++Python <pre><code>robot_dart::gui::magnum::GraphicsConfiguration configuration;\n// We can change the width/height of the window (or camera image dimensions)\nconfiguration.width = 1280;\nconfiguration.height = 960;\nconfiguration.title = \"Graphics Tutorial\"; // We can set a title for our window\n\n// We can change the configuration for shadows\nconfiguration.shadowed = true;\nconfiguration.transparent_shadows = true;\nconfiguration.shadow_map_size = 1024;\n\n// We can also alter some specifications for the lighting\nconfiguration.max_lights = 3; // maximum number of lights for our scene [default=3]\nconfiguration.specular_strength = 0.25; // strength of the specular component\n\n// Some extra configuration for the main camera\nconfiguration.draw_main_camera = true;\nconfiguration.draw_debug = true;\nconfiguration.draw_text = true;\n\n// We can also change the background color [default=black]\nconfiguration.bg_color = Eigen::Vector4d{1.0, 1.0, 1.0, 1.0};\n\n// Create the graphics object with the configuration as parameter\nauto graphics = std::make_shared&lt;robot_dart::gui::magnum::Graphics&gt;(configuration);\n</code></pre> <pre><code>configuration = rd.gui.GraphicsConfiguration()\n# We can change the width/height of the window (or camera, dimensions)\nconfiguration.width = 1280\nconfiguration.height = 960\nconfiguration.title = \"Graphics Tutorial\"  # We can set a title for our window\n\n# We can change the configuration for shadows\nconfiguration.shadowed = True\nconfiguration.transparent_shadows = True\nconfiguration.shadow_map_size = 1024\n\n# We can also alter some specifications for the lighting\nconfiguration.max_lights = 3  # maximum number of lights for our scene\nconfiguration.specular_strength = 0.25  # strength og the specular component\n\n#  Some extra configuration for the main camera\nconfiguration.draw_main_camera = True\nconfiguration.draw_debug = True\nconfiguration.draw_text = True\n\n# We can also change the background color [default = black]\nconfiguration.bg_color = [1., 1., 1., 1.]\n\n# create the graphics object with the configuration as a parameter\ngraphics = rd.gui.Graphics(configuration)\n</code></pre> <p>You can disable or enable shadows on the fly as well:</p> C++Python <pre><code>// Disable shadows\ngraphics-&gt;enable_shadows(false, false);\nsimu.run(1.);\n// Enable shadows only for non-transparent objects\ngraphics-&gt;enable_shadows(true, false);\nsimu.run(1.);\n// Enable shadows for transparent objects as well\ngraphics-&gt;enable_shadows(true, true);\nsimu.run(1.);\n</code></pre> <pre><code># Disable shadows\ngraphics.enable_shadows(False, False)\nsimu.run(1.)\n# Enable shadows only for non-transparent objects\ngraphics.enable_shadows(True, False)\nsimu.run(1.)\n# Enable shadows for transparent objects as well\ngraphics.enable_shadows(True, True)\nsimu.run(1.)\n</code></pre> <p>You can also add your own lights. The application by default creates 2 light sources and the maximum number of lights is 3 (you can change this once before the creation of the graphics object via the <code>GraphicsConfiguration</code> object). So usually before you add your lights, you have to clear the default lights:</p> C++Python <pre><code>// Clear Lights\ngraphics-&gt;clear_lights();\n</code></pre> <pre><code># Clear Lights\ngraphics.clear_lights()\n</code></pre> <p>Then you must create a custom light material:</p> C++Python <pre><code>// Create Light material\nMagnum::Float shininess = 1000.f;\nMagnum::Color4 white = {1.f, 1.f, 1.f, 1.f};\n\n// ambient, diffuse, specular\nauto custom_material = robot_dart::gui::magnum::gs::Material(white, white, white, shininess);\n</code></pre> <pre><code># Clear Light material\nshininess = 1000.\nwhite = magnum.Color4(1., 1., 1., 1.)\n\n# ambient, diffuse, specular\ncustom_material = rd.gui.Material(white, white, white, shininess)\n</code></pre> <p>Now you can add on ore more of the following lights:</p> <p>Point Light:</p> C++Python <pre><code>// Create point light\nMagnum::Vector3 position = {0.f, 0.f, 2.f};\nMagnum::Float intensity = 1.f;\nMagnum::Vector3 attenuation_terms = {1.f, 0.f, 0.f};\nauto point_light = robot_dart::gui::magnum::gs::create_point_light(position, custom_material, intensity, attenuation_terms);\ngraphics-&gt;add_light(point_light);\n</code></pre> <pre><code># Create point light\nposition = magnum.Vector3(0., 0., 2.)\nintensity = 1.\nattenuation_terms = magnum.Vector3(1., 0., 0.)\npoint_light = rd.gui.create_point_light(position, custom_material, intensity, attenuation_terms)\ngraphics.add_light(point_light)\n</code></pre> <p>Spot Light:</p> C++Python <pre><code>// Create spot light\nMagnum::Vector3 position = {0.f, 0.f, 1.f};\nMagnum::Vector3 direction = {-1.f, -1.f, -1.f};\nMagnum::Float intensity = 1.f;\nMagnum::Vector3 attenuation_terms = {1.f, 0.f, 0.f};\nMagnum::Float spot_exponent = M_PI;\nMagnum::Float spot_cut_off = M_PI / 8;\nauto spot_light = robot_dart::gui::magnum::gs::create_spot_light(position, custom_material, direction, spot_exponent, spot_cut_off, intensity, attenuation_terms);\ngraphics-&gt;add_light(spot_light);\n</code></pre> <pre><code># Create spot light\nposition = magnum.Vector3(0., 0., 1.)\ndirection = magnum.Vector3(-1, -1, -1)\nintensity = 1.\nattenuation_terms = magnum.Vector3(1., 0., 0.)\nspot_exponent = np.pi\nspot_cut_off = np.pi / 8\nspot_light = rd.gui.create_spot_light(position, custom_material, direction, spot_exponent, spot_cut_off, intensity, attenuation_terms)\ngraphics.add_light(spot_light)\n</code></pre> <p>Directional Light:</p> C++Python <pre><code>// Create directional light\nMagnum::Vector3 direction = {-1.f, -1.f, -1.f};\nauto directional_light = robot_dart::gui::magnum::gs::create_directional_light(direction, custom_material);\ngraphics-&gt;add_light(directional_light);\n</code></pre> <pre><code># Create directional light\ndirection = magnum.Vector3(-1, -1, -1)\ndirectional_light = rd.gui.create_directional_light(direction, custom_material)\ngraphics.add_light(directional_light)\n</code></pre>"},{"location":"faq/#i-want-to-visualize-a-target-configuration-of-my-robot-is-this-possible","title":"I want to visualize a target configuration of my robot, is this possible?","text":"<p>Yes this is possible. RobotDART gives the ability to create a clone of your robot that has no physics, no contacts, just visuals:</p> C++Python <pre><code>// Add a ghost robot; only visuals, no dynamics, no collision\nauto ghost = robot-&gt;clone_ghost();\nsimu.add_robot(ghost);\n</code></pre> <pre><code># Add a ghost robot; only visuals, no dynamics, no collision\nghost = robot.clone_ghost()\nsimu.add_robot(ghost)\n</code></pre>"},{"location":"faq/#how-can-i-control-my-robot","title":"How can I control my robot ?","text":"<p>PD control</p> C++Python <pre><code>// add a PD-controller to the arm\n// set desired positions\nEigen::VectorXd ctrl = robot_dart::make_vector({0., M_PI / 4., 0., -M_PI / 4., 0., M_PI / 2., 0., 0.});\n\n// add the controller to the robot\nauto controller = std::make_shared&lt;robot_dart::control::PDControl&gt;(ctrl);\nrobot-&gt;add_controller(controller);\ncontroller-&gt;set_pd(300., 50.);\n</code></pre> <pre><code># add a PD-controller to the arm\n# set desired positions\nctrl = [0., np.pi / 4., 0., -np.pi / 4., 0., np.pi / 2., 0., 0.]\n\n# add the controller to the robot\ncontroller = rd.PDControl(ctrl)\nrobot.add_controller(controller)\ncontroller.set_pd(300., 50.)\n</code></pre> <p>Simple control</p> C++Python <pre><code>auto controller1 = std::make_shared&lt;robot_dart::control::SimpleControl&gt;(ctrl);\n// add the controller to the robot, with a default weight of 1.0\nrobot-&gt;add_controller(controller1);\n</code></pre> <pre><code>controller1 = rd.SimpleControl(ctrl)\n# add the controller to the robot, with a default weight of 1.0\nrobot.add_controller(controller1)\n</code></pre> <p>Robot control</p> C++Python <pre><code>class MyController : public robot_dart::control::RobotControl {\npublic:\n    MyController() : robot_dart::control::RobotControl() {}\n\n    MyController(const Eigen::VectorXd&amp; ctrl, bool full_control) : robot_dart::control::RobotControl(ctrl, full_control) {}\n    MyController(const Eigen::VectorXd&amp; ctrl, const std::vector&lt;std::string&gt;&amp; dof_names) : robot_dart::control::RobotControl(ctrl, dof_names) {}\n\n    void configure() override\n    {\n        _active = true;\n    }\n\n    Eigen::VectorXd calculate(double) override\n    {\n        auto robot = _robot.lock();\n        Eigen::VectorXd cmd = 100. * (_ctrl - robot-&gt;positions(_controllable_dofs));\n        return cmd;\n    }\n    std::shared_ptr&lt;robot_dart::control::RobotControl&gt; clone() const override\n    {\n        return std::make_shared&lt;MyController&gt;(*this);\n    }\n};\n</code></pre> <pre><code>class MyController(rd.RobotControl):\n    def __init__(self, ctrl, full_control):\n        rd.RobotControl.__init__(self, ctrl, full_control)\n\n    def __init__(self, ctrl, controllable_dofs):\n        rd.RobotControl.__init__(self, ctrl, controllable_dofs)\n\n    def configure(self):\n        self._active = True\n\n    def calculate(self, t):\n        target = np.array([self._ctrl])\n        cmd = 100*(target-self.robot().positions(self._controllable_dofs))\n        return cmd[0]\n\n    # TO-DO: This is NOT working at the moment!\n    def clone(self):\n        return MyController(self._ctrl, self._controllable_dofs)\n</code></pre>"},{"location":"faq/#is-there-a-way-to-control-the-simulation-timestep","title":"Is there a way to control the simulation timestep?","text":"<p>When creating a RobotDARTSimu object you choose the simulation timestep:</p> C++Python <pre><code>// choose time step of 0.001 seconds\nrobot_dart::RobotDARTSimu simu(0.001);\n</code></pre> <pre><code># choose time step of 0.001 seconds\nsimu = rd.RobotDARTSimu(0.001)\n</code></pre> <p>which can later be modified by:</p> C++Python <pre><code>// set timestep to 0.005 and update control frequency(bool)\nsimu.set_timestep(0.005, true);\n</code></pre> <pre><code># set timestep to 0.005 and update control frequency(bool)\nsimu.set_timestep(0.005, True)\n</code></pre>"},{"location":"faq/#i-want-to-simulate-a-mars-environment-is-it-possible-to-change-the-gravitational-force-of-the-simulation-environment","title":"I want to simulate a mars environment, is it possible to change the gravitational force of the simulation environment?","text":"<p>Yes you can modify the gravitational forces 3-dimensional vector of the simulation:</p> C++Python <pre><code>// Set gravitational force of mars\nEigen::Vector3d mars_gravity = {0., 0., -3.721};\nsimu.set_gravity(mars_gravity);\n</code></pre> <pre><code># set gravitational force of mars\nmars_gravity = [0., 0., -3.721]\nsimu.set_gravity(mars_gravity)\n</code></pre>"},{"location":"faq/#which-collision-detectors-are-available-what-are-their-differences-how-can-i-choose-between-them","title":"Which collision detectors are available? What are their differences? How can I choose between them?","text":"DART FCL ODE Bullet Support only basic shapes Full-featured collision detector fully integrated by DART External collision detector of ODE External collision detector of Bullet This is building along with DART This is a required dependency of DART Needs an external library Needs an external library Very fast for small scenes Accurate detailed collisions, but not very fast Fast collision detection (the integration is not complete) Fast and accurate collision detection (works well for wheels as well) <p>We can easily select one of the available collision detectors using the simulator object:</p> C++Python <pre><code>simu.set_collision_detector(\"fcl\"); // collision_detector can be \"dart\", \"fcl\", \"ode\" or \"bullet\" (case does not matter)\n</code></pre> <pre><code>simu.set_collision_detector(\"fcl\") # collision_detector can be \"dart\", \"fcl\", \"ode\" or \"bullet\" (case does not matter)\n</code></pre>"},{"location":"faq/#my-robot-does-not-self-collide-how-can-i-change-this","title":"My robot does not self-collide. How can I change this?","text":"<p>One possible cause may be the fact that self collision is disabled, you can check and change this:</p> C++Python <pre><code>if (!robot-&gt;self_colliding()) {\n    std::cout &lt;&lt; \"Self collision is not enabled\" &lt;&lt; std::endl;\n    // set self collisions to true and adjacent collisions to false\n    robot-&gt;set_self_collision(true, false);\n}\n</code></pre> <pre><code>if(not robot.self_colliding()):\n    print(\"Self collision is not enabled\")\n    # set self collisions to true and adjacent collisions to false\n    robot.set_self_collision(True, False)\n</code></pre>"},{"location":"faq/#how-can-i-compute-kinematicdynamic-properties-of-my-robot-eg-jacobians-mass-matrix","title":"How can I compute kinematic/dynamic properties of my robot (e.g., Jacobians, Mass Matrix)?","text":"<p>Kinematic Properties:</p> C++Python <pre><code>// Get Joint Positions(Angles)\nauto joint_positions = robot-&gt;positions();\n\n// Get Joint Velocities\nauto joint_vels = robot-&gt;velocities();\n\n// Get Joint Accelerations\nauto joint_accs = robot-&gt;accelerations();\n\n// Get link_name(str) Transformation matrix with respect to the world frame.\nauto eef_tf = robot-&gt;body_pose(link_name);\n\n// Get translation vector from transformation matrix\nauto eef_pos = eef_tf.translation();\n\n// Get rotation matrix from tranformation matrix\nauto eef_rot = eef_tf.rotation();\n\n// Get link_name 6d pose vector [logmap(eef_tf.linear()), eef_tf.translation()]\nauto eef_pose_vec = robot-&gt;body_pose_vec(link_name);\n\n// Get link_name 6d velocity vector [angular, cartesian]\nauto eef_vel = robot-&gt;body_velocity(link_name);\n\n// Get link_name 6d acceleration vector [angular, cartesian]\nauto eef_acc = robot-&gt;body_acceleration(link_name);\n\n// Jacobian targeting the origin of link_name(str)\nauto jacobian = robot-&gt;jacobian(link_name);\n\n// Jacobian time derivative\nauto jacobian_deriv = robot-&gt;jacobian_deriv(link_name);\n\n// Center of Mass Jacobian\nauto com_jacobian = robot-&gt;com_jacobian();\n\n// Center of Mass Jacobian Time Derivative\nauto com_jacobian_deriv = robot-&gt;com_jacobian_deriv();\n</code></pre> <pre><code># Get Joint Positions(Angles)\njoint_positions = robot.positions()\n\n# Get Joint Velocities\njoint_vels = robot.velocities()\n\n# Get Joint Accelerations\njoint_accs = robot.accelerations()\n\n# Get link_name(str) Transformation matrix with respect to the world frame.\neef_tf = robot.body_pose(link_name)\n\n# Get translation vector from transformation matrix\neef_pos = eef_tf.translation()\n\n# Get rotation matrix from tranformation matrix\neef_rot = eef_tf.rotation()\n\n# Get link_name 6d pose vector [logmap(eef_tf.linear()), eef_tf.translation()]\neef_pose_vec = robot.body_pose_vec(link_name)\n\n# Get link_name 6d velocity vector [angular, cartesian]\neef_vel = robot.body_velocity(link_name)\n\n# Get link_name 6d acceleration vector [angular, cartesian]\neef_acc = robot.body_acceleration(link_name)\n\n# Jacobian targeting the origin of link_name(str)\njacobian = robot.jacobian(link_name)\n\n# Jacobian time derivative\njacobian_deriv = robot.jacobian_deriv(link_name)\n\n# Center of Mass Jacobian\ncom_jacobian = robot.com_jacobian()\n\n# Center of Mass Jacobian Time Derivative\ncom_jacobian_deriv = robot.com_jacobian_deriv()\n</code></pre> <p>Dynamic Properties:</p> C++Python <pre><code>// Get Joint Forces\nauto joint_forces = robot-&gt;forces();\n\n// Get link's mass\nauto eef_mass = robot-&gt;body_mass(link_name);\n\n// Mass Matrix of robot\nauto mass_matrix = robot-&gt;mass_matrix();\n\n// Inverse of Mass Matrix\nauto inv_mass_matrix = robot-&gt;inv_mass_matrix();\n\n// Augmented Mass matrix\nauto aug_mass_matrix = robot-&gt;aug_mass_matrix();\n\n// Inverse of Augmented Mass matrix\nauto inv_aug_mass_matrix = robot-&gt;inv_aug_mass_matrix();\n\n// Coriolis Force vector\nauto coriolis = robot-&gt;coriolis_forces();\n\n// Gravity Force vector\nauto gravity = robot-&gt;gravity_forces();\n\n// Combined vector of Coriolis Force and Gravity Force\nauto coriolis_gravity = robot-&gt;coriolis_gravity_forces();\n\n// Constraint Force Vector\nauto constraint_forces = robot-&gt;constraint_forces();\n</code></pre> <pre><code># Get Joint Forces\njoint_forces = robot.forces()\n\n# Get link's mass\neef_mass = robot.body_mass(link_name)\n\n# Mass Matrix of robot\nmass_matrix = robot.mass_matrix()\n\n# Inverse of Mass Matrix\ninv_mass_matrix = robot.inv_mass_matrix()\n\n# Augmented Mass matrix\naug_mass_matrix = robot.aug_mass_matrix()\n\n# Inverse of Augmented Mass matrix\ninv_aug_mass_matrix = robot.inv_aug_mass_matrix()\n\n# Coriolis Force vector\ncoriolis = robot.coriolis_forces()\n\n# Gravity Force vector\ngravity = robot.gravity_forces()\n\n# Combined vector of Coriolis Force and Gravity Force\ncoriolis_gravity = robot.coriolis_gravity_forces()\n\n# NOT IMPLEMENTED\n# # Constraint Force Vector\n# constraint_forces = robot.constraint_forces()\n</code></pre>"},{"location":"faq/#is-there-a-way-to-change-the-joint-properties-eg-actuation-friction","title":"Is there a way to change the joint properties (e.g., actuation, friction)?","text":"<p>There are 6 types of actuators available, you can set the same actuator to multiple joints at once, or you can set each sensor separately:</p> C++Python <pre><code>// Set all DoFs to same actuator\nrobot-&gt;set_actuator_types(\"servo\"); // actuator types can be \"servo\", \"torque\", \"velocity\", \"passive\", \"locked\", \"mimic\"\n// You can also set actuator types separately\nrobot-&gt;set_actuator_type(\"torque\", \"iiwa_joint_5\");\n</code></pre> <pre><code># Set all DoFs to same actuator\n# actuator types can be \"servo\", \"torque\", \"velocity\", \"passive\", \"locked\", \"mimic\"\nrobot.set_actuator_types(\"servo\")\n# You can also set actuator types separately\nrobot.set_actuator_type(\"torque\", \"iiwa_joint_5\")\n</code></pre> <p>To enable position and velocity limits for the actuators:</p> C++Python <pre><code>// \u0395nforce joint position and velocity limits\nrobot-&gt;set_position_enforced(true);\n</code></pre> <pre><code># \u0395nforce joint position and velocity limits\nrobot.set_position_enforced(True)\n</code></pre> <p>Every DOF's limits (position, velocity, acceleration, force) can be modified:</p> C++Python <pre><code>// Modify Position Limits\nEigen::VectorXd pos_upper_lims(7);\npos_upper_lims &lt;&lt; 2.096, 2.096, 2.096, 2.096, 2.096, 2.096, 2.096;\nrobot-&gt;set_position_upper_limits(pos_upper_lims, dof_names);\nrobot-&gt;set_position_lower_limits(-pos_upper_lims, dof_names);\n\n// Modify Velocity Limits\n\nEigen::VectorXd vel_upper_lims(7);\nvel_upper_lims &lt;&lt; 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5;\nrobot-&gt;set_velocity_upper_limits(vel_upper_lims, dof_names);\nrobot-&gt;set_velocity_lower_limits(-vel_upper_lims, dof_names);\n\n// Modify Force Limits\n\nEigen::VectorXd force_upper_lims(7);\nforce_upper_lims &lt;&lt; 150, 150, 150, 150, 150, 150, 150;\nrobot-&gt;set_force_upper_limits(force_upper_lims, dof_names);\nrobot-&gt;set_force_lower_limits(-force_upper_lims, dof_names);\n\n// Modify Acceleration Limits\nEigen::VectorXd acc_upper_lims(7);\nacc_upper_lims &lt;&lt; 1500, 1500, 1500, 1500, 1500, 1500, 1500;\nrobot-&gt;set_acceleration_upper_limits(acc_upper_lims, dof_names);\nrobot-&gt;set_acceleration_lower_limits(-acc_upper_lims, dof_names);\n</code></pre> <pre><code># Modify Position Limits\npos_upper_lims = np.array([2.096, 2.096, 2.096, 2.096, 2.096, 2.096, 2.096])\nrobot.set_position_upper_limits(pos_upper_lims, dof_names)\nrobot.set_position_lower_limits(-1*pos_upper_lims, dof_names)\n\n# Modify Velocity Limits\nvel_upper_lims = np.array([1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5])\n\nrobot.set_velocity_upper_limits(vel_upper_lims, dof_names)\nrobot.set_velocity_lower_limits(-1*vel_upper_lims, dof_names)\n\n# Modify Force Limits\nforce_upper_lims = np.array([150, 150, 150, 150, 150, 150, 150])\nrobot.set_force_upper_limits(force_upper_lims, dof_names)\nrobot.set_force_lower_limits(-1*force_upper_lims, dof_names)\n\n# Modify Acceleration Limits\nacc_upper_lims = np.array([1500, 1500, 1500, 1500, 1500, 1500, 1500])\nrobot.set_acceleration_upper_limits(acc_upper_lims, dof_names)\nrobot.set_acceleration_lower_limits(-1*acc_upper_lims, dof_names)\n</code></pre> <p>You can also modify the damping coefficients, coulomb frictions and spring stiffness of every DOF:</p> C++Python <pre><code>// Modify Damping Coefficients\nstd::vector&lt;double&gt; damps = {0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4};\nrobot-&gt;set_damping_coeffs(damps, dof_names);\n\n// Modify Coulomb Frictions\nstd::vector&lt;double&gt; cfrictions = {0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001};\nrobot-&gt;set_coulomb_coeffs(cfrictions, dof_names);\n\n// Modify  Spring Stiffness\nstd::vector&lt;double&gt; stiffnesses = {0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001};\nrobot-&gt;set_spring_stiffnesses(stiffnesses, dof_names);\n</code></pre> <pre><code># Modify Damping Coefficients\ndamps = [0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4]\nrobot.set_damping_coeffs(damps, dof_names)\n\n# Modify Coulomb Frictions\ncfrictions = [0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001]\nrobot.set_coulomb_coeffs(cfrictions, dof_names)\n\n# Modify  Spring Stiffness\nstiffnesses = [0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001]\nrobot.set_spring_stiffnesses(stiffnesses, dof_names)\n</code></pre>"},{"location":"faq/#what-are-the-supported-sensors-how-can-i-use-an-imu","title":"What are the supported sensors? How can I use an IMU?","text":"<p>Sensors in RobotDART can be added only through the simulator object. All of the sensors can be added without being attached to any body or joint but some of them can operate only when attached to something (e.g. <code>ForceTorque</code> sensors).</p>"},{"location":"faq/#torque-sensor","title":"Torque sensor","text":"<p>Torque sensors can be added to every joint of the robot:</p> C++Python <pre><code>// Add torque sensors to the robot\nint ct = 0;\nstd::vector&lt;std::shared_ptr&lt;robot_dart::sensor::Torque&gt;&gt; tq_sensors(robot-&gt;num_dofs());\nfor (const auto&amp; joint : robot-&gt;dof_names())\n    tq_sensors[ct++] = simu.add_sensor&lt;robot_dart::sensor::Torque&gt;(robot, joint, 1000);\n</code></pre> <pre><code># Add torque sensors to the robot\ntq_sensors = np.empty(robot.num_dofs(), dtype=rd.sensor.Torque)\nct = 0\nfor joint in robot.dof_names():\n    simu.add_sensor(rd.sensor.Torque(robot, joint, 1000))\n    tq_sensors[ct] = simu.sensors()[-1]\n    ct += 1\n</code></pre> <p>Torque sensors measure the torque \\(\\tau \\in \\rm I\\!R^n\\) of the attached joint (where \\(n\\) is the DOFs of the joint):</p> C++Python <pre><code>// vector that contains the torque measurement for every joint (scalar)\nEigen::VectorXd torques_measure(robot-&gt;num_dofs());\nfor (const auto&amp; tq_sens : tq_sensors)\n    torques_measure.block&lt;1, 1&gt;(ct++, 0) = tq_sens-&gt;torques();\n</code></pre> <pre><code># vector that contains the torque measurement for every joint (scalar)\ntorques_measure = np.empty(robot.num_dofs())\nct = 0\nfor tq_sens in tq_sensors:\n    torques_measure[ct] = tq_sens.torques()\n    ct += 1\n</code></pre>"},{"location":"faq/#force-torque-sensor","title":"Force-Torque sensor","text":"<p>Force-Torque sensors can be added to every joint of the robot:</p> C++Python <pre><code>// Add force-torque sensors to the robot\nct = 0;\nstd::vector&lt;std::shared_ptr&lt;robot_dart::sensor::ForceTorque&gt;&gt; f_tq_sensors(robot-&gt;num_dofs());\nfor (const auto&amp; joint : robot-&gt;dof_names())\n    f_tq_sensors[ct++] = simu.add_sensor&lt;robot_dart::sensor::ForceTorque&gt;(robot, joint, 1000, \"parent_to_child\");\n</code></pre> <pre><code># Add force-torque sensors to the robot\nf_tq_sensors = np.empty(robot.num_dofs(), dtype=rd.sensor.ForceTorque)\nct = 0\nfor joint in robot.dof_names():\n    simu.add_sensor(rd.sensor.ForceTorque(\n        robot, joint, 1000, \"parent_to_child\"))\n    f_tq_sensors[ct] = simu.sensors()[-1]\n    print(f_tq_sensors)\n    ct += 1\n</code></pre> <p>Torque sensors measure the force \\(\\boldsymbol{F} \\in \\rm I\\!R^3\\), the torque \\(\\boldsymbol{\\tau} \\in \\rm I\\!R^3\\) and the wrench \\(\\boldsymbol{\\mathcal{F}} =\\begin{bmatrix} \\tau, F\\end{bmatrix}\\in \\rm I\\!R^6\\) of the attached joint:</p> C++Python <pre><code>//  matrix that contains the torque measurement for every joint (3d vector)\nEigen::MatrixXd ft_torques_measure(robot-&gt;num_dofs(), 3);\n//  matrix that contains the force measurement for every joint (3d vector)\nEigen::MatrixXd ft_forces_measure(robot-&gt;num_dofs(), 3);\n//  matrix that contains the wrench measurement for every joint (6d vector)[torque, force]\nEigen::MatrixXd ft_wrench_measure(robot-&gt;num_dofs(), 6);\nct = 0;\nfor (const auto&amp; f_tq_sens : f_tq_sensors) {\n    ft_torques_measure.block&lt;1, 3&gt;(ct, 0) = f_tq_sens-&gt;torque();\n    ft_forces_measure.block&lt;1, 3&gt;(ct, 0) = f_tq_sens-&gt;force();\n    ft_wrench_measure.block&lt;1, 6&gt;(ct, 0) = f_tq_sens-&gt;wrench();\n    ct++;\n}\n</code></pre> <pre><code>#  matrix that contains the torque measurement for every joint (3d vector)\nft_torques_measure = np.empty([robot.num_dofs(), 3])\n#  matrix that contains the force measurement for every joint (3d vector)\nft_forces_measure = np.empty([robot.num_dofs(), 3])\n#  matrix that contains the wrench measurement for every joint (6d vector)[torque, force]\nft_wrench_measure = np.empty([robot.num_dofs(), 6])\nct = 0\nfor f_tq_sens in f_tq_sensors:\n    ft_torques_measure[ct, :] = f_tq_sens.torque()\n    ft_forces_measure[ct, :] = f_tq_sens.force()\n    ft_wrench_measure[ct, :] = f_tq_sens.wrench()\n    ct += 1\n</code></pre>"},{"location":"faq/#imu-sensor","title":"IMU sensor","text":"<p>IMU sensors can be added to every link of the robot:</p> C++Python <pre><code>// Add IMU sensors to the robot\nct = 0;\nstd::vector&lt;std::shared_ptr&lt;robot_dart::sensor::IMU&gt;&gt; imu_sensors(robot-&gt;num_bodies());\nfor (const auto&amp; body_node : robot-&gt;body_names()) {\n    // _imu(std::make_shared&lt;sensor::IMU&gt;(sensor::IMUConfig(body_node(\"head\"), frequency))),\n    imu_sensors[ct++] = simu.add_sensor&lt;robot_dart::sensor::IMU&gt;(robot_dart::sensor::IMUConfig(robot-&gt;body_node(body_node), 1000));\n}\n</code></pre> <pre><code># Add IMU sensors to the robot\nct = 0\nimu_sensors = np.empty(robot.num_bodies(), dtype=rd.sensor.IMU)\nfor body_node in robot.body_names():\n    simu.add_sensor(rd.sensor.IMU(\n        rd.sensor.IMUConfig(robot.body_node(body_node), 1000)))\n    imu_sensors[ct] = simu.sensors()[-1]\n    ct += 1\n</code></pre> <p>IMU sensors measure the angular position vector \\(\\boldsymbol{\\theta} \\in \\rm I\\!R^3\\), the angular velocity \\(\\boldsymbol{\\omega} \\in \\rm I\\!R^3\\)  and the linear acceleration \\(\\boldsymbol{\\alpha} \\in \\rm I\\!R^3\\) of the attached link:</p> C++Python <pre><code>Eigen::MatrixXd imu_angular_positions_measure(robot-&gt;num_bodies(), 3);\nEigen::MatrixXd imu_angular_velocities_measure(robot-&gt;num_bodies(), 3);\nEigen::MatrixXd imu_linear_acceleration_measure(robot-&gt;num_bodies(), 3);\nct = 0;\nfor (const auto&amp; imu_sens : imu_sensors) {\n    imu_angular_positions_measure.block&lt;1, 3&gt;(ct, 0) = imu_sens-&gt;angular_position_vec();\n    imu_angular_velocities_measure.block&lt;1, 3&gt;(ct, 0) = imu_sens-&gt;angular_velocity();\n    imu_linear_acceleration_measure.block&lt;1, 3&gt;(ct, 0) = imu_sens-&gt;linear_acceleration();\n    ct++;\n}\n</code></pre> <pre><code>imu_angular_positions_measure = np.empty([robot.num_bodies(), 3])\nimu_angular_velocities_measure = np.empty([robot.num_bodies(), 3])\nimu_linear_acceleration_measure = np.empty([robot.num_bodies(), 3])\nct = 0\nfor imu_sens in imu_sensors:\n    imu_angular_positions_measure[ct,:] = imu_sens.angular_position_vec()\n    imu_angular_velocities_measure[ct, :] = imu_sens.angular_velocity()\n    imu_linear_acceleration_measure[ct,:] = imu_sens.linear_acceleration()\n    ct += 1\n</code></pre>"},{"location":"faq/#rgb-sensor","title":"RGB sensor","text":"<p>Any camera can be used as an RGB sensor:</p> C++Python <pre><code>// a nested std::vector (w*h*3) of the last image taken can be retrieved\nauto rgb_image = camera-&gt;image();\n</code></pre> <pre><code># a nested array (w*h*3) of the last image taken can be retrieved\nrgb_image = camera.image()\n</code></pre> <p>We can easily save the image and/or transform it to grayscale:</p> C++Python <pre><code>// a nested std::vector (w*h*3) of the last image taken can be retrieved\nauto rgb_image = camera-&gt;image();\n</code></pre> <pre><code># a nested array (w*h*3) of the last image taken can be retrieved\nrgb_image = camera.image()\n</code></pre>"},{"location":"faq/#rgb_d-sensor","title":"RGB_D sensor","text":"<p>Any camera can also be configured to also record depth:</p> C++Python <pre><code>camera-&gt;camera().record(true, true); // cameras are recording color images by default, enable depth images as well for this example\n</code></pre> <pre><code># cameras are recording color images by default, enable depth images as well for this example\ncamera.camera().record(True, True)\n</code></pre> <p>We can then read the RGB and depth images:</p> C++Python <pre><code>// get the depth image from a camera\n// with a version for visualization or bigger differences in the output\nauto rgb_d_image = camera-&gt;depth_image();\n// and the raw values that can be used along with the camera parameters to transform the image to point-cloud\nauto rgb_d_image_raw = camera-&gt;raw_depth_image();\n</code></pre> <pre><code># get the depth image from a camera\n# with a version for visualization or bigger differences in the output\nrgb_d_image = camera.depth_image()\n# and the raw values that can be used along with the camera parameters to transform the image to point-cloud\nrgb_d_image_raw = camera.raw_depth_image()\n</code></pre> <p>We can save the depth images as well:</p> C++Python <pre><code>robot_dart::gui::save_png_image(\"camera-depth.png\", rgb_d_image);\nrobot_dart::gui::save_png_image(\"camera-depth-raw.png\", rgb_d_image_raw);\n</code></pre> <pre><code>rd.gui.save_png_image(\"camera-depth.png\", rgb_d_image)\nrd.gui.save_png_image(\"camera-depth-raw.png\", rgb_d_image_raw)\n</code></pre>"},{"location":"faq/#how-can-i-spawn-multiple-robots-in-parallel","title":"How can I spawn multiple robots in parallel?","text":""},{"location":"faq/#robot-pool-only-in-c","title":"Robot Pool (only in C++)","text":"<p>The best way to do so is to create a Robot pool. With a robot pool you:</p> <ul> <li>Minimize the overhead of loading robots (it happens only once!) or cloning robots (it never happens)</li> <li>Make sure that your robots are \"clean\" once released from each thread</li> <li>Focus on the important stuff rather than handling robots and threads</li> </ul> <p>Let's see a more practical example:</p> <ul> <li>First we need to include the proper header:</li> </ul> C++ <pre><code>#include &lt;robot_dart/robot_pool.hpp&gt;\n</code></pre> <ul> <li>Then we create a <code>creator</code> function and the pool object:</li> </ul> C++ <pre><code>namespace pool {\n    // This function should load one robot: here we load Talos\n    inline std::shared_ptr&lt;robot_dart::Robot&gt; robot_creator()\n    {\n        return std::make_shared&lt;robot_dart::robots::Talos&gt;();\n    }\n\n    // To create the object we need to pass the robot_creator function and the number of maximum parallel threads\n    robot_dart::RobotPool robot_pool(robot_creator, NUM_THREADS);\n} // namespace pool\n</code></pre> <p>The <code>creator</code> function is the function responsible for loading your robot. This should basically look like a standalone code to load or create a robot.</p> <ul> <li>Next, we create a few threads that utilize the robots (in your code you might be using OpenMP or TBB):</li> </ul> C++ <pre><code>// for the example, we run NUM_THREADS threads of eval_robot()\nstd::vector&lt;std::thread&gt; threads(NUM_THREADS * 2); // *2 to see some reuse\nfor (size_t i = 0; i &lt; threads.size(); ++i)\n    threads[i] = std::thread(eval_robot, i); // eval_robot is the function that uses the robot\n</code></pre> <ul> <li>An example evaluation function:</li> </ul> C++ <pre><code>inline void eval_robot(int i)\n{\n    // We get one available robot\n    auto robot = pool::robot_pool.get_robot();\n    std::cout &lt;&lt; \"Robot \" &lt;&lt; i &lt;&lt; \" got [\" &lt;&lt; robot-&gt;skeleton() &lt;&lt; \"]\" &lt;&lt; std::endl;\n\n    /// --- some robot_dart code ---\n    simulate_robot(robot);\n    // --- do something with the result\n\n    std::cout &lt;&lt; \"End of simulation \" &lt;&lt; i &lt;&lt; std::endl;\n\n    // CRITICAL : free your robot !\n    pool::robot_pool.free_robot(robot);\n\n    std::cout &lt;&lt; \"Robot \" &lt;&lt; i &lt;&lt; \" freed!\" &lt;&lt; std::endl;\n}\n</code></pre>"},{"location":"faq/#python","title":"Python","text":"<p>We have not implemented this feature in <code>Python</code> yet. One can emulate the <code>RobotPool</code> behavior or create a custom parallel robot loader.</p>"},{"location":"faq/#i-need-to-simulate-many-worlds-with-camera-sensors-in-parallel-how-can-i-do-this","title":"I need to simulate many worlds with camera sensors in parallel. How can I do this?","text":"<p>Below you can find an example showcasing the use of many worlds with camera sensors in parallel.</p> C++Python <pre><code>// Load robot from URDF\nauto global_robot = std::make_shared&lt;robot_dart::robots::Iiwa&gt;();\n\nstd::vector&lt;std::thread&gt; workers;\n\n// Set maximum number of parallel GL contexts (this is GPU-dependent)\nrobot_dart::gui::magnum::GlobalData::instance()-&gt;set_max_contexts(4);\n\n// We want 15 parallel simulations with different GL context each\nsize_t N_workers = 15;\nstd::mutex mutex;\nsize_t id = 0;\n// Launch the workers\nfor (size_t i = 0; i &lt; N_workers; i++) {\n    workers.push_back(std::thread([&amp;] {\n        mutex.lock();\n        size_t index = id++;\n        mutex.unlock();\n\n        // Get the GL context -- this is a blocking call\n        // will wait until one GL context is available\n        // get_gl_context(gl_context); // this call will not sleep between failed queries\n        get_gl_context_with_sleep(gl_context, 20); // this call will sleep 20ms between each failed query\n\n        // Do the simulation\n        auto robot = global_robot-&gt;clone();\n\n        robot_dart::RobotDARTSimu simu(0.001);\n\n        Eigen::VectorXd ctrl = robot_dart::make_vector({0., M_PI / 3., 0., -M_PI / 4., 0., 0., 0.});\n\n        auto controller = std::make_shared&lt;robot_dart::control::PDControl&gt;(ctrl);\n        robot-&gt;add_controller(controller);\n        controller-&gt;set_pd(300., 50.);\n\n        // Magnum graphics\n        robot_dart::gui::magnum::GraphicsConfiguration configuration = robot_dart::gui::magnum::WindowlessGraphics::default_configuration();\n\n        configuration.width = 1024;\n        configuration.height = 768;\n        auto graphics = std::make_shared&lt;robot_dart::gui::magnum::WindowlessGraphics&gt;(configuration);\n        simu.set_graphics(graphics);\n        // Position the camera differently for each thread to visualize the difference\n        graphics-&gt;look_at({0.4 * index, 3.5 - index * 0.1, 2.}, {0., 0., 0.25});\n        // record images from main camera/graphics\n        // graphics-&gt;set_recording(true); // WindowlessGLApplication records images by default\n\n        simu.add_robot(robot);\n        simu.run(6);\n\n        // Save the image for verification\n        robot_dart::gui::save_png_image(\"camera_\" + std::to_string(index) + \".png\",\n            graphics-&gt;image());\n\n        // Release the GL context for another thread to use\n        release_gl_context(gl_context);\n    }));\n}\n\n// Wait for all the workers\nfor (size_t i = 0; i &lt; workers.size(); i++) {\n    workers[i].join();\n}\n</code></pre> <pre><code>robot = rd.Robot(\"arm.urdf\", \"arm\", False)\nrobot.fix_to_world()\n\ndef test():\n    pid = os.getpid()\n    ii = pid%15\n\n    # create the controller\n    pdcontrol = rd.PDControl([0.0, 1.0, -1.5, 1.0], False)\n\n    # clone the robot\n    grobot = robot.clone()\n\n    # add the controller to the robot\n    grobot.add_controller(pdcontrol, 1.)\n    pdcontrol.set_pd(200., 20.)\n\n    # create the simulation object\n    simu = rd.RobotDARTSimu(0.001)\n\n    # set the graphics\n    graphics = rd.gui.WindowlessGraphics()\n    simu.set_graphics(graphics)\n\n    graphics.look_at([0.4 * ii, 3.5 - ii * 0.1, 2.], [0., 0., 0.25], [0., 0., 1.])\n\n    # add the robot and the floor\n    simu.add_robot(grobot)\n    simu.add_checkerboard_floor()\n\n    # run\n    simu.run(20.)\n\n    # save last frame for visualization purposes\n    img = graphics.image()\n    rd.gui.save_png_image('camera-' + str(ii) + '.png', img)\n\n# helper function to run in parallel\ndef runInParallel(N):\n  proc = []\n  for i in range(N):\n    # rd.gui.run_with_gl_context accepts 2 parameters:\n    #    (func, wait_time_in_ms)\n    #    the func needs to be of the following format: void(), aka no return, no arguments\n    p = Process(target=rd.gui.run_with_gl_context, args=(test, 20))\n    p.start()\n    proc.append(p)\n  for p in proc:\n    p.join()\n\nprint('Running parallel evaluations')\nN = 15\nstart = timer()\nrunInParallel(N)\nend = timer()\nprint('Time:', end-start)\n</code></pre> <p>In C++ you are also able to pre-allocate a custom number of OpenGL contexts so that you can take advantage of stronger GPUs.</p>"},{"location":"faq/#i-do-not-know-how-to-use-waf-how-can-i-detect-robotdart-from-cmake","title":"I do not know how to use waf. How can I detect RobotDART from CMake?","text":"<p>You need to use <code>waf</code> to build RobotDART, but when installing the library a CMake module is installed. Thus it is possible use RobotDART in your code using CMake. You can find a complete example at cmake/example. In short the CMake would look like this:</p>"},{"location":"faq/#prerequisites","title":"Prerequisites:","text":"<ul> <li>Ensure <code>RobotDart</code> and <code>Magnum</code> are installed.</li> <li>If <code>RobotDart</code> and <code>Magnum</code> are not installed in standard locations, you can either:</li> <li>Set the <code>CMAKE_PREFIX_PATH</code> environment variable:     <pre><code>export CMAKE_PREFIX_PATH=/opt/robot_dart:/opt/magnum\n</code></pre></li> <li>Or, specify the paths directly when running <code>cmake</code>:     <pre><code>cmake -DRobotDART_DIR=/opt/robot_dart -DMagnum_DIR=/opt/magnum ..\n</code></pre></li> </ul> <pre><code>cmake_minimum_required(VERSION 3.10 FATAL_ERROR)\nproject(robot_dart_example)\n# we ask for Magnum because we want to build the graphics\nfind_package(RobotDART REQUIRED OPTIONAL_COMPONENTS Magnum)\n\nadd_executable(robot_dart_example example.cpp)\n\ntarget_link_libraries(robot_dart_example\n   RobotDART::Simu\n)\n\nif(RobotDART_Magnum_FOUND)\n  add_executable(robot_dart_example_graphics example.cpp)\n  target_link_libraries(robot_dart_example_graphics\n    RobotDART::Simu\n    RobotDART::Magnum\n  )\nendif()\n</code></pre>"},{"location":"faq/#where-can-i-find-complete-working-examples-for-either-c-or-python","title":"Where can I find complete working examples for either c++ or python?","text":"<p>C++ examples</p> <p>Python examples</p>"},{"location":"install/","title":"Manual Installation","text":""},{"location":"install/#manual-installation-of-robotdart","title":"Manual Installation of RobotDART","text":"<p>For the quick installation manual, see the quick installation page.</p>"},{"location":"install/#dependencies","title":"Dependencies","text":""},{"location":"install/#required","title":"Required","text":"<ul> <li>Ubuntu (it should work on versions &gt;= 14.04) or OSX</li> <li>Eigen3</li> <li>DART, http://dartsim.github.io/</li> </ul>"},{"location":"install/#optional","title":"Optional","text":"<ul> <li>Boost (for unit tests)</li> <li>Magnum (for graphics), https://github.com/mosra/magnum</li> <li>ffmpeg (for video recording) - please install using your favorite package manager</li> </ul>"},{"location":"install/#installation-of-the-dependencies","title":"Installation of the dependencies","text":"<p>Note: The following instructions are high-level and assume people with some experience in building/installing software.</p>"},{"location":"install/#installing-system-wide-packages","title":"Installing system-wide packages","text":"<p>For Ubuntu-based distributions (&gt;=20.04) we should use the following commands:</p> <pre><code>sudo apt-get update\nsudo apt-get install build-essential cmake pkg-config git libboost-regex-dev libboost-system-dev libboost-test-dev pybind11-dev\nsudo apt-get install libdart-all-dev\n</code></pre> <p>For OSX with brew:</p> <pre><code>brew install dartsim\n</code></pre>"},{"location":"install/#installing-magnum","title":"Installing Magnum","text":"<p>Magnum depends on Corrade and we are going to use a few plugins and extras from the library. We are also going to use Glfw and Glx for the back-end. Follow the instrutions below:</p> <pre><code>#installation of Glfw and OpenAL\n# Ubuntu\nsudo apt-get install libglfw3-dev libglfw3 libassimp-dev libopenal-dev libglfw3-dev libsdl2-dev libopenexr-dev libdevil-dev libpng-dev libfaad-dev libfreetype6-dev\n# Mac OSX\nbrew install glfw3 openal-soft assimp\n\n# installation of Corrade\ncd /path/to/tmp/folder\ngit clone https://github.com/mosra/corrade.git\ncd corrade\nmkdir build &amp;&amp; cd build\ncmake -DCMAKE_BUILD_TYPE=Release ..\nmake -j\nsudo make install\n\n# installation of Magnum\ncd /path/to/tmp/folder\ngit clone https://github.com/mosra/magnum.git\ncd magnum\nmkdir build &amp;&amp; cd build\n# Ubuntu\ncmake -DCMAKE_BUILD_TYPE=Release -DWITH_AUDIO=ON -DWITH_DEBUGTOOLS=ON -DWITH_GL=ON -DWITH_MESHTOOLS=ON -DWITH_PRIMITIVES=ON -DWITH_SCENEGRAPH=ON -DWITH_SHADERS=ON -DWITH_TEXT=ON -DWITH_TEXTURETOOLS=ON -DWITH_TRADE=ON -DWITH_GLFWAPPLICATION=ON -DWITH_WINDOWLESSEGLAPPLICATION=ON -DWITH_OPENGLTESTER=ON -DWITH_ANYAUDIOIMPORTER=ON -DWITH_ANYIMAGECONVERTER=ON -DWITH_ANYIMAGEIMPORTER=ON -DWITH_ANYSCENEIMPORTER=ON -DWITH_MAGNUMFONT=ON -DWITH_OBJIMPORTER=ON -DWITH_TGAIMPORTER=ON -DWITH_WAVAUDIOIMPORTER=ON -DTARGET_EGL=ON .. # this will enable almost all features of Magnum that are not necessarily needed for robot_dart (please refer to the documentation of Magnum for more details on selecting only the ones that you need)\n# Mac OSX\ncmake -DCMAKE_BUILD_TYPE=Release -DWITH_AUDIO=ON -DWITH_DEBUGTOOLS=ON -DWITH_GL=ON -DWITH_MESHTOOLS=ON -DWITH_PRIMITIVES=ON -DWITH_SCENEGRAPH=ON -DWITH_SHADERS=ON -DWITH_TEXT=ON -DWITH_TEXTURETOOLS=ON -DWITH_TRADE=ON -DWITH_GLFWAPPLICATION=ON -DWITH_WINDOWLESSCGLAPPLICATION=ON -DWITH_OPENGLTESTER=ON -DWITH_ANYAUDIOIMPORTER=ON -DWITH_ANYIMAGECONVERTER=ON -DWITH_ANYIMAGEIMPORTER=ON -DWITH_ANYSCENEIMPORTER=ON -DWITH_MAGNUMFONT=ON -DWITH_OBJIMPORTER=ON -DWITH_TGAIMPORTER=ON -DWITH_WAVAUDIOIMPORTER=ON .. # this will enable almost all features of Magnum that are not necessarily needed for robot_dart (please refer to the documentation of Magnum for more details on selecting only the ones that you need)\nmake -j\nsudo make install\n\n# installation of Magnum Plugins\ncd /path/to/tmp/folder\ngit clone https://github.com/mosra/magnum-plugins.git\ncd magnum-plugins\nmkdir build &amp;&amp; cd build\ncmake -DCMAKE_BUILD_TYPE=Release -DWITH_ASSIMPIMPORTER=ON -DWITH_DDSIMPORTER=ON -DWITH_JPEGIMPORTER=ON -DWITH_OPENGEXIMPORTER=ON -DWITH_PNGIMPORTER=ON -DWITH_TINYGLTFIMPORTER=ON -DWITH_STBTRUETYPEFONT=ON .. # this will enable quite a few Magnum Plugins that are not necessarily needed for robot_dart (please refer to the documentation of Magnum for more details on selecting only the ones that you need)\nmake -j\nsudo make install\n\n# installation of Magnum DART Integration (DART needs to be installed) and Eigen Integration\ncd /path/to/tmp/folder\ngit clone https://github.com/mosra/magnum-integration.git\ncd magnum-integration\nmkdir build &amp;&amp; cd build\ncmake -DCMAKE_BUILD_TYPE=Release -DWITH_DART=ON -DWITH_EIGEN=ON ..\nmake -j\nsudo make install\n\n# Installation of Magnum Python Bindings (some examples use them but this is optional)\ncd /path/to/tmp/folder\ngit clone https://github.com/mosra/magnum-bindings.git\ncd magnum-bindings\nmkdir build &amp;&amp; cd build\ncmake -DCMAKE_BUILD_TYPE=Release -DMAGNUM_WITH_PYTHON=ON ..\nmake -j\ncd src/python\nsudo python3 setup.py install\n</code></pre> <p>For OSX you can also install Magnum via brew: <code>brew install --HEAD mosra/magnum/corrade &amp;&amp; brew install --HEAD mosra/magnum/magnum &amp;&amp; brew install --HEAD mosra/magnum/magnum-plugins &amp;&amp; brew install --HEAD mosra/magnum/magnum-integration --with-dartsim</code></p>"},{"location":"install/#compilation-and-running-the-examples","title":"Compilation and running the examples","text":"<p>The compilation of the library is straight-forward:</p> <ul> <li>retrieve the code, for instance with <code>git clone https://github.com/resibots/robot_dart.git</code></li> <li><code>cd /path/to/repo/root</code></li> <li><code>./waf configure</code></li> <li><code>./waf</code></li> </ul> <p>To build the examples, execute this: <code>./waf examples</code></p> <p>Now you can run the examples. For example, to run the arm example you need to type the following: <code>./build/arm</code> (or <code>./build/arm_plain</code> to run it without graphics).</p>"},{"location":"install/#installing-the-library","title":"Installing the library","text":"<p>To install the library (assuming that you have already compiled it), you need only to run:</p> <ul> <li><code>./waf install</code></li> </ul> <p>By default the library will be installed in <code>/usr/local/lib</code> (for this maybe <code>sudo ./waf install</code> might be needed) and a static library will be generated. You can change the defaults as follows:</p> <ul> <li><code>./waf configure --prefix=/path/to/install/dir --shared</code></li> <li><code>./waf install</code></li> </ul> <p>In short, with <code>--prefix</code> you can change the directory where the library will be installed and if <code>--shared</code> is present a shared library will be created instead of a static one.</p>"},{"location":"install/#compiling-the-python-bindings","title":"Compiling the python bindings","text":"<p>For the python bindings of robot_dart, we need <code>numpy</code> to be installed, <code>pybind11</code> and the python bindings of DART (dartpy).</p> <p>For <code>numpy</code> one can install it with <code>pip</code> or standard packages. <code>dartpy</code> should be installed via the packages above. If not, please see the installation instructions on the main DART website.</p> <p>Then the compilation of robot_dart is almost identical as before:</p> <ul> <li>retrieve the code, for instance with <code>git clone https://github.com/resibots/robot_dart.git</code></li> <li><code>cd /path/to/repo/root</code></li> <li><code>./waf configure --python</code> (<code>--python</code> enables the python bindings)</li> <li><code>./waf</code></li> <li>Install the library (including the python bindings) as before (no change is needed)</li> <li>Depending on your installation directory you might need to update your <code>PYTHONPATH</code>, e.g. <code>export PYTHONPATH=$PYTHONPATH:/usr/local/lib/python3.10/site-packages/</code></li> </ul> <p>To run the python examples (for the python examples you need to have enabled the graphics, that is, install Magnum library), run:</p> <ul> <li><code>cd /path/to/repo/root</code></li> <li><code>python src/python/example.py</code> or <code>python src/python/example_parallel.py</code></li> </ul>"},{"location":"install/#common-issues-with-python-bindings","title":"Common Issues with Python bindings","text":"<p>One of the most common issue with the python bindings is the fact that DART bindings might be compiled and installed for python 3 and the robot_dart ones for python 2. To force the usage of python 3 for robot_dart, you use <code>python3 ./waf</code> instead of just <code>./waf</code> in all the commands above.</p>"},{"location":"pubs/","title":"Publications using RobotDART","text":""},{"location":"pubs/#scientific-publications-indicative-list-ordered-by-date","title":"Scientific Publications (indicative list, ordered by date)","text":""},{"location":"pubs/#scientific-publications-indicative-list-ordered-by-date_1","title":"Scientific Publications (indicative list, ordered by date)","text":"<ol> <li> <p>Anne, T. and Mouret, J.B., 2024. Parametric-Task MAP-Elites. Proceedings of the Genetic and Evolutionary Computation Conference (GECCO). (pdf)</p> </li> <li> <p>Ivaldi, S. and Ghini, E., 2023, June. Teleoperating a robot for removing asbestos tiles on roofs: insights from a pilot study. In 2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) (pp. 128-133). IEEE. (pdf)</p> </li> <li> <p>Khadivar, F., Chatzilygeroudis, K. and Billard, A., 2023. Self-correcting quadratic programming-based robot control. IEEE Transactions on Systems, Man, and Cybernetics: Systems. (pdf)</p> </li> <li> <p>Souza, A.O., Grenier, J., Charpillet, F., Maurice, P. and Ivaldi, S., 2023, June. Towards data-driven predictive control of active upper-body exoskeletons for load carrying. In 2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) (pp. 59-64). IEEE. (pdf)</p> </li> <li> <p>Chatzilygeroudis, K.I., Tsakonas, C.G. and Vrahatis, M.N., 2023, July. Evolving Dynamic Locomotion Policies in Minutes. In 2023 14<sup>th</sup> International Conference on Information, Intelligence, Systems &amp; Applications (IISA) (pp. 1-8). IEEE. (pdf)</p> </li> <li> <p>Tsakonas, C.G. and Chatzilygeroudis, K.I., 2023, July. Effective Skill Learning via Autonomous Goal Representation Learning. In 2023 14<sup>th</sup> International Conference on Information, Intelligence, Systems &amp; Applications (IISA) (pp. 1-8). IEEE. (pdf)</p> </li> <li> <p>Totsila, D., Chatzilygeroudis, K., Hadjivelichkov, D., Modugno, V., Hatzilygeroudis, I. and Kanoulas, D., 2023. End-to-End Stable Imitation Learning via Autonomous Neural Dynamic Policies. Life-Long Learning with Human Help (L3H2) Workshop, ICRA. (pdf)</p> </li> <li> <p>Allard, M., Smith, S.C., Chatzilygeroudis, K., Lim, B. and Cully, A., 2023. Online damage recovery for physical robots with hierarchical quality-diversity. ACM Transactions on Evolutionary Learning, 3(2), pp.1-23. (pdf)</p> </li> <li> <p>Anne, T., Dalin, E., Bergonzani, I., Ivaldi, S. and Mouret, J.B., 2022. First do not fall: learning to exploit a wall with a damaged humanoid robot. IEEE Robotics and Automation Letters, 7(4), pp.9028-9035. (pdf)</p> </li> <li> <p>Mayr, M., Ahmad, F., Chatzilygeroudis, K., Nardi, L. and Krueger, V., 2022, December. Skill-based multi-objective reinforcement learning of industrial robot tasks with planning and knowledge integration. In 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO) (pp. 1995-2002). IEEE. (pdf)</p> </li> <li> <p>Grillotti, L. and Cully, A., 2022. Unsupervised behavior discovery with quality-diversity optimization. IEEE Transactions on Evolutionary Computation, 26(6), pp.1539-1552. (pdf)</p> </li> <li> <p>Lim, B., Grillotti, L., Bernasconi, L. and Cully, A., 2022, May. Dynamics-aware quality-diversity for efficient learning of skill repertoires. In 2022 International Conference on Robotics and Automation (ICRA) (pp. 5360-5366). IEEE. (pdf)</p> </li> <li> <p>Tsinganos, K., Chatzilygeroudis, K., Hadjivelichkov, D., Komninos, T., Dermatas, E. and Kanoulas, D., 2022. Behavior policy learning: Learning multi-stage tasks via solution sketches and model-based controllers. Frontiers in Robotics and AI, 9, p.974537. (pdf)</p> </li> <li> <p>d'Elia, E., Mouret, J.B., Kober, J. and Ivaldi, S., 2022, October. Automatic tuning and selection of whole-body controllers. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 12935-12941). IEEE. (pdf)</p> </li> <li> <p>Mayr, M., Hvarfner, C., Chatzilygeroudis, K., Nardi, L. and Krueger, V., 2022, August. Learning skill-based industrial robot tasks with user priors. In 2022 IEEE 18<sup>th</sup> International Conference on Automation Science and Engineering (CASE) (pp. 1485-1492). IEEE. (pdf)</p> </li> <li> <p>Allard, M., Smith, S.C., Chatzilygeroudis, K. and Cully, A., 2022, July. Hierarchical quality-diversity for online damage recovery. In Proceedings of the Genetic and Evolutionary Computation Conference (pp. 58-67). (pdf)</p> </li> <li> <p>Mayr, M., Ahmad, F., Chatzilygeroudis, K., Nardi, L. and Krueger, V., 2022. Combining planning, reasoning and reinforcement learning to solve industrial robot tasks. 2<sup>nd</sup> Workshop on Trends and Advances in Machine Learning and Automated Reasoning for Intelligent Robots and Systems, IROS. (pdf)</p> </li> <li> <p>Cully, A., 2021, June. Multi-emitter map-elites: improving quality, diversity and data efficiency with heterogeneous sets of emitters. In Proceedings of the Genetic and Evolutionary Computation Conference (pp. 84-92). (pdf)</p> </li> <li> <p>Mayr, M., Chatzilygeroudis, K., Ahmad, F., Nardi, L. and Krueger, V., 2021, September. Learning of parameters in behavior trees for movement skills. In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 7572-7579). IEEE. (pdf)</p> </li> <li> <p>Penco, L., Hoffman, E.M., Modugno, V., Gomes, W., Mouret, J.B. and Ivaldi, S., 2020. Learning robust task priorities and gains for control of redundant robots. IEEE Robotics and Automation Letters, 5(2), pp.2626-2633. (pdf)</p> </li> <li> <p>Flageat, M. and Cully, A., 2020, July. Fast and stable MAP-Elites in noisy domains using deep grids. In Artificial Life Conference Proceedings 32 (pp. 273-282). One Rogers Street, Cambridge, MA 02142-1209, USA journals-info@ mit. edu: MIT Press. (pdf)</p> </li> <li> <p>Paul, S., Chatzilygeroudis, K., Ciosek, K., Mouret, J.B., Osborne, M.A. and Whiteson, S., 2020. Robust reinforcement learning with Bayesian optimisation and quadrature. Journal of Machine Learning Research, 21(151), pp.1-31. (pdf)</p> </li> <li> <p>Chatzilygeroudis, K., Vassiliades, V. and Mouret, J.B., 2018. Reset-free trial-and-error learning for robot damage recovery. Robotics and Autonomous Systems, 100, pp.236-250. (pdf)</p> </li> <li> <p>Pautrat, R., Chatzilygeroudis, K. and Mouret, J.B., 2018, May. Bayesian optimization with automatic prior selection for data-efficient direct policy search. In 2018 IEEE International Conference on Robotics and Automation (ICRA) (pp. 7571-7578). IEEE. (pdf)</p> </li> <li> <p>Chatzilygeroudis, K. and Mouret, J.B., 2018, May. Using parameterized black-box priors to scale up model-based policy search for robotics. In 2018 IEEE international conference on robotics and automation (ICRA) (pp. 5121-5128). IEEE. (pdf)</p> </li> <li> <p>Paul, S., Chatzilygeroudis, K., Ciosek, K., Mouret, J.B., Osborne, M. and Whiteson, S., 2018, April. Alternating optimisation and quadrature for robust control. In Proceedings of the AAAI Conference on Artificial Intelligence (Vol. 32, No. 1). (pdf)</p> </li> <li> <p>Kaushik, R., Chatzilygeroudis, K. and Mouret, J.B., 2018, October. Multi-objective model-based policy search for data-efficient learning with sparse rewards. In Conference on Robot Learning (pp. 839-855). PMLR. (pdf)</p> </li> <li> <p>Vassiliades, V., Chatzilygeroudis, K. and Mouret, J.B., 2017. Using centroidal voronoi tessellations to scale up the multidimensional archive of phenotypic elites algorithm. IEEE Transactions on Evolutionary Computation, 22(4), pp.623-630. (pdf)</p> </li> <li> <p>Mouret, J.B. and Chatzilygeroudis, K., 2017, July. 20 years of reality gap: a few thoughts about simulators in evolutionary robotics. In Proceedings of the genetic and evolutionary computation conference companion (pp. 1121-1124). (pdf)</p> </li> <li> <p>Papaspyros, V., Chatzilygeroudis, K., Vassiliades, V. and Mouret, J.B., 2016. Safety-aware robot damage recovery using constrained bayesian optimization and simulated priors. BayesOpt '16: Proceedings of the International Workshop \"Bayesian Optimization: Black-box Optimization and Beyond\", NeurIPS. (pdf)</p> </li> <li> <p>Chatzilygeroudis, K., Cully, A. and Mouret, J.B., 2016. Towards semi-episodic learning for robot damage recovery. AILTA '16: Proceedings of the International Workshop \"AI for Long-term Autonomy\", ICRA. (pdf)</p> </li> </ol>"},{"location":"quick_install/","title":"Installation","text":""},{"location":"quick_install/#scripts-for-quick-installation-of-robotdart","title":"Scripts for Quick Installation of RobotDART","text":"<p>In this page we provide standalone scripts for installing RobotDART for <code>Ubuntu</code> (&gt;=20.04), <code>OSX</code> and beta support for Windows (via WSL). The scripts will install all the required dependencies and RobotDART. Notably, all dependencies that need to be compiled by source and RobotDART will be installed inside the <code>/opt</code> folder. This way, one can be rest assured that their system will be clean.</p>"},{"location":"quick_install/#video-recording-to-file","title":"Video recording to file","text":"<p>ffmpeg is needed for enabling the video recording capabilities. You can install this at any time using your favorite package manager (e.g. <code>apt</code> for Ubuntu or <code>brew</code> for Mac OSX).</p>"},{"location":"quick_install/#ubuntu-2004","title":"Ubuntu &gt;=20.04","text":"<p>To quickly install RobotDART on <code>Ubuntu &gt;=20.04</code>, we just need to run <code>./scripts/install_ubuntu.sh</code> from the root of the repo. In more detail:</p> <ul> <li><code>git clone https://github.com/resibots/robot_dart.git</code></li> <li><code>cd robot_dart</code></li> <li><code>./scripts/install_ubuntu.sh</code></li> </ul> <p>This will install everything needed! Once the script is successfully executed, one should add the following to their <code>~/.bashrc</code> or <code>~/.zshrc</code> file (you may need to swap the python version to yours<sup>1</sup>):</p> <pre><code>export PATH=/opt/magnum/bin:$PATH\nexport CMAKE_PREFIX_PATH=/opt/robot_dart:/opt/magnum\nexport LD_LIBRARY_PATH=/opt/magnum/lib:/opt/robot_dart/lib:$LD_LIBRARY_PATH\nexport PYTHONPATH=/opt/robot_dart/lib/python3.10/site-packages:/opt/magnum/lib/python3/site-packages:$PYTHONPATH\n</code></pre>"},{"location":"quick_install/#beta-windows-support-via-wsl","title":"Beta Windows support via WSL","text":"<p>The installation script for Ubuntu works also in WSL (with the Ubuntu base image). There might be some issues with the graphical interface (see here).</p>"},{"location":"quick_install/#osx","title":"OSX","text":"<p>To quickly install RobotDART on <code>Mac OSX</code>, we just need to run <code>./scripts/install_osx.sh</code> from the root of the repo. In more detail:</p> <ul> <li><code>git clone https://github.com/resibots/robot_dart.git</code></li> <li><code>cd robot_dart</code></li> <li><code>./scripts/install_osx.sh</code></li> </ul> <p>This will install everything needed! Once the script is successfully executed, one should add the following to their <code>~/.bashrc</code> or <code>~/.zshrc</code> file (you may need to swap the python version to yours<sup>1</sup>):</p> <pre><code>export PATH=/opt/magnum/bin:$PATH\nexport CMAKE_PREFIX_PATH=/opt/robot_dart:/opt/dart:/opt/magnum\nexport LD_LIBRARY_PATH=/opt/magnum/lib:/opt/dart/lib:/opt/robot_dart/lib:$LD_LIBRARY_PATH\nexport DYLD_LIBRARY_PATH=/opt/magnum/lib:/opt/dart/lib:/opt/robot_dart/lib:$DYLD_LIBRARY_PATH\nexport PYTHONPATH=/opt/dart:/opt/dart/lib/python3/dist-packages:/opt/robot_dart/lib/python3.12/site-packages:/opt/magnum/lib/python3/site-packages:$PYTHONPATH\n</code></pre> <ol> <li> <p>You can run <code>python --version</code> to see your version. We only keep the major.minor (ignoring the patch version)\u00a0\u21a9\u21a9</p> </li> </ol>"},{"location":"robots/","title":"Supported robots","text":""},{"location":"robots/#supported-robots","title":"Supported robots","text":"<p>Every robot is a defined as a URDF, which will be installed <code>$PREFIX/share/utheque</code>. All robots have pre-defined \"robot classes\" that define sensors and other properties; for your custom/new robots, you will have to add the sensors/properties via the generic robot class (or create a new robot class).</p> <p>The URDF files are loaded using the following rules (see <code>utheque::path()</code>):</p> <ul> <li>First check in the current directory</li> <li>If not found, check in <code>current_directory/utheque</code></li> <li>If not found, check in <code>$ROBOT_DART_PATH/utheque</code></li> <li>If not found, check in the robot dart installation path/robots (e.g., <code>/usr/share/utheque</code> or <code>$HOME/share/utheque</code>)</li> <li>Otherwise, report failure</li> </ul> <p><code>utheque</code> is a separate header-only library that gets installed together with RobotDART (or even alone), that can be used in libraries that do not want to interfere with RobotDART and use the curated URDF files.</p>"},{"location":"robots/#talos-pal-robotics","title":"Talos (PAL Robotics)","text":"<p>Talos is a humanoid robot made by PAL Robotics.</p> <ul> <li>Datasheet: [pdf]</li> <li>32 degrees of freedom (6 for each leg, 7 for each arm, 2 for the waist, 2 for the neck, 1 for each gripper)</li> <li>175 cm / 95 kg</li> <li>IMU in the torso</li> <li>Torque sensors in all joints except head, wrist and gripper (22 torque sensors total)</li> <li>1 force/torque sensor in each ankle</li> <li>1 force/torque sensor in each wrist</li> </ul> <p>We have two URDF files:</p> <ul> <li><code>utheque/talos/talos.urdf</code> :<ul> <li>accurate (simplified but made of polygons) collision meshes</li> <li>mimic joints for the gripper</li> <li>Not compatible the DART collision detector (you need to use FCL collision detector - shipped with DART)</li> <li>URDF: [talos.urdf]</li> <li>Example: [talos.cpp] [talos.py]</li> </ul> </li> </ul> <p>Load Talos</p> C++ <pre><code>auto robot = std::make_shared&lt;robot_dart::robots::Talos&gt;();\n</code></pre> Python <pre><code>robot = rd.Talos()\n</code></pre> <ul> <li><code>utheque/talos/talos_fast.urdf</code>:<ul> <li>no collision except for the feet, which are approximated by boxes</li> <li>grippers are fixed (no movement is allowed)</li> <li>compatible with the DART collision detector</li> <li>URDF: [talos_fast.urdf]</li> <li>Example: [talos_fast.cpp]</li> </ul> </li> </ul> <p><code>talos_fast.urdf</code> is faster because it makes it possible to use the DART collision detector (and has much collision shapes). You should prefer it except if you want to use the grippers (e.g., for manipulation) or are working on self-collisions.</p> <ul> <li><code>utheque/talos/talos_fast_collision.urdf</code>:<ul> <li>all bodies are approximated by boxes</li> <li>grippers are fixed (no movement is allowed)</li> <li>compatible with the DART collision detector</li> <li>URDF: [talos_fast_collision.urdf]</li> <li>Example: [talos_fast_collision.cpp] [talos_fast_collision.py]</li> </ul> </li> </ul> <p><code>talos_fast_collision.urdf</code> is faster than <code>talos.urdf</code> but slower than <code>talos_fast.urdf</code>. You should use it when you need more detail collisions but faster simulation times.</p> <p>Load Talos Fast</p> C++ <pre><code>// load talos fast\nauto robot = std::make_shared&lt;robot_dart::robots::TalosFastCollision&gt;();\n</code></pre> Python <pre><code>robot = rd.TalosFastCollision()\n</code></pre> <p>Please note that the mesh files (.glb) require assimp 5.x (and not assimp4.x usually shipped with ROS). If you cannot load the URDF, please check your assimp version.</p>"},{"location":"robots/#panda-franka-emika","title":"Panda (Franka Emika)","text":"<p>The Franka is a modern manipulator made by Franka Emika Panda. It is commonly found in many robotics labs.</p> <ul> <li>Datasheet: [pdf]</li> <li>7 degrees of freedom</li> <li>Can be controlled in torque</li> <li>18 kg</li> <li>workspace: 855 mm (horizontal), 1190 mm (vertical)</li> <li>URDF: [franka.urdf]</li> <li>Example: [franka.cpp] [franka.py] The URDF includes the gripper.</li> </ul> <p>Load Franka</p> C++ <pre><code>auto robot = std::make_shared&lt;robot_dart::robots::Franka&gt;();\n</code></pre> Python <pre><code>robot = rd.Franka()\n</code></pre>"},{"location":"robots/#lbr-iiwa-kuka","title":"LBR iiwa (KUKA)","text":"<p>The LBR iiwa is manufactured by KUKA. It is similar to the Panda and is also very common in robotics labs.</p> <ul> <li>Datasheet: [pdf]</li> <li>We implement the 14 kg version</li> <li>29.5 kg</li> <li>7 degrees of freedom</li> <li>URDF: [iiwa.urdf]</li> <li>Example: [iiwa.cpp] [iiwa.py]</li> </ul> <p>Load Iiwa</p> C++ <pre><code>auto robot = std::make_shared&lt;robot_dart::robots::Iiwa&gt;();\n</code></pre> Python <pre><code>robot = rd.Iiwa()\n</code></pre>"},{"location":"robots/#icub-iit","title":"iCub (IIT)","text":"<p>The iCub is a open source humanoid robot made by the Instituto Italiano di Tecnologia. There are currently 42 iCUbs in the world, and many versions.</p> <ul> <li>Datasheet (rev 2.3) [pdf]</li> <li>6 force/torque sensors (upper arms, upper legs, ankles)</li> <li>IMU in the head</li> <li>We do to simulate the skin</li> <li>We do not simulate the hands</li> <li>Our model is close to the Inria's iCub, but it has not been checked in detail.</li> <li>URDF: [icub.urdf]</li> <li>Example [icub.cpp] [icub.py]</li> </ul> <p>Please note that the mesh files (.glb) require assimp 5.x (and not assimp4.x usually shipped with ROS). If you cannot load the URDF, please check your assimp version.</p> <p>Load iCub</p> C++ <pre><code>auto robot = std::make_shared&lt;robot_dart::robots::ICub&gt;();\n// Set actuator types to VELOCITY motors so that they stay in position without any controller\nrobot-&gt;set_actuator_types(\"velocity\");\nrobot_dart::RobotDARTSimu simu(0.001);\nsimu.set_collision_detector(\"fcl\");\n</code></pre> Python <pre><code>robot = rd.ICub()\n\n# Set actuator types to VELOCITY motors so that they stay in position without any controller\nrobot.set_actuator_types(\"velocity\")\nsimu = rd.RobotDARTSimu(0.001)\nsimu.set_collision_detector(\"fcl\")\n</code></pre> <p>Print IMU sensor measurements</p> C++ <pre><code>std::cout &lt;&lt; \"Angular    Position: \" &lt;&lt; robot-&gt;imu().angular_position_vec().transpose().format(fmt) &lt;&lt; std::endl;\nstd::cout &lt;&lt; \"Angular    Velocity: \" &lt;&lt; robot-&gt;imu().angular_velocity().transpose().format(fmt) &lt;&lt; std::endl;\nstd::cout &lt;&lt; \"Linear Acceleration: \" &lt;&lt; robot-&gt;imu().linear_acceleration().transpose().format(fmt) &lt;&lt; std::endl;\nstd::cout &lt;&lt; \"=================================\" &lt;&lt; std::endl;\n</code></pre> Python <pre><code>print(\"Angular    Position: \",  robot.imu().angular_position_vec().transpose())\nprint(\"Angular    Velocity: \",  robot.imu().angular_velocity().transpose())\nprint(\"Linear Acceleration: \",  robot.imu().linear_acceleration().transpose())\nprint(\"=================================\" )\n</code></pre> <p>Print Force-Torque sensor measurements</p> C++ <pre><code>std::cout &lt;&lt; \"FT ( force): \" &lt;&lt; robot-&gt;ft_foot_left().force().transpose().format(fmt) &lt;&lt; std::endl;\nstd::cout &lt;&lt; \"FT (torque): \" &lt;&lt; robot-&gt;ft_foot_left().torque().transpose().format(fmt) &lt;&lt; std::endl;\nstd::cout &lt;&lt; \"=================================\" &lt;&lt; std::endl;\n</code></pre> Python <pre><code>print(\"FT ( force): \",  robot.ft_foot_left().force().transpose())\nprint(\"FT (torque): \",  robot.ft_foot_left().torque().transpose())\nprint(\"=================================\")\n</code></pre>"},{"location":"robots/#unitree-a1","title":"Unitree A1","text":"<p>A1 is a quadruped robot made by the Unitree Robotics.</p> <ul> <li>IMU in the torso</li> <li>We do not simulate the foot pressure sensors (yet)</li> <li>One can easily add a depth camera on the head</li> <li>URDF: [a1.urdf]</li> <li>Example [a1.cpp] [a1.py]</li> </ul> <p>Load A1</p> C++ <pre><code>auto robot = std::make_shared&lt;robot_dart::robots::A1&gt;();\n</code></pre> Python <pre><code>robot = rd.A1()\n</code></pre> <p>Print IMU sensor measurements</p> C++ <pre><code>std::cout &lt;&lt; \"Angular    Position: \" &lt;&lt; robot-&gt;imu().angular_position_vec().transpose().format(fmt) &lt;&lt; std::endl;\nstd::cout &lt;&lt; \"Angular    Velocity: \" &lt;&lt; robot-&gt;imu().angular_velocity().transpose().format(fmt) &lt;&lt; std::endl;\nstd::cout &lt;&lt; \"Linear Acceleration: \" &lt;&lt; robot-&gt;imu().linear_acceleration().transpose().format(fmt) &lt;&lt; std::endl;\nstd::cout &lt;&lt; \"=================================\" &lt;&lt; std::endl;\n</code></pre> Python <pre><code>print( \"Angular    Position: \", robot.imu().angular_position_vec().transpose())\nprint( \"Angular    Velocity: \", robot.imu().angular_velocity().transpose())\nprint( \"Linear Acceleration: \", robot.imu().linear_acceleration().transpose())\nprint( \"=================================\")\n</code></pre> <p>Add a depth camera on the head</p> <p>How can I attach a camera to a moving link?</p> <p>Please note that the mesh files (.glb) require assimp 5.x (and not assimp4.x usually shipped with ROS). If you cannot load the URDF, please check your assimp version.</p>"},{"location":"robots/#dynamixel-based-hexapod-robot-inria-and-others","title":"Dynamixel-based hexapod robot (Inria and others)","text":"<p>This hexapod is a simple 6-legged robot based on dynamixel actuators. It is similar to the robot used in the paper `Robots that can adapt like animals' (Cully et al., 2015).</p> <ul> <li>6 legs, 3 degrees of freedom for each leg (18 degrees of freedom)</li> <li>simple URDF (no meshes)</li> <li>URDF: [pexod.urdf]</li> <li>Example: [hexapod.cpp] [hexapod.py]</li> </ul> <p>Load Hexapod</p> C++ <pre><code>auto robot = std::make_shared&lt;robot_dart::robots::Hexapod&gt;();\n</code></pre> Python <pre><code>robot = rd.Hexapod()\n</code></pre> <p>Load Pexod</p> C++ <pre><code>auto robot = std::make_shared&lt;robot_dart::Robot&gt;(\"pexod.urdf\");\n</code></pre> Python <pre><code>robot = rd.Robot(\"pexod.urdf\");\n</code></pre>"},{"location":"robots/#vx-300","title":"Vx-300","text":"<p>The ViperX-300 is a versatile robotic arm developed by Interbotix. It is designed for a range of applications including education, research, and light industrial tasks.</p> <ul> <li>5 degrees of freedom plus a gripper</li> <li>URDF: [vx300.urdf]</li> <li>Example: [vx300.cpp] [vx300.py]</li> </ul> <p>Load Vx-300</p> C++ <pre><code>auto robot = std::make_shared&lt;robot_dart::robots::Vx300&gt;();\n</code></pre> Python <pre><code>robot = rd.Vx300()\n</code></pre>"},{"location":"robots/#tiago-pal-robotics","title":"Tiago (PAL Robotics)","text":"<p>Tiago is a mobile manipulator robot developed by PAL Robotics, designed for tasks such as navigation, object manipulation, and human-robot interaction.</p> <ul> <li>Datasheet: pdf</li> <li>Height: 110 - 145 cm</li> <li>Weight: 70 kg</li> <li>Degrees of Freedom (DoF): 7 (Arm), 2 (Head), 2 (Mobile Base)</li> <li>Force/Torque sensor in the gripper</li> <li>URDF: [tiago.urdf]</li> <li>Example: [tiago.cpp] [tiago.py]</li> </ul> <p>Load Tiago</p> C++ <pre><code>auto robot = std::make_shared&lt;robot_dart::robots::Tiago&gt;(freq);\n</code></pre> Python <pre><code>robot = rd.Tiago(freq)\n</code></pre>"},{"location":"robots/#simple-arm","title":"Simple arm","text":"<ul> <li>A simple arm for educational or debugging purposes</li> <li>5 degrees of freedom</li> <li>simple URDF (no meshes)</li> <li>URDF: [arm.urdf]</li> <li>Example: [arm.cpp] [arm.py]</li> </ul> <p>Load Simple Arm</p> C++ <pre><code>auto robot = std::make_shared&lt;robot_dart::robots::Arm&gt;();\n</code></pre> Python <pre><code>robot = rd.Arm()\n</code></pre>"},{"location":"robots/#loading-custom-robots","title":"Loading Custom Robots","text":"<p>RobotDART gives you the ability to load custom robots  that are defined in URDF, SDF, SKEL or MJCF files. For example, you can load a urdf model using:</p> <p>Load custom Robot</p> C++ <pre><code>    auto your_robot = std::make_shared&lt;robot_dart::Robot&gt;(\"path/to/model.urdf\");\n</code></pre> Python <pre><code>    your_robot = robot_dart.Robot(\"path/to/model.urdf\")\n</code></pre> <p>Load custom Robot with packages (e.g STL, DAE meshes)</p> C++ <pre><code>    std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt; your_model_packages = ('model', 'path/to/model/dir');\n    auto your_robot = std::make_shared&lt;robot_dart::Robot&gt;(\"path/to/model.urdf\", your_model_packages, \"packages\");\n</code></pre> Python <pre><code>    your_model_packages = [(\"model\", \"path/to/model/dir\")]\n    your_robot = robot_dart.Robot(\"path/to/model.urdf\", your_model_packages)\n</code></pre>"},{"location":"robots/#known-issues","title":"Known issues","text":"<p>For DART versions 6.14.4 and below, one might see the following error when loading meshes with negative scaling:</p> <pre><code>./dart/dynamics/MeshShape.cpp:240: void dart::dynamics::MeshShape::setScale(const Eigen::Vector3d&amp;): Assertion `(scale.array() &gt; 0.0).all()' failed.\nAborted (core dumped)\n</code></pre> <p>There are two solutions to this:</p> <ol> <li>Download and build the latest DART master or a version greater than 6.14.4</li> <li>Edit your meshes to not have negative scale</li> </ol>"},{"location":"api/annotated/","title":"Class List","text":"<p>Here are the classes, structs, unions and interfaces with brief descriptions:</p> <ul> <li>namespace Magnum <ul> <li>namespace GL </li> <li>namespace Platform </li> <li>namespace SceneGraph </li> <li>namespace Shaders <ul> <li>namespace Implementation </li> </ul> </li> </ul> </li> <li>namespace TinyProcessLib </li> <li>namespace dart <ul> <li>namespace collision </li> <li>namespace dynamics </li> </ul> </li> <li>namespace robot_dart <ul> <li>class Assertion </li> <li>class Robot </li> <li>class RobotDARTSimu </li> <li>class RobotPool </li> <li>class Scheduler </li> <li>namespace collision_filter <ul> <li>class BitmaskContactFilter <ul> <li>struct Masks </li> </ul> </li> </ul> </li> <li>namespace control <ul> <li>class PDControl </li> <li>class PolicyControl </li> <li>class RobotControl </li> <li>class SimpleControl </li> </ul> </li> <li>namespace detail </li> <li>namespace gui <ul> <li>class Base </li> <li>struct DepthImage </li> <li>struct GrayscaleImage </li> <li>struct Image </li> <li>namespace magnum <ul> <li>class BaseApplication </li> <li>class BaseGraphics </li> <li>class CubeMapShadowedColorObject </li> <li>class CubeMapShadowedObject </li> <li>struct DebugDrawData </li> <li>class DrawableObject </li> <li>class GlfwApplication </li> <li>struct GlobalData </li> <li>class Graphics </li> <li>struct GraphicsConfiguration </li> <li>struct ObjectStruct </li> <li>struct ShadowData </li> <li>class ShadowedColorObject </li> <li>class ShadowedObject </li> <li>class WindowlessGLApplication </li> <li>class WindowlessGraphics </li> <li>namespace gs <ul> <li>class Camera </li> <li>class CubeMap </li> <li>class CubeMapColor </li> <li>class Light </li> <li>class Material </li> <li>class PhongMultiLight </li> <li>class ShadowMap </li> <li>class ShadowMapColor </li> </ul> </li> <li>namespace sensor <ul> <li>class Camera </li> </ul> </li> </ul> </li> </ul> </li> <li>namespace robots <ul> <li>class A1 </li> <li>class Arm </li> <li>class Franka </li> <li>class Hexapod </li> <li>class ICub </li> <li>class Iiwa </li> <li>class Pendulum </li> <li>class Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    </li> <li>class TalosFastCollision </li> <li>class TalosLight </li> <li>class Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __    </li> <li>class Ur3e </li> <li>class Ur3eHand </li> <li>class Vx300 </li> </ul> </li> <li>namespace sensor <ul> <li>class ForceTorque </li> <li>class IMU </li> <li>struct IMUConfig </li> <li>class Sensor </li> <li>class Torque </li> </ul> </li> <li>namespace simu <ul> <li>struct GUIData </li> <li>struct TextData </li> </ul> </li> </ul> </li> <li>namespace gs </li> <li>struct RobotData </li> <li>namespace std </li> </ul>"},{"location":"api/files/","title":"File List","text":"<p>Here is a list of all files with brief descriptions:</p> <ul> <li>dir robot_dart <ul> <li>file gui_data.hpp </li> <li>file robot.cpp </li> <li>file robot.hpp </li> <li>dir control <ul> <li>file pd_control.cpp </li> <li>file pd_control.hpp </li> <li>file policy_control.hpp </li> <li>file robot_control.cpp </li> <li>file robot_control.hpp </li> <li>file simple_control.cpp </li> <li>file simple_control.hpp </li> </ul> </li> <li>dir gui <ul> <li>file base.hpp </li> <li>file helper.cpp </li> <li>file helper.hpp </li> <li>dir magnum <ul> <li>file base_application.cpp </li> <li>file base_application.hpp </li> <li>file base_graphics.hpp </li> <li>file drawables.cpp </li> <li>file drawables.hpp </li> <li>file glfw_application.cpp </li> <li>file glfw_application.hpp </li> <li>file graphics.cpp </li> <li>file graphics.hpp </li> <li>dir gs <ul> <li>file camera.cpp </li> <li>file camera.hpp </li> <li>file create_compatibility_shader.hpp </li> <li>file cube_map.cpp </li> <li>file cube_map.hpp </li> <li>file cube_map_color.cpp </li> <li>file cube_map_color.hpp </li> <li>file helper.cpp </li> <li>file helper.hpp </li> <li>file light.cpp </li> <li>file light.hpp </li> <li>file material.cpp </li> <li>file material.hpp </li> <li>file phong_multi_light.cpp </li> <li>file phong_multi_light.hpp </li> <li>file shadow_map.cpp </li> <li>file shadow_map.hpp </li> <li>file shadow_map_color.cpp </li> <li>file shadow_map_color.hpp </li> </ul> </li> <li>dir sensor <ul> <li>file camera.cpp </li> <li>file camera.hpp </li> </ul> </li> <li>file types.hpp </li> <li>file utils_headers_eigen.hpp </li> <li>file windowless_gl_application.cpp </li> <li>file windowless_gl_application.hpp </li> <li>file windowless_graphics.cpp </li> <li>file windowless_graphics.hpp </li> </ul> </li> <li>file stb_image_write.h </li> </ul> </li> <li>dir robots <ul> <li>file a1.cpp </li> <li>file a1.hpp </li> <li>file arm.hpp </li> <li>file franka.cpp </li> <li>file franka.hpp </li> <li>file hexapod.hpp </li> <li>file icub.cpp </li> <li>file icub.hpp </li> <li>file iiwa.cpp </li> <li>file iiwa.hpp </li> <li>file pendulum.hpp </li> <li>file talos.cpp </li> <li>file talos.hpp </li> <li>file tiago.cpp </li> <li>file tiago.hpp </li> <li>file ur3e.cpp </li> <li>file ur3e.hpp </li> <li>file vx300.hpp </li> </ul> </li> <li>dir sensor <ul> <li>file force_torque.cpp </li> <li>file force_torque.hpp </li> <li>file imu.cpp </li> <li>file imu.hpp </li> <li>file sensor.cpp </li> <li>file sensor.hpp </li> <li>file torque.cpp </li> <li>file torque.hpp </li> </ul> </li> <li>file robot_dart_simu.cpp </li> <li>file robot_dart_simu.hpp </li> <li>file robot_pool.cpp </li> <li>file robot_pool.hpp </li> <li>file scheduler.cpp </li> <li>file scheduler.hpp </li> <li>file utils.hpp </li> <li>file utils_headers_dart_collision.hpp </li> <li>file utils_headers_dart_dynamics.hpp </li> <li>file utils_headers_dart_io.hpp </li> <li>file utils_headers_external.hpp </li> <li>file utils_headers_external_gui.hpp </li> </ul> </li> </ul>"},{"location":"api/namespaceMagnum/","title":"Namespace Magnum","text":"<p>Namespace List &gt; Magnum</p>"},{"location":"api/namespaceMagnum/#namespaces","title":"Namespaces","text":"Type Name namespace GL namespace Platform namespace SceneGraph namespace Shaders <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/create_compatibility_shader.hpp</code></p>"},{"location":"api/namespaceMagnum_1_1GL/","title":"Namespace Magnum::GL","text":"<p>Namespace List &gt; Magnum &gt; GL</p> <p>The documentation for this class was generated from the following file <code>[generated]</code></p>"},{"location":"api/namespaceMagnum_1_1Platform/","title":"Namespace Magnum::Platform","text":"<p>Namespace List &gt; Magnum &gt; Platform</p> <p>The documentation for this class was generated from the following file <code>[generated]</code></p>"},{"location":"api/namespaceMagnum_1_1SceneGraph/","title":"Namespace Magnum::SceneGraph","text":"<p>Namespace List &gt; Magnum &gt; SceneGraph</p> <p>The documentation for this class was generated from the following file <code>[generated]</code></p>"},{"location":"api/namespaceMagnum_1_1Shaders/","title":"Namespace Magnum::Shaders","text":"<p>Namespace List &gt; Magnum &gt; Shaders</p>"},{"location":"api/namespaceMagnum_1_1Shaders/#namespaces","title":"Namespaces","text":"Type Name namespace Implementation <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/create_compatibility_shader.hpp</code></p>"},{"location":"api/namespaceMagnum_1_1Shaders_1_1Implementation/","title":"Namespace Magnum::Shaders::Implementation","text":"<p>Namespace List &gt; Magnum &gt; Shaders &gt; Implementation</p>"},{"location":"api/namespaceMagnum_1_1Shaders_1_1Implementation/#public-functions","title":"Public Functions","text":"Type Name GL::Shader createCompatibilityShader (const Utility::Resource &amp; rs, GL::Version version, GL::Shader::Type type)"},{"location":"api/namespaceMagnum_1_1Shaders_1_1Implementation/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/namespaceMagnum_1_1Shaders_1_1Implementation/#function-createcompatibilityshader","title":"function createCompatibilityShader","text":"<pre><code>inline GL::Shader Magnum::Shaders::Implementation::createCompatibilityShader (\n    const Utility::Resource &amp; rs,\n    GL::Version version,\n    GL::Shader::Type type\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/create_compatibility_shader.hpp</code></p>"},{"location":"api/namespaceTinyProcessLib/","title":"Namespace TinyProcessLib","text":"<p>Namespace List &gt; TinyProcessLib</p> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/camera.hpp</code></p>"},{"location":"api/namespacedart/","title":"Namespace dart","text":"<p>Namespace List &gt; dart</p>"},{"location":"api/namespacedart/#namespaces","title":"Namespaces","text":"Type Name namespace collision namespace dynamics <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/drawables.hpp</code></p>"},{"location":"api/namespacedart_1_1collision/","title":"Namespace dart::collision","text":"<p>Namespace List &gt; dart &gt; collision</p> <p>The documentation for this class was generated from the following file <code>[generated]</code></p>"},{"location":"api/namespacedart_1_1dynamics/","title":"Namespace dart::dynamics","text":"<p>Namespace List &gt; dart &gt; dynamics</p> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/drawables.hpp</code></p>"},{"location":"api/namespacerobot__dart/","title":"Namespace robot_dart","text":"<p>Namespace List &gt; robot_dart</p>"},{"location":"api/namespacerobot__dart/#namespaces","title":"Namespaces","text":"Type Name namespace collision_filter namespace control namespace detail namespace gui namespace robots namespace sensor namespace simu"},{"location":"api/namespacerobot__dart/#classes","title":"Classes","text":"Type Name class Assertion class Robot class RobotDARTSimu class RobotPool class Scheduler"},{"location":"api/namespacerobot__dart/#public-attributes","title":"Public Attributes","text":"Type Name auto body_node_get_friction_coeff   = =  { <pre><code>    return body-&amp;gt;getFrictionCoeff();\n\n}&lt;br&gt; |\n</code></pre> <p>|  auto | body_node_get_restitution_coeff   = =  {</p> <pre><code>    return body-&amp;gt;getRestitutionCoeff();\n\n}&lt;br&gt; |\n</code></pre> <p>|  auto | body_node_set_friction_coeff   = =  {</p> <pre><code>    body-&amp;gt;setFrictionCoeff(value);\n\n}&lt;br&gt; |\n</code></pre> <p>|  auto | body_node_set_restitution_coeff   = =  {</p> <pre><code>    body-&amp;gt;setRestitutionCoeff(value);\n\n}&lt;br&gt; |\n</code></pre>"},{"location":"api/namespacerobot__dart/#public-functions","title":"Public Functions","text":"Type Name Eigen::Isometry3d make_tf (const Eigen::Matrix3d &amp; R, const Eigen::Vector3d &amp; t)  Eigen::Isometry3d make_tf (const Eigen::Matrix3d &amp; R)  Eigen::Isometry3d make_tf (const Eigen::Vector3d &amp; t)  Eigen::Isometry3d make_tf (std::initializer_list&lt; double &gt; args)  Eigen::VectorXd make_vector (std::initializer_list&lt; double &gt; args)"},{"location":"api/namespacerobot__dart/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/namespacerobot__dart/#variable-body_node_get_friction_coeff","title":"variable body_node_get_friction_coeff","text":"<pre><code>auto robot_dart::body_node_get_friction_coeff;\n</code></pre>"},{"location":"api/namespacerobot__dart/#variable-body_node_get_restitution_coeff","title":"variable body_node_get_restitution_coeff","text":"<pre><code>auto robot_dart::body_node_get_restitution_coeff;\n</code></pre>"},{"location":"api/namespacerobot__dart/#variable-body_node_set_friction_coeff","title":"variable body_node_set_friction_coeff","text":"<pre><code>auto robot_dart::body_node_set_friction_coeff;\n</code></pre>"},{"location":"api/namespacerobot__dart/#variable-body_node_set_restitution_coeff","title":"variable body_node_set_restitution_coeff","text":"<pre><code>auto robot_dart::body_node_set_restitution_coeff;\n</code></pre>"},{"location":"api/namespacerobot__dart/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/namespacerobot__dart/#function-make_tf","title":"function make_tf","text":"<pre><code>inline Eigen::Isometry3d robot_dart::make_tf (\n    const Eigen::Matrix3d &amp; R,\n    const Eigen::Vector3d &amp; t\n) \n</code></pre>"},{"location":"api/namespacerobot__dart/#function-make_tf_1","title":"function make_tf","text":"<pre><code>inline Eigen::Isometry3d robot_dart::make_tf (\n    const Eigen::Matrix3d &amp; R\n) \n</code></pre>"},{"location":"api/namespacerobot__dart/#function-make_tf_2","title":"function make_tf","text":"<pre><code>inline Eigen::Isometry3d robot_dart::make_tf (\n    const Eigen::Vector3d &amp; t\n) \n</code></pre>"},{"location":"api/namespacerobot__dart/#function-make_tf_3","title":"function make_tf","text":"<pre><code>inline Eigen::Isometry3d robot_dart::make_tf (\n    std::initializer_list&lt; double &gt; args\n) \n</code></pre>"},{"location":"api/namespacerobot__dart/#function-make_vector","title":"function make_vector","text":"<pre><code>inline Eigen::VectorXd robot_dart::make_vector (\n    std::initializer_list&lt; double &gt; args\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/control/pd_control.cpp</code></p>"},{"location":"api/classrobot__dart_1_1Assertion/","title":"Class robot_dart::Assertion","text":"<p>ClassList &gt; robot_dart &gt; Assertion</p> <p>Inherits the following classes: std::exception</p>"},{"location":"api/classrobot__dart_1_1Assertion/#public-functions","title":"Public Functions","text":"Type Name Assertion (const std::string &amp; msg=\"\")  const char * what () const"},{"location":"api/classrobot__dart_1_1Assertion/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1Assertion/#function-assertion","title":"function Assertion","text":"<pre><code>inline robot_dart::Assertion::Assertion (\n    const std::string &amp; msg=\"\"\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Assertion/#function-what","title":"function what","text":"<pre><code>inline const char * robot_dart::Assertion::what () const\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/utils.hpp</code></p>"},{"location":"api/classrobot__dart_1_1Robot/","title":"Class robot_dart::Robot","text":"<p>ClassList &gt; robot_dart &gt; Robot</p> <p>Inherits the following classes: std::enable_shared_from_this&lt; Robot &gt;</p> <p>Inherited by the following classes: robot_dart::robots::A1,  robot_dart::robots::Arm,  robot_dart::robots::Franka,  robot_dart::robots::Hexapod,  robot_dart::robots::ICub,  robot_dart::robots::Iiwa,  robot_dart::robots::Pendulum,  robot_dart::robots::Talos,  robot_dart::robots::Tiago,  robot_dart::robots::Ur3e,  robot_dart::robots::Vx300</p>"},{"location":"api/classrobot__dart_1_1Robot/#public-functions","title":"Public Functions","text":"Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1Robot/#public-static-functions","title":"Public Static Functions","text":"Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1Robot/#protected-attributes","title":"Protected Attributes","text":"Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1Robot/#protected-functions","title":"Protected Functions","text":"Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1Robot/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1Robot/#function-robot-13","title":"function Robot [\u2153]","text":"<pre><code>robot_dart::Robot::Robot (\n    const std::string &amp; model_file,\n    const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages,\n    const std::string &amp; robot_name=\"robot\",\n    bool is_urdf_string=false,\n    bool cast_shadows=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-robot-23","title":"function Robot [\u2154]","text":"<pre><code>robot_dart::Robot::Robot (\n    const std::string &amp; model_file,\n    const std::string &amp; robot_name=\"robot\",\n    bool is_urdf_string=false,\n    bool cast_shadows=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-robot-33","title":"function Robot [3/3]","text":"<pre><code>robot_dart::Robot::Robot (\n    dart::dynamics::SkeletonPtr skeleton,\n    const std::string &amp; robot_name=\"robot\",\n    bool cast_shadows=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-acceleration_lower_limits","title":"function acceleration_lower_limits","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::acceleration_lower_limits (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-acceleration_upper_limits","title":"function acceleration_upper_limits","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::acceleration_upper_limits (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-accelerations","title":"function accelerations","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::accelerations (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-active_controllers","title":"function active_controllers","text":"<pre><code>std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; robot_dart::Robot::active_controllers () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-actuator_type","title":"function actuator_type","text":"<pre><code>std::string robot_dart::Robot::actuator_type (\n    const std::string &amp; joint_name\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-actuator_types","title":"function actuator_types","text":"<pre><code>std::vector&lt; std::string &gt; robot_dart::Robot::actuator_types (\n    const std::vector&lt; std::string &gt; &amp; joint_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-add_body_mass-12","title":"function add_body_mass [\u00bd]","text":"<pre><code>void robot_dart::Robot::add_body_mass (\n    const std::string &amp; body_name,\n    double mass\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-add_body_mass-22","title":"function add_body_mass [2/2]","text":"<pre><code>void robot_dart::Robot::add_body_mass (\n    size_t body_index,\n    double mass\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-add_controller","title":"function add_controller","text":"<pre><code>void robot_dart::Robot::add_controller (\n    const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller,\n    double weight=1.0\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-add_external_force-12","title":"function add_external_force [\u00bd]","text":"<pre><code>void robot_dart::Robot::add_external_force (\n    const std::string &amp; body_name,\n    const Eigen::Vector3d &amp; force,\n    const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(),\n    bool force_local=false,\n    bool offset_local=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-add_external_force-22","title":"function add_external_force [2/2]","text":"<pre><code>void robot_dart::Robot::add_external_force (\n    size_t body_index,\n    const Eigen::Vector3d &amp; force,\n    const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(),\n    bool force_local=false,\n    bool offset_local=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-add_external_torque-12","title":"function add_external_torque [\u00bd]","text":"<pre><code>void robot_dart::Robot::add_external_torque (\n    const std::string &amp; body_name,\n    const Eigen::Vector3d &amp; torque,\n    bool local=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-add_external_torque-22","title":"function add_external_torque [2/2]","text":"<pre><code>void robot_dart::Robot::add_external_torque (\n    size_t body_index,\n    const Eigen::Vector3d &amp; torque,\n    bool local=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-adjacent_colliding","title":"function adjacent_colliding","text":"<pre><code>bool robot_dart::Robot::adjacent_colliding () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-aug_mass_matrix","title":"function aug_mass_matrix","text":"<pre><code>Eigen::MatrixXd robot_dart::Robot::aug_mass_matrix (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-base_pose","title":"function base_pose","text":"<pre><code>Eigen::Isometry3d robot_dart::Robot::base_pose () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-base_pose_vec","title":"function base_pose_vec","text":"<pre><code>Eigen::Vector6d robot_dart::Robot::base_pose_vec () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_acceleration-12","title":"function body_acceleration [\u00bd]","text":"<pre><code>Eigen::Vector6d robot_dart::Robot::body_acceleration (\n    const std::string &amp; body_name\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_acceleration-22","title":"function body_acceleration [2/2]","text":"<pre><code>Eigen::Vector6d robot_dart::Robot::body_acceleration (\n    size_t body_index\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_index","title":"function body_index","text":"<pre><code>size_t robot_dart::Robot::body_index (\n    const std::string &amp; body_name\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_mass-12","title":"function body_mass [\u00bd]","text":"<pre><code>double robot_dart::Robot::body_mass (\n    const std::string &amp; body_name\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_mass-22","title":"function body_mass [2/2]","text":"<pre><code>double robot_dart::Robot::body_mass (\n    size_t body_index\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_name","title":"function body_name","text":"<pre><code>std::string robot_dart::Robot::body_name (\n    size_t body_index\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_names","title":"function body_names","text":"<pre><code>std::vector&lt; std::string &gt; robot_dart::Robot::body_names () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_node-12","title":"function body_node [\u00bd]","text":"<pre><code>dart::dynamics::BodyNode * robot_dart::Robot::body_node (\n    const std::string &amp; body_name\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_node-22","title":"function body_node [2/2]","text":"<pre><code>dart::dynamics::BodyNode * robot_dart::Robot::body_node (\n    size_t body_index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_pose-12","title":"function body_pose [\u00bd]","text":"<pre><code>Eigen::Isometry3d robot_dart::Robot::body_pose (\n    const std::string &amp; body_name\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_pose-22","title":"function body_pose [2/2]","text":"<pre><code>Eigen::Isometry3d robot_dart::Robot::body_pose (\n    size_t body_index\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_pose_vec-12","title":"function body_pose_vec [\u00bd]","text":"<pre><code>Eigen::Vector6d robot_dart::Robot::body_pose_vec (\n    const std::string &amp; body_name\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_pose_vec-22","title":"function body_pose_vec [2/2]","text":"<pre><code>Eigen::Vector6d robot_dart::Robot::body_pose_vec (\n    size_t body_index\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_velocity-12","title":"function body_velocity [\u00bd]","text":"<pre><code>Eigen::Vector6d robot_dart::Robot::body_velocity (\n    const std::string &amp; body_name\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_velocity-22","title":"function body_velocity [2/2]","text":"<pre><code>Eigen::Vector6d robot_dart::Robot::body_velocity (\n    size_t body_index\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-cast_shadows","title":"function cast_shadows","text":"<pre><code>bool robot_dart::Robot::cast_shadows () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-clear_controllers","title":"function clear_controllers","text":"<pre><code>void robot_dart::Robot::clear_controllers () \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-clear_external_forces","title":"function clear_external_forces","text":"<pre><code>void robot_dart::Robot::clear_external_forces () \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-clear_internal_forces","title":"function clear_internal_forces","text":"<pre><code>void robot_dart::Robot::clear_internal_forces () \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-clone","title":"function clone","text":"<pre><code>std::shared_ptr&lt; Robot &gt; robot_dart::Robot::clone () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-clone_ghost","title":"function clone_ghost","text":"<pre><code>std::shared_ptr&lt; Robot &gt; robot_dart::Robot::clone_ghost (\n    const std::string &amp; ghost_name=\"ghost\",\n    const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-com","title":"function com","text":"<pre><code>Eigen::Vector3d robot_dart::Robot::com () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-com_acceleration","title":"function com_acceleration","text":"<pre><code>Eigen::Vector6d robot_dart::Robot::com_acceleration () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-com_jacobian","title":"function com_jacobian","text":"<pre><code>Eigen::MatrixXd robot_dart::Robot::com_jacobian (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-com_jacobian_deriv","title":"function com_jacobian_deriv","text":"<pre><code>Eigen::MatrixXd robot_dart::Robot::com_jacobian_deriv (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-com_velocity","title":"function com_velocity","text":"<pre><code>Eigen::Vector6d robot_dart::Robot::com_velocity () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-commands","title":"function commands","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::commands (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-constraint_forces","title":"function constraint_forces","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::constraint_forces (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-controller","title":"function controller","text":"<pre><code>std::shared_ptr&lt; control::RobotControl &gt; robot_dart::Robot::controller (\n    size_t index\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-controllers","title":"function controllers","text":"<pre><code>std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; robot_dart::Robot::controllers () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-coriolis_forces","title":"function coriolis_forces","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::coriolis_forces (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-coriolis_gravity_forces","title":"function coriolis_gravity_forces","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::coriolis_gravity_forces (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-coulomb_coeffs","title":"function coulomb_coeffs","text":"<pre><code>std::vector&lt; double &gt; robot_dart::Robot::coulomb_coeffs (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-damping_coeffs","title":"function damping_coeffs","text":"<pre><code>std::vector&lt; double &gt; robot_dart::Robot::damping_coeffs (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-dof-12","title":"function dof [\u00bd]","text":"<pre><code>dart::dynamics::DegreeOfFreedom * robot_dart::Robot::dof (\n    const std::string &amp; dof_name\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-dof-22","title":"function dof [2/2]","text":"<pre><code>dart::dynamics::DegreeOfFreedom * robot_dart::Robot::dof (\n    size_t dof_index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-dof_index","title":"function dof_index","text":"<pre><code>size_t robot_dart::Robot::dof_index (\n    const std::string &amp; dof_name\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-dof_map","title":"function dof_map","text":"<pre><code>const std::unordered_map&lt; std::string, size_t &gt; &amp; robot_dart::Robot::dof_map () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-dof_name","title":"function dof_name","text":"<pre><code>std::string robot_dart::Robot::dof_name (\n    size_t dof_index\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-dof_names","title":"function dof_names","text":"<pre><code>std::vector&lt; std::string &gt; robot_dart::Robot::dof_names (\n    bool filter_mimics=false,\n    bool filter_locked=false,\n    bool filter_passive=false\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-drawing_axes","title":"function drawing_axes","text":"<pre><code>const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; robot_dart::Robot::drawing_axes () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-external_forces-12","title":"function external_forces [\u00bd]","text":"<pre><code>Eigen::Vector6d robot_dart::Robot::external_forces (\n    const std::string &amp; body_name\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-external_forces-22","title":"function external_forces [2/2]","text":"<pre><code>Eigen::Vector6d robot_dart::Robot::external_forces (\n    size_t body_index\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-fix_to_world","title":"function fix_to_world","text":"<pre><code>void robot_dart::Robot::fix_to_world () \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-fixed","title":"function fixed","text":"<pre><code>bool robot_dart::Robot::fixed () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-force_lower_limits","title":"function force_lower_limits","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::force_lower_limits (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-force_position_bounds","title":"function force_position_bounds","text":"<pre><code>void robot_dart::Robot::force_position_bounds () \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-force_torque","title":"function force_torque","text":"<pre><code>std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; robot_dart::Robot::force_torque (\n    size_t joint_index\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-force_upper_limits","title":"function force_upper_limits","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::force_upper_limits (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-forces","title":"function forces","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::forces (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-free","title":"function free","text":"<pre><code>bool robot_dart::Robot::free () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-free_from_world","title":"function free_from_world","text":"<pre><code>void robot_dart::Robot::free_from_world (\n    const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-friction_coeff-12","title":"function friction_coeff [\u00bd]","text":"<pre><code>double robot_dart::Robot::friction_coeff (\n    const std::string &amp; body_name\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-friction_coeff-22","title":"function friction_coeff [2/2]","text":"<pre><code>double robot_dart::Robot::friction_coeff (\n    size_t body_index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-friction_dir-12","title":"function friction_dir [\u00bd]","text":"<pre><code>Eigen::Vector3d robot_dart::Robot::friction_dir (\n    const std::string &amp; body_name\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-friction_dir-22","title":"function friction_dir [2/2]","text":"<pre><code>Eigen::Vector3d robot_dart::Robot::friction_dir (\n    size_t body_index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-ghost","title":"function ghost","text":"<pre><code>bool robot_dart::Robot::ghost () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-gravity_forces","title":"function gravity_forces","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::gravity_forces (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-inv_aug_mass_matrix","title":"function inv_aug_mass_matrix","text":"<pre><code>Eigen::MatrixXd robot_dart::Robot::inv_aug_mass_matrix (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-inv_mass_matrix","title":"function inv_mass_matrix","text":"<pre><code>Eigen::MatrixXd robot_dart::Robot::inv_mass_matrix (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-jacobian","title":"function jacobian","text":"<pre><code>Eigen::MatrixXd robot_dart::Robot::jacobian (\n    const std::string &amp; body_name,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-jacobian_deriv","title":"function jacobian_deriv","text":"<pre><code>Eigen::MatrixXd robot_dart::Robot::jacobian_deriv (\n    const std::string &amp; body_name,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-joint-12","title":"function joint [\u00bd]","text":"<pre><code>dart::dynamics::Joint * robot_dart::Robot::joint (\n    const std::string &amp; joint_name\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-joint-22","title":"function joint [2/2]","text":"<pre><code>dart::dynamics::Joint * robot_dart::Robot::joint (\n    size_t joint_index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-joint_index","title":"function joint_index","text":"<pre><code>size_t robot_dart::Robot::joint_index (\n    const std::string &amp; joint_name\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-joint_map","title":"function joint_map","text":"<pre><code>const std::unordered_map&lt; std::string, size_t &gt; &amp; robot_dart::Robot::joint_map () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-joint_name","title":"function joint_name","text":"<pre><code>std::string robot_dart::Robot::joint_name (\n    size_t joint_index\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-joint_names","title":"function joint_names","text":"<pre><code>std::vector&lt; std::string &gt; robot_dart::Robot::joint_names () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-locked_dof_names","title":"function locked_dof_names","text":"<pre><code>std::vector&lt; std::string &gt; robot_dart::Robot::locked_dof_names () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-mass_matrix","title":"function mass_matrix","text":"<pre><code>Eigen::MatrixXd robot_dart::Robot::mass_matrix (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-mimic_dof_names","title":"function mimic_dof_names","text":"<pre><code>std::vector&lt; std::string &gt; robot_dart::Robot::mimic_dof_names () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-model_filename","title":"function model_filename","text":"<pre><code>inline const std::string &amp; robot_dart::Robot::model_filename () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-model_packages","title":"function model_packages","text":"<pre><code>inline const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; robot_dart::Robot::model_packages () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-name","title":"function name","text":"<pre><code>const std::string &amp; robot_dart::Robot::name () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-num_bodies","title":"function num_bodies","text":"<pre><code>size_t robot_dart::Robot::num_bodies () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-num_controllers","title":"function num_controllers","text":"<pre><code>size_t robot_dart::Robot::num_controllers () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-num_dofs","title":"function num_dofs","text":"<pre><code>size_t robot_dart::Robot::num_dofs () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-num_joints","title":"function num_joints","text":"<pre><code>size_t robot_dart::Robot::num_joints () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-passive_dof_names","title":"function passive_dof_names","text":"<pre><code>std::vector&lt; std::string &gt; robot_dart::Robot::passive_dof_names () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-position_enforced","title":"function position_enforced","text":"<pre><code>std::vector&lt; bool &gt; robot_dart::Robot::position_enforced (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-position_lower_limits","title":"function position_lower_limits","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::position_lower_limits (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-position_upper_limits","title":"function position_upper_limits","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::position_upper_limits (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-positions","title":"function positions","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::positions (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-reinit_controllers","title":"function reinit_controllers","text":"<pre><code>void robot_dart::Robot::reinit_controllers () \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-remove_all_drawing_axis","title":"function remove_all_drawing_axis","text":"<pre><code>void robot_dart::Robot::remove_all_drawing_axis () \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-remove_controller-12","title":"function remove_controller [\u00bd]","text":"<pre><code>void robot_dart::Robot::remove_controller (\n    const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-remove_controller-22","title":"function remove_controller [2/2]","text":"<pre><code>void robot_dart::Robot::remove_controller (\n    size_t index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-reset","title":"function reset","text":"<pre><code>virtual void robot_dart::Robot::reset () \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-reset_commands","title":"function reset_commands","text":"<pre><code>void robot_dart::Robot::reset_commands () \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-restitution_coeff-12","title":"function restitution_coeff [\u00bd]","text":"<pre><code>double robot_dart::Robot::restitution_coeff (\n    const std::string &amp; body_name\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-restitution_coeff-22","title":"function restitution_coeff [2/2]","text":"<pre><code>double robot_dart::Robot::restitution_coeff (\n    size_t body_index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-secondary_friction_coeff-12","title":"function secondary_friction_coeff [\u00bd]","text":"<pre><code>double robot_dart::Robot::secondary_friction_coeff (\n    const std::string &amp; body_name\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-secondary_friction_coeff-22","title":"function secondary_friction_coeff [2/2]","text":"<pre><code>double robot_dart::Robot::secondary_friction_coeff (\n    size_t body_index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-self_colliding","title":"function self_colliding","text":"<pre><code>bool robot_dart::Robot::self_colliding () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_acceleration_lower_limits","title":"function set_acceleration_lower_limits","text":"<pre><code>void robot_dart::Robot::set_acceleration_lower_limits (\n    const Eigen::VectorXd &amp; accelerations,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_acceleration_upper_limits","title":"function set_acceleration_upper_limits","text":"<pre><code>void robot_dart::Robot::set_acceleration_upper_limits (\n    const Eigen::VectorXd &amp; accelerations,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_accelerations","title":"function set_accelerations","text":"<pre><code>void robot_dart::Robot::set_accelerations (\n    const Eigen::VectorXd &amp; accelerations,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_actuator_type","title":"function set_actuator_type","text":"<pre><code>void robot_dart::Robot::set_actuator_type (\n    const std::string &amp; type,\n    const std::string &amp; joint_name,\n    bool override_mimic=false,\n    bool override_base=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_actuator_types","title":"function set_actuator_types","text":"<pre><code>void robot_dart::Robot::set_actuator_types (\n    const std::string &amp; type,\n    const std::vector&lt; std::string &gt; &amp; joint_names={},\n    bool override_mimic=false,\n    bool override_base=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_base_pose-12","title":"function set_base_pose [\u00bd]","text":"<pre><code>void robot_dart::Robot::set_base_pose (\n    const Eigen::Isometry3d &amp; tf\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_base_pose-22","title":"function set_base_pose [2/2]","text":"<pre><code>void robot_dart::Robot::set_base_pose (\n    const Eigen::Vector6d &amp; pose\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_body_mass-12","title":"function set_body_mass [\u00bd]","text":"<pre><code>void robot_dart::Robot::set_body_mass (\n    const std::string &amp; body_name,\n    double mass\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_body_mass-22","title":"function set_body_mass [2/2]","text":"<pre><code>void robot_dart::Robot::set_body_mass (\n    size_t body_index,\n    double mass\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_body_name","title":"function set_body_name","text":"<pre><code>void robot_dart::Robot::set_body_name (\n    size_t body_index,\n    const std::string &amp; body_name\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_cast_shadows","title":"function set_cast_shadows","text":"<pre><code>void robot_dart::Robot::set_cast_shadows (\n    bool cast_shadows=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_color_mode-12","title":"function set_color_mode [\u00bd]","text":"<pre><code>void robot_dart::Robot::set_color_mode (\n    const std::string &amp; color_mode\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_color_mode-22","title":"function set_color_mode [2/2]","text":"<pre><code>void robot_dart::Robot::set_color_mode (\n    const std::string &amp; color_mode,\n    const std::string &amp; body_name\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_commands","title":"function set_commands","text":"<pre><code>void robot_dart::Robot::set_commands (\n    const Eigen::VectorXd &amp; commands,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-12","title":"function set_coulomb_coeffs [\u00bd]","text":"<pre><code>void robot_dart::Robot::set_coulomb_coeffs (\n    const std::vector&lt; double &gt; &amp; cfrictions,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-22","title":"function set_coulomb_coeffs [2/2]","text":"<pre><code>void robot_dart::Robot::set_coulomb_coeffs (\n    double cfriction,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_damping_coeffs-12","title":"function set_damping_coeffs [\u00bd]","text":"<pre><code>void robot_dart::Robot::set_damping_coeffs (\n    const std::vector&lt; double &gt; &amp; damps,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_damping_coeffs-22","title":"function set_damping_coeffs [2/2]","text":"<pre><code>void robot_dart::Robot::set_damping_coeffs (\n    double damp,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_draw_axis","title":"function set_draw_axis","text":"<pre><code>void robot_dart::Robot::set_draw_axis (\n    const std::string &amp; body_name,\n    double size=0.25\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_external_force-12","title":"function set_external_force [\u00bd]","text":"<pre><code>void robot_dart::Robot::set_external_force (\n    const std::string &amp; body_name,\n    const Eigen::Vector3d &amp; force,\n    const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(),\n    bool force_local=false,\n    bool offset_local=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_external_force-22","title":"function set_external_force [2/2]","text":"<pre><code>void robot_dart::Robot::set_external_force (\n    size_t body_index,\n    const Eigen::Vector3d &amp; force,\n    const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(),\n    bool force_local=false,\n    bool offset_local=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_external_torque-12","title":"function set_external_torque [\u00bd]","text":"<pre><code>void robot_dart::Robot::set_external_torque (\n    const std::string &amp; body_name,\n    const Eigen::Vector3d &amp; torque,\n    bool local=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_external_torque-22","title":"function set_external_torque [2/2]","text":"<pre><code>void robot_dart::Robot::set_external_torque (\n    size_t body_index,\n    const Eigen::Vector3d &amp; torque,\n    bool local=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_force_lower_limits","title":"function set_force_lower_limits","text":"<pre><code>void robot_dart::Robot::set_force_lower_limits (\n    const Eigen::VectorXd &amp; forces,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_force_upper_limits","title":"function set_force_upper_limits","text":"<pre><code>void robot_dart::Robot::set_force_upper_limits (\n    const Eigen::VectorXd &amp; forces,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_forces","title":"function set_forces","text":"<pre><code>void robot_dart::Robot::set_forces (\n    const Eigen::VectorXd &amp; forces,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_friction_coeff-12","title":"function set_friction_coeff [\u00bd]","text":"<pre><code>void robot_dart::Robot::set_friction_coeff (\n    const std::string &amp; body_name,\n    double value\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_friction_coeff-22","title":"function set_friction_coeff [2/2]","text":"<pre><code>void robot_dart::Robot::set_friction_coeff (\n    size_t body_index,\n    double value\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_friction_coeffs","title":"function set_friction_coeffs","text":"<pre><code>void robot_dart::Robot::set_friction_coeffs (\n    double value\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_friction_dir-12","title":"function set_friction_dir [\u00bd]","text":"<pre><code>void robot_dart::Robot::set_friction_dir (\n    const std::string &amp; body_name,\n    const Eigen::Vector3d &amp; direction\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_friction_dir-22","title":"function set_friction_dir [2/2]","text":"<pre><code>void robot_dart::Robot::set_friction_dir (\n    size_t body_index,\n    const Eigen::Vector3d &amp; direction\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_ghost","title":"function set_ghost","text":"<pre><code>void robot_dart::Robot::set_ghost (\n    bool ghost=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_joint_name","title":"function set_joint_name","text":"<pre><code>void robot_dart::Robot::set_joint_name (\n    size_t joint_index,\n    const std::string &amp; joint_name\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_mimic","title":"function set_mimic","text":"<pre><code>void robot_dart::Robot::set_mimic (\n    const std::string &amp; joint_name,\n    const std::string &amp; mimic_joint_name,\n    double multiplier=1.,\n    double offset=0.\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_position_enforced-12","title":"function set_position_enforced [\u00bd]","text":"<pre><code>void robot_dart::Robot::set_position_enforced (\n    const std::vector&lt; bool &gt; &amp; enforced,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_position_enforced-22","title":"function set_position_enforced [2/2]","text":"<pre><code>void robot_dart::Robot::set_position_enforced (\n    bool enforced,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_position_lower_limits","title":"function set_position_lower_limits","text":"<pre><code>void robot_dart::Robot::set_position_lower_limits (\n    const Eigen::VectorXd &amp; positions,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_position_upper_limits","title":"function set_position_upper_limits","text":"<pre><code>void robot_dart::Robot::set_position_upper_limits (\n    const Eigen::VectorXd &amp; positions,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_positions","title":"function set_positions","text":"<pre><code>void robot_dart::Robot::set_positions (\n    const Eigen::VectorXd &amp; positions,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_restitution_coeff-12","title":"function set_restitution_coeff [\u00bd]","text":"<pre><code>void robot_dart::Robot::set_restitution_coeff (\n    const std::string &amp; body_name,\n    double value\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_restitution_coeff-22","title":"function set_restitution_coeff [2/2]","text":"<pre><code>void robot_dart::Robot::set_restitution_coeff (\n    size_t body_index,\n    double value\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_restitution_coeffs","title":"function set_restitution_coeffs","text":"<pre><code>void robot_dart::Robot::set_restitution_coeffs (\n    double value\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-12","title":"function set_secondary_friction_coeff [\u00bd]","text":"<pre><code>void robot_dart::Robot::set_secondary_friction_coeff (\n    const std::string &amp; body_name,\n    double value\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-22","title":"function set_secondary_friction_coeff [2/2]","text":"<pre><code>void robot_dart::Robot::set_secondary_friction_coeff (\n    size_t body_index,\n    double value\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_secondary_friction_coeffs","title":"function set_secondary_friction_coeffs","text":"<pre><code>void robot_dart::Robot::set_secondary_friction_coeffs (\n    double value\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_self_collision","title":"function set_self_collision","text":"<pre><code>void robot_dart::Robot::set_self_collision (\n    bool enable_self_collisions=true,\n    bool enable_adjacent_collisions=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-12","title":"function set_spring_stiffnesses [\u00bd]","text":"<pre><code>void robot_dart::Robot::set_spring_stiffnesses (\n    const std::vector&lt; double &gt; &amp; stiffnesses,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-22","title":"function set_spring_stiffnesses [2/2]","text":"<pre><code>void robot_dart::Robot::set_spring_stiffnesses (\n    double stiffness,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_velocities","title":"function set_velocities","text":"<pre><code>void robot_dart::Robot::set_velocities (\n    const Eigen::VectorXd &amp; velocities,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_velocity_lower_limits","title":"function set_velocity_lower_limits","text":"<pre><code>void robot_dart::Robot::set_velocity_lower_limits (\n    const Eigen::VectorXd &amp; velocities,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_velocity_upper_limits","title":"function set_velocity_upper_limits","text":"<pre><code>void robot_dart::Robot::set_velocity_upper_limits (\n    const Eigen::VectorXd &amp; velocities,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-skeleton","title":"function skeleton","text":"<pre><code>dart::dynamics::SkeletonPtr robot_dart::Robot::skeleton () \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-spring_stiffnesses","title":"function spring_stiffnesses","text":"<pre><code>std::vector&lt; double &gt; robot_dart::Robot::spring_stiffnesses (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-update","title":"function update","text":"<pre><code>void robot_dart::Robot::update (\n    double t\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-update_joint_dof_maps","title":"function update_joint_dof_maps","text":"<pre><code>void robot_dart::Robot::update_joint_dof_maps () \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-vec_dof","title":"function vec_dof","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::vec_dof (\n    const Eigen::VectorXd &amp; vec,\n    const std::vector&lt; std::string &gt; &amp; dof_names\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-velocities","title":"function velocities","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::velocities (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-velocity_lower_limits","title":"function velocity_lower_limits","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::velocity_lower_limits (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-velocity_upper_limits","title":"function velocity_upper_limits","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::velocity_upper_limits (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-robot","title":"function ~Robot","text":"<pre><code>inline virtual robot_dart::Robot::~Robot () \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#public-static-functions-documentation","title":"Public Static Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1Robot/#function-create_box-12","title":"function create_box [\u00bd]","text":"<pre><code>static std::shared_ptr&lt; Robot &gt; robot_dart::Robot::create_box (\n    const Eigen::Vector3d &amp; dims,\n    const Eigen::Isometry3d &amp; tf,\n    const std::string &amp; type=\"free\",\n    double mass=1.0,\n    const Eigen::Vector4d &amp; color=dart::Color::Red(1.0),\n    const std::string &amp; box_name=\"box\"\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-create_box-22","title":"function create_box [2/2]","text":"<pre><code>static std::shared_ptr&lt; Robot &gt; robot_dart::Robot::create_box (\n    const Eigen::Vector3d &amp; dims,\n    const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(),\n    const std::string &amp; type=\"free\",\n    double mass=1.0,\n    const Eigen::Vector4d &amp; color=dart::Color::Red(1.0),\n    const std::string &amp; box_name=\"box\"\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-create_ellipsoid-12","title":"function create_ellipsoid [\u00bd]","text":"<pre><code>static std::shared_ptr&lt; Robot &gt; robot_dart::Robot::create_ellipsoid (\n    const Eigen::Vector3d &amp; dims,\n    const Eigen::Isometry3d &amp; tf,\n    const std::string &amp; type=\"free\",\n    double mass=1.0,\n    const Eigen::Vector4d &amp; color=dart::Color::Red(1.0),\n    const std::string &amp; ellipsoid_name=\"ellipsoid\"\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-create_ellipsoid-22","title":"function create_ellipsoid [2/2]","text":"<pre><code>static std::shared_ptr&lt; Robot &gt; robot_dart::Robot::create_ellipsoid (\n    const Eigen::Vector3d &amp; dims,\n    const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(),\n    const std::string &amp; type=\"free\",\n    double mass=1.0,\n    const Eigen::Vector4d &amp; color=dart::Color::Red(1.0),\n    const std::string &amp; ellipsoid_name=\"ellipsoid\"\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1Robot/#variable-_axis_shapes","title":"variable _axis_shapes","text":"<pre><code>std::vector&lt;std::pair&lt;dart::dynamics::BodyNode*, double&gt; &gt; robot_dart::Robot::_axis_shapes;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#variable-_cast_shadows","title":"variable _cast_shadows","text":"<pre><code>bool robot_dart::Robot::_cast_shadows;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#variable-_controllers","title":"variable _controllers","text":"<pre><code>std::vector&lt;std::shared_ptr&lt;control::RobotControl&gt; &gt; robot_dart::Robot::_controllers;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#variable-_dof_map","title":"variable _dof_map","text":"<pre><code>std::unordered_map&lt;std::string, size_t&gt; robot_dart::Robot::_dof_map;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#variable-_is_ghost","title":"variable _is_ghost","text":"<pre><code>bool robot_dart::Robot::_is_ghost;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#variable-_joint_map","title":"variable _joint_map","text":"<pre><code>std::unordered_map&lt;std::string, size_t&gt; robot_dart::Robot::_joint_map;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#variable-_model_filename","title":"variable _model_filename","text":"<pre><code>std::string robot_dart::Robot::_model_filename;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#variable-_packages","title":"variable _packages","text":"<pre><code>std::vector&lt;std::pair&lt;std::string, std::string&gt; &gt; robot_dart::Robot::_packages;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#variable-_robot_name","title":"variable _robot_name","text":"<pre><code>std::string robot_dart::Robot::_robot_name;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#variable-_skeleton","title":"variable _skeleton","text":"<pre><code>dart::dynamics::SkeletonPtr robot_dart::Robot::_skeleton;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#protected-functions-documentation","title":"Protected Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1Robot/#function-_actuator_type","title":"function _actuator_type","text":"<pre><code>dart::dynamics::Joint::ActuatorType robot_dart::Robot::_actuator_type (\n    size_t joint_index\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-_actuator_types","title":"function _actuator_types","text":"<pre><code>std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; robot_dart::Robot::_actuator_types () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-_get_path","title":"function _get_path","text":"<pre><code>std::string robot_dart::Robot::_get_path (\n    const std::string &amp; filename\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-_jacobian","title":"function _jacobian","text":"<pre><code>Eigen::MatrixXd robot_dart::Robot::_jacobian (\n    const Eigen::MatrixXd &amp; full_jacobian,\n    const std::vector&lt; std::string &gt; &amp; dof_names\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-_load_model","title":"function _load_model","text":"<pre><code>dart::dynamics::SkeletonPtr robot_dart::Robot::_load_model (\n    const std::string &amp; filename,\n    const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(),\n    bool is_urdf_string=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-_mass_matrix","title":"function _mass_matrix","text":"<pre><code>Eigen::MatrixXd robot_dart::Robot::_mass_matrix (\n    const Eigen::MatrixXd &amp; full_mass_matrix,\n    const std::vector&lt; std::string &gt; &amp; dof_names\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-_post_addition","title":"function _post_addition","text":"<pre><code>inline virtual void robot_dart::Robot::_post_addition (\n    RobotDARTSimu *\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-_post_removal","title":"function _post_removal","text":"<pre><code>inline virtual void robot_dart::Robot::_post_removal (\n    RobotDARTSimu *\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-_set_actuator_type","title":"function _set_actuator_type","text":"<pre><code>void robot_dart::Robot::_set_actuator_type (\n    size_t joint_index,\n    dart::dynamics::Joint::ActuatorType type,\n    bool override_mimic=false,\n    bool override_base=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-_set_actuator_types-12","title":"function _set_actuator_types [\u00bd]","text":"<pre><code>void robot_dart::Robot::_set_actuator_types (\n    const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types,\n    bool override_mimic=false,\n    bool override_base=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-_set_actuator_types-22","title":"function _set_actuator_types [2/2]","text":"<pre><code>void robot_dart::Robot::_set_actuator_types (\n    dart::dynamics::Joint::ActuatorType type,\n    bool override_mimic=false,\n    bool override_base=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-_set_color_mode-12","title":"function _set_color_mode [\u00bd]","text":"<pre><code>void robot_dart::Robot::_set_color_mode (\n    dart::dynamics::MeshShape::ColorMode color_mode,\n    dart::dynamics::SkeletonPtr skel\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-_set_color_mode-22","title":"function _set_color_mode [2/2]","text":"<pre><code>void robot_dart::Robot::_set_color_mode (\n    dart::dynamics::MeshShape::ColorMode color_mode,\n    dart::dynamics::ShapeNode * sn\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/robot.hpp</code></p>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/","title":"Class robot_dart::RobotDARTSimu","text":"<p>ClassList &gt; robot_dart &gt; RobotDARTSimu</p>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#public-types","title":"Public Types","text":"Type Name typedef std::shared_ptr&lt; Robot &gt; robot_t"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#public-functions","title":"Public Functions","text":"Type Name RobotDARTSimu (double timestep=0.015)  std::shared_ptr&lt; Robot &gt; add_checkerboard_floor (double floor_width=10.0, double floor_height=0.1, double size=1., const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity(), const std::string &amp; floor_name=\"checkerboard_floor\", const Eigen::Vector4d &amp; first_color=dart::Color::White(1.), const Eigen::Vector4d &amp; second_color=dart::Color::Gray(1.))  std::shared_ptr&lt; Robot &gt; add_floor (double floor_width=10.0, double floor_height=0.1, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity(), const std::string &amp; floor_name=\"floor\")  void add_robot (const robot_t &amp; robot)  std::shared_ptr&lt; T &gt; add_sensor (Args &amp;&amp;... args)  void add_sensor (const std::shared_ptr&lt; sensor::Sensor &gt; &amp; sensor)  std::shared_ptr&lt; simu::TextData &gt; add_text (const std::string &amp; text, const Eigen::Affine2d &amp; tf=Eigen::Affine2d::Identity(), Eigen::Vector4d color=Eigen::Vector4d(1, 1, 1, 1), std::uint8_t alignment=2&lt;&lt; 2, bool draw_bg=false, Eigen::Vector4d bg_color=Eigen::Vector4d(0, 0, 0, 0.75), double font_size=28)  void add_visual_robot (const robot_t &amp; robot)  void clear_robots ()  void clear_sensors ()  uint32_t collision_category (size_t robot_index, const std::string &amp; body_name)  uint32_t collision_category (size_t robot_index, size_t body_index)  const std::string &amp; collision_detector () const uint32_t collision_mask (size_t robot_index, const std::string &amp; body_name)  uint32_t collision_mask (size_t robot_index, size_t body_index)  std::pair&lt; uint32_t, uint32_t &gt; collision_masks (size_t robot_index, const std::string &amp; body_name)  std::pair&lt; uint32_t, uint32_t &gt; collision_masks (size_t robot_index, size_t body_index)  int control_freq () const void enable_status_bar (bool enable=true, double font_size=-1)  void enable_text_panel (bool enable=true, double font_size=-1)  std::shared_ptr&lt; gui::Base &gt; graphics () const int graphics_freq () const Eigen::Vector3d gravity () const simu::GUIData * gui_data ()  bool halted_sim () const size_t num_robots () const int physics_freq () const void remove_all_collision_masks ()  void remove_collision_masks (size_t robot_index)  void remove_collision_masks (size_t robot_index, const std::string &amp; body_name)  void remove_collision_masks (size_t robot_index, size_t body_index)  void remove_robot (const robot_t &amp; robot)  void remove_robot (size_t index)  void remove_sensor (const std::shared_ptr&lt; sensor::Sensor &gt; &amp; sensor)  void remove_sensor (size_t index)  void remove_sensors (const std::string &amp; type)  robot_t robot (size_t index) const int robot_index (const robot_t &amp; robot) const const std::vector&lt; robot_t &gt; &amp; robots () const void run (double max_duration=5.0, bool reset_commands=false, bool force_position_bounds=true)  bool schedule (int freq)  Scheduler &amp; scheduler ()  const Scheduler &amp; scheduler () const std::shared_ptr&lt; sensor::Sensor &gt; sensor (size_t index) const std::vector&lt; std::shared_ptr&lt; sensor::Sensor &gt; &gt; sensors () const void set_collision_detector (const std::string &amp; collision_detector)  void set_collision_masks (size_t robot_index, uint32_t category_mask, uint32_t collision_mask)  void set_collision_masks (size_t robot_index, const std::string &amp; body_name, uint32_t category_mask, uint32_t collision_mask)  void set_collision_masks (size_t robot_index, size_t body_index, uint32_t category_mask, uint32_t collision_mask)  void set_control_freq (int frequency)  void set_graphics (const std::shared_ptr&lt; gui::Base &gt; &amp; graphics)  void set_graphics_freq (int frequency)  void set_gravity (const Eigen::Vector3d &amp; gravity)  void set_text_panel (const std::string &amp; str)  void set_timestep (double timestep, bool update_control_freq=true)  std::string status_bar_text () const bool step (bool reset_commands=false, bool force_position_bounds=true)  bool step_world (bool reset_commands=false, bool force_position_bounds=true)  void stop_sim (bool disable=true)  std::string text_panel_text () const double timestep () const dart::simulation::WorldPtr world ()  ~RobotDARTSimu ()"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#protected-attributes","title":"Protected Attributes","text":"Type Name bool _break int _control_freq   = = -1 std::shared_ptr&lt; gui::Base &gt; _graphics int _graphics_freq   = = 40 std::unique_ptr&lt; simu::GUIData &gt; _gui_data size_t _old_index int _physics_freq   = = -1 std::vector&lt; robot_t &gt; _robots Scheduler _scheduler std::vector&lt; std::shared_ptr&lt; sensor::Sensor &gt; &gt; _sensors std::shared_ptr&lt; simu::TextData &gt; _status_bar   = = nullptr std::shared_ptr&lt; simu::TextData &gt; _text_panel   = = nullptr dart::simulation::WorldPtr _world"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#protected-functions","title":"Protected Functions","text":"Type Name void _enable (std::shared_ptr&lt; simu::TextData &gt; &amp; text, bool enable, double font_size)"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#typedef-robot_t","title":"typedef robot_t","text":"<pre><code>using robot_dart::RobotDARTSimu::robot_t =  std::shared_ptr&lt;Robot&gt;;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-robotdartsimu","title":"function RobotDARTSimu","text":"<pre><code>robot_dart::RobotDARTSimu::RobotDARTSimu (\n    double timestep=0.015\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-add_checkerboard_floor","title":"function add_checkerboard_floor","text":"<pre><code>std::shared_ptr&lt; Robot &gt; robot_dart::RobotDARTSimu::add_checkerboard_floor (\n    double floor_width=10.0,\n    double floor_height=0.1,\n    double size=1.,\n    const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity(),\n    const std::string &amp; floor_name=\"checkerboard_floor\",\n    const Eigen::Vector4d &amp; first_color=dart::Color::White(1.),\n    const Eigen::Vector4d &amp; second_color=dart::Color::Gray(1.)\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-add_floor","title":"function add_floor","text":"<pre><code>std::shared_ptr&lt; Robot &gt; robot_dart::RobotDARTSimu::add_floor (\n    double floor_width=10.0,\n    double floor_height=0.1,\n    const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity(),\n    const std::string &amp; floor_name=\"floor\"\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-add_robot","title":"function add_robot","text":"<pre><code>void robot_dart::RobotDARTSimu::add_robot (\n    const robot_t &amp; robot\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-add_sensor-12","title":"function add_sensor [\u00bd]","text":"<pre><code>template&lt;typename T, typename... Args&gt;\ninline std::shared_ptr&lt; T &gt; robot_dart::RobotDARTSimu::add_sensor (\n    Args &amp;&amp;... args\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-add_sensor-22","title":"function add_sensor [2/2]","text":"<pre><code>void robot_dart::RobotDARTSimu::add_sensor (\n    const std::shared_ptr&lt; sensor::Sensor &gt; &amp; sensor\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-add_text","title":"function add_text","text":"<pre><code>std::shared_ptr&lt; simu::TextData &gt; robot_dart::RobotDARTSimu::add_text (\n    const std::string &amp; text,\n    const Eigen::Affine2d &amp; tf=Eigen::Affine2d::Identity(),\n    Eigen::Vector4d color=Eigen::Vector4d(1, 1, 1, 1),\n    std::uint8_t alignment=2&lt;&lt; 2,\n    bool draw_bg=false,\n    Eigen::Vector4d bg_color=Eigen::Vector4d(0, 0, 0, 0.75),\n    double font_size=28\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-add_visual_robot","title":"function add_visual_robot","text":"<pre><code>void robot_dart::RobotDARTSimu::add_visual_robot (\n    const robot_t &amp; robot\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-clear_robots","title":"function clear_robots","text":"<pre><code>void robot_dart::RobotDARTSimu::clear_robots () \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-clear_sensors","title":"function clear_sensors","text":"<pre><code>void robot_dart::RobotDARTSimu::clear_sensors () \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-collision_category-12","title":"function collision_category [\u00bd]","text":"<pre><code>uint32_t robot_dart::RobotDARTSimu::collision_category (\n    size_t robot_index,\n    const std::string &amp; body_name\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-collision_category-22","title":"function collision_category [2/2]","text":"<pre><code>uint32_t robot_dart::RobotDARTSimu::collision_category (\n    size_t robot_index,\n    size_t body_index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-collision_detector","title":"function collision_detector","text":"<pre><code>const std::string &amp; robot_dart::RobotDARTSimu::collision_detector () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-collision_mask-12","title":"function collision_mask [\u00bd]","text":"<pre><code>uint32_t robot_dart::RobotDARTSimu::collision_mask (\n    size_t robot_index,\n    const std::string &amp; body_name\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-collision_mask-22","title":"function collision_mask [2/2]","text":"<pre><code>uint32_t robot_dart::RobotDARTSimu::collision_mask (\n    size_t robot_index,\n    size_t body_index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-collision_masks-12","title":"function collision_masks [\u00bd]","text":"<pre><code>std::pair&lt; uint32_t, uint32_t &gt; robot_dart::RobotDARTSimu::collision_masks (\n    size_t robot_index,\n    const std::string &amp; body_name\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-collision_masks-22","title":"function collision_masks [2/2]","text":"<pre><code>std::pair&lt; uint32_t, uint32_t &gt; robot_dart::RobotDARTSimu::collision_masks (\n    size_t robot_index,\n    size_t body_index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-control_freq","title":"function control_freq","text":"<pre><code>inline int robot_dart::RobotDARTSimu::control_freq () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-enable_status_bar","title":"function enable_status_bar","text":"<pre><code>void robot_dart::RobotDARTSimu::enable_status_bar (\n    bool enable=true,\n    double font_size=-1\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-enable_text_panel","title":"function enable_text_panel","text":"<pre><code>void robot_dart::RobotDARTSimu::enable_text_panel (\n    bool enable=true,\n    double font_size=-1\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-graphics","title":"function graphics","text":"<pre><code>std::shared_ptr&lt; gui::Base &gt; robot_dart::RobotDARTSimu::graphics () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-graphics_freq","title":"function graphics_freq","text":"<pre><code>inline int robot_dart::RobotDARTSimu::graphics_freq () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-gravity","title":"function gravity","text":"<pre><code>Eigen::Vector3d robot_dart::RobotDARTSimu::gravity () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-gui_data","title":"function gui_data","text":"<pre><code>simu::GUIData * robot_dart::RobotDARTSimu::gui_data () \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-halted_sim","title":"function halted_sim","text":"<pre><code>bool robot_dart::RobotDARTSimu::halted_sim () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-num_robots","title":"function num_robots","text":"<pre><code>size_t robot_dart::RobotDARTSimu::num_robots () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-physics_freq","title":"function physics_freq","text":"<pre><code>inline int robot_dart::RobotDARTSimu::physics_freq () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-remove_all_collision_masks","title":"function remove_all_collision_masks","text":"<pre><code>void robot_dart::RobotDARTSimu::remove_all_collision_masks () \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-remove_collision_masks-13","title":"function remove_collision_masks [\u2153]","text":"<pre><code>void robot_dart::RobotDARTSimu::remove_collision_masks (\n    size_t robot_index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-remove_collision_masks-23","title":"function remove_collision_masks [\u2154]","text":"<pre><code>void robot_dart::RobotDARTSimu::remove_collision_masks (\n    size_t robot_index,\n    const std::string &amp; body_name\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-remove_collision_masks-33","title":"function remove_collision_masks [3/3]","text":"<pre><code>void robot_dart::RobotDARTSimu::remove_collision_masks (\n    size_t robot_index,\n    size_t body_index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-remove_robot-12","title":"function remove_robot [\u00bd]","text":"<pre><code>void robot_dart::RobotDARTSimu::remove_robot (\n    const robot_t &amp; robot\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-remove_robot-22","title":"function remove_robot [2/2]","text":"<pre><code>void robot_dart::RobotDARTSimu::remove_robot (\n    size_t index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-remove_sensor-12","title":"function remove_sensor [\u00bd]","text":"<pre><code>void robot_dart::RobotDARTSimu::remove_sensor (\n    const std::shared_ptr&lt; sensor::Sensor &gt; &amp; sensor\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-remove_sensor-22","title":"function remove_sensor [2/2]","text":"<pre><code>void robot_dart::RobotDARTSimu::remove_sensor (\n    size_t index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-remove_sensors","title":"function remove_sensors","text":"<pre><code>void robot_dart::RobotDARTSimu::remove_sensors (\n    const std::string &amp; type\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-robot","title":"function robot","text":"<pre><code>robot_t robot_dart::RobotDARTSimu::robot (\n    size_t index\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-robot_index","title":"function robot_index","text":"<pre><code>int robot_dart::RobotDARTSimu::robot_index (\n    const robot_t &amp; robot\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-robots","title":"function robots","text":"<pre><code>const std::vector&lt; robot_t &gt; &amp; robot_dart::RobotDARTSimu::robots () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-run","title":"function run","text":"<pre><code>void robot_dart::RobotDARTSimu::run (\n    double max_duration=5.0,\n    bool reset_commands=false,\n    bool force_position_bounds=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-schedule","title":"function schedule","text":"<pre><code>inline bool robot_dart::RobotDARTSimu::schedule (\n    int freq\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-scheduler-12","title":"function scheduler [\u00bd]","text":"<pre><code>inline Scheduler &amp; robot_dart::RobotDARTSimu::scheduler () \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-scheduler-22","title":"function scheduler [2/2]","text":"<pre><code>inline const Scheduler &amp; robot_dart::RobotDARTSimu::scheduler () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-sensor","title":"function sensor","text":"<pre><code>std::shared_ptr&lt; sensor::Sensor &gt; robot_dart::RobotDARTSimu::sensor (\n    size_t index\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-sensors","title":"function sensors","text":"<pre><code>std::vector&lt; std::shared_ptr&lt; sensor::Sensor &gt; &gt; robot_dart::RobotDARTSimu::sensors () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-set_collision_detector","title":"function set_collision_detector","text":"<pre><code>void robot_dart::RobotDARTSimu::set_collision_detector (\n    const std::string &amp; collision_detector\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-set_collision_masks-13","title":"function set_collision_masks [\u2153]","text":"<pre><code>void robot_dart::RobotDARTSimu::set_collision_masks (\n    size_t robot_index,\n    uint32_t category_mask,\n    uint32_t collision_mask\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-set_collision_masks-23","title":"function set_collision_masks [\u2154]","text":"<pre><code>void robot_dart::RobotDARTSimu::set_collision_masks (\n    size_t robot_index,\n    const std::string &amp; body_name,\n    uint32_t category_mask,\n    uint32_t collision_mask\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-set_collision_masks-33","title":"function set_collision_masks [3/3]","text":"<pre><code>void robot_dart::RobotDARTSimu::set_collision_masks (\n    size_t robot_index,\n    size_t body_index,\n    uint32_t category_mask,\n    uint32_t collision_mask\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-set_control_freq","title":"function set_control_freq","text":"<pre><code>inline void robot_dart::RobotDARTSimu::set_control_freq (\n    int frequency\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-set_graphics","title":"function set_graphics","text":"<pre><code>void robot_dart::RobotDARTSimu::set_graphics (\n    const std::shared_ptr&lt; gui::Base &gt; &amp; graphics\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-set_graphics_freq","title":"function set_graphics_freq","text":"<pre><code>inline void robot_dart::RobotDARTSimu::set_graphics_freq (\n    int frequency\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-set_gravity","title":"function set_gravity","text":"<pre><code>void robot_dart::RobotDARTSimu::set_gravity (\n    const Eigen::Vector3d &amp; gravity\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-set_text_panel","title":"function set_text_panel","text":"<pre><code>void robot_dart::RobotDARTSimu::set_text_panel (\n    const std::string &amp; str\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-set_timestep","title":"function set_timestep","text":"<pre><code>void robot_dart::RobotDARTSimu::set_timestep (\n    double timestep,\n    bool update_control_freq=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-status_bar_text","title":"function status_bar_text","text":"<pre><code>std::string robot_dart::RobotDARTSimu::status_bar_text () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-step","title":"function step","text":"<pre><code>bool robot_dart::RobotDARTSimu::step (\n    bool reset_commands=false,\n    bool force_position_bounds=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-step_world","title":"function step_world","text":"<pre><code>bool robot_dart::RobotDARTSimu::step_world (\n    bool reset_commands=false,\n    bool force_position_bounds=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-stop_sim","title":"function stop_sim","text":"<pre><code>void robot_dart::RobotDARTSimu::stop_sim (\n    bool disable=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-text_panel_text","title":"function text_panel_text","text":"<pre><code>std::string robot_dart::RobotDARTSimu::text_panel_text () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-timestep","title":"function timestep","text":"<pre><code>double robot_dart::RobotDARTSimu::timestep () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-world","title":"function world","text":"<pre><code>dart::simulation::WorldPtr robot_dart::RobotDARTSimu::world () \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-robotdartsimu_1","title":"function ~RobotDARTSimu","text":"<pre><code>robot_dart::RobotDARTSimu::~RobotDARTSimu () \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#variable-_break","title":"variable _break","text":"<pre><code>bool robot_dart::RobotDARTSimu::_break;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#variable-_control_freq","title":"variable _control_freq","text":"<pre><code>int robot_dart::RobotDARTSimu::_control_freq;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#variable-_graphics","title":"variable _graphics","text":"<pre><code>std::shared_ptr&lt;gui::Base&gt; robot_dart::RobotDARTSimu::_graphics;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#variable-_graphics_freq","title":"variable _graphics_freq","text":"<pre><code>int robot_dart::RobotDARTSimu::_graphics_freq;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#variable-_gui_data","title":"variable _gui_data","text":"<pre><code>std::unique_ptr&lt;simu::GUIData&gt; robot_dart::RobotDARTSimu::_gui_data;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#variable-_old_index","title":"variable _old_index","text":"<pre><code>size_t robot_dart::RobotDARTSimu::_old_index;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#variable-_physics_freq","title":"variable _physics_freq","text":"<pre><code>int robot_dart::RobotDARTSimu::_physics_freq;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#variable-_robots","title":"variable _robots","text":"<pre><code>std::vector&lt;robot_t&gt; robot_dart::RobotDARTSimu::_robots;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#variable-_scheduler","title":"variable _scheduler","text":"<pre><code>Scheduler robot_dart::RobotDARTSimu::_scheduler;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#variable-_sensors","title":"variable _sensors","text":"<pre><code>std::vector&lt;std::shared_ptr&lt;sensor::Sensor&gt; &gt; robot_dart::RobotDARTSimu::_sensors;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#variable-_status_bar","title":"variable _status_bar","text":"<pre><code>std::shared_ptr&lt;simu::TextData&gt; robot_dart::RobotDARTSimu::_status_bar;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#variable-_text_panel","title":"variable _text_panel","text":"<pre><code>std::shared_ptr&lt;simu::TextData&gt; robot_dart::RobotDARTSimu::_text_panel;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#variable-_world","title":"variable _world","text":"<pre><code>dart::simulation::WorldPtr robot_dart::RobotDARTSimu::_world;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#protected-functions-documentation","title":"Protected Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-_enable","title":"function _enable","text":"<pre><code>void robot_dart::RobotDARTSimu::_enable (\n    std::shared_ptr&lt; simu::TextData &gt; &amp; text,\n    bool enable,\n    double font_size\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/robot_dart_simu.hpp</code></p>"},{"location":"api/classrobot__dart_1_1RobotPool/","title":"Class robot_dart::RobotPool","text":"<p>ClassList &gt; robot_dart &gt; RobotPool</p>"},{"location":"api/classrobot__dart_1_1RobotPool/#public-types","title":"Public Types","text":"Type Name typedef std::function&lt; std::shared_ptr&lt; Robot &gt;()&gt; robot_creator_t"},{"location":"api/classrobot__dart_1_1RobotPool/#public-functions","title":"Public Functions","text":"Type Name RobotPool (const robot_creator_t &amp; robot_creator, size_t pool_size=32, bool verbose=true)  RobotPool (const RobotPool &amp;) = delete virtual void free_robot (const std::shared_ptr&lt; Robot &gt; &amp; robot)  virtual std::shared_ptr&lt; Robot &gt; get_robot (const std::string &amp; name=\"robot\")  const std::string &amp; model_filename () const void operator= (const RobotPool &amp;) = delete virtual ~RobotPool ()"},{"location":"api/classrobot__dart_1_1RobotPool/#protected-attributes","title":"Protected Attributes","text":"Type Name std::vector&lt; bool &gt; _free std::string _model_filename size_t _pool_size robot_creator_t _robot_creator std::mutex _skeleton_mutex std::vector&lt; dart::dynamics::SkeletonPtr &gt; _skeletons bool _verbose"},{"location":"api/classrobot__dart_1_1RobotPool/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _reset_robot (const std::shared_ptr&lt; Robot &gt; &amp; robot)"},{"location":"api/classrobot__dart_1_1RobotPool/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1RobotPool/#typedef-robot_creator_t","title":"typedef robot_creator_t","text":"<pre><code>using robot_dart::RobotPool::robot_creator_t =  std::function&lt;std::shared_ptr&lt;Robot&gt;()&gt;;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1RobotPool/#function-robotpool-12","title":"function RobotPool [\u00bd]","text":"<pre><code>robot_dart::RobotPool::RobotPool (\n    const robot_creator_t &amp; robot_creator,\n    size_t pool_size=32,\n    bool verbose=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#function-robotpool-22","title":"function RobotPool [2/2]","text":"<pre><code>robot_dart::RobotPool::RobotPool (\n    const RobotPool &amp;\n) = delete\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#function-free_robot","title":"function free_robot","text":"<pre><code>virtual void robot_dart::RobotPool::free_robot (\n    const std::shared_ptr&lt; Robot &gt; &amp; robot\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#function-get_robot","title":"function get_robot","text":"<pre><code>virtual std::shared_ptr&lt; Robot &gt; robot_dart::RobotPool::get_robot (\n    const std::string &amp; name=\"robot\"\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#function-model_filename","title":"function model_filename","text":"<pre><code>inline const std::string &amp; robot_dart::RobotPool::model_filename () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#function-operator","title":"function operator=","text":"<pre><code>void robot_dart::RobotPool::operator= (\n    const RobotPool &amp;\n) = delete\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#function-robotpool","title":"function ~RobotPool","text":"<pre><code>inline virtual robot_dart::RobotPool::~RobotPool () \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1RobotPool/#variable-_free","title":"variable _free","text":"<pre><code>std::vector&lt;bool&gt; robot_dart::RobotPool::_free;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#variable-_model_filename","title":"variable _model_filename","text":"<pre><code>std::string robot_dart::RobotPool::_model_filename;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#variable-_pool_size","title":"variable _pool_size","text":"<pre><code>size_t robot_dart::RobotPool::_pool_size;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#variable-_robot_creator","title":"variable _robot_creator","text":"<pre><code>robot_creator_t robot_dart::RobotPool::_robot_creator;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#variable-_skeleton_mutex","title":"variable _skeleton_mutex","text":"<pre><code>std::mutex robot_dart::RobotPool::_skeleton_mutex;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#variable-_skeletons","title":"variable _skeletons","text":"<pre><code>std::vector&lt;dart::dynamics::SkeletonPtr&gt; robot_dart::RobotPool::_skeletons;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#variable-_verbose","title":"variable _verbose","text":"<pre><code>bool robot_dart::RobotPool::_verbose;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#protected-functions-documentation","title":"Protected Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1RobotPool/#function-_reset_robot","title":"function _reset_robot","text":"<pre><code>virtual void robot_dart::RobotPool::_reset_robot (\n    const std::shared_ptr&lt; Robot &gt; &amp; robot\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/robot_pool.hpp</code></p>"},{"location":"api/classrobot__dart_1_1Scheduler/","title":"Class robot_dart::Scheduler","text":"<p>ClassList &gt; robot_dart &gt; Scheduler</p>"},{"location":"api/classrobot__dart_1_1Scheduler/#public-functions","title":"Public Functions","text":"Type Name Scheduler (double dt, bool sync=false)  double current_time () constcurrent time according to the simulation (simulation clock) double dt () constdt used by the simulation (simulation clock) double it_duration () const double last_it_duration () const double next_time () constnext time according to the simulation (simulation clock) bool operator() (int frequency)  double real_time () consttime according to the clock's computer (wall clock) double real_time_factor () const void reset (double dt, bool sync=false, double current_time=0., double real_time=0.)  bool schedule (int frequency)  void set_sync (bool enable)  double step ()  bool sync () const"},{"location":"api/classrobot__dart_1_1Scheduler/#protected-types","title":"Protected Types","text":"Type Name typedef std::chrono::high_resolution_clock clock_t"},{"location":"api/classrobot__dart_1_1Scheduler/#protected-attributes","title":"Protected Attributes","text":"Type Name double _average_it_duration   = = 0. int _current_step   = = 0 double _current_time   = = 0. double _dt double _it_duration   = = 0. clock_t::time_point _last_iteration_time int _max_frequency   = = -1 double _real_start_time   = = 0. double _real_time   = = 0. double _simu_start_time   = = 0. clock_t::time_point _start_time bool _sync"},{"location":"api/classrobot__dart_1_1Scheduler/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1Scheduler/#function-scheduler","title":"function Scheduler","text":"<pre><code>inline robot_dart::Scheduler::Scheduler (\n    double dt,\n    bool sync=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#function-current_time","title":"function current_time","text":"<pre><code>inline double robot_dart::Scheduler::current_time () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#function-dt","title":"function dt","text":"<pre><code>inline double robot_dart::Scheduler::dt () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#function-it_duration","title":"function it_duration","text":"<pre><code>inline double robot_dart::Scheduler::it_duration () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#function-last_it_duration","title":"function last_it_duration","text":"<pre><code>inline double robot_dart::Scheduler::last_it_duration () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#function-next_time","title":"function next_time","text":"<pre><code>inline double robot_dart::Scheduler::next_time () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#function-operator","title":"function operator()","text":"<pre><code>inline bool robot_dart::Scheduler::operator() (\n    int frequency\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#function-real_time","title":"function real_time","text":"<pre><code>inline double robot_dart::Scheduler::real_time () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#function-real_time_factor","title":"function real_time_factor","text":"<pre><code>inline double robot_dart::Scheduler::real_time_factor () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#function-reset","title":"function reset","text":"<pre><code>void robot_dart::Scheduler::reset (\n    double dt,\n    bool sync=false,\n    double current_time=0.,\n    double real_time=0.\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#function-schedule","title":"function schedule","text":"<pre><code>bool robot_dart::Scheduler::schedule (\n    int frequency\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#function-set_sync","title":"function set_sync","text":"<pre><code>inline void robot_dart::Scheduler::set_sync (\n    bool enable\n) \n</code></pre> <p>synchronize the simulation clock with the wall clock (when possible, i.e. when the simulation is faster than real time) </p>"},{"location":"api/classrobot__dart_1_1Scheduler/#function-step","title":"function step","text":"<pre><code>double robot_dart::Scheduler::step () \n</code></pre> <p>call this at the end of the loop (see examples) this will synchronize with real time if requested and increase the counter; returns the real-time (in seconds) </p>"},{"location":"api/classrobot__dart_1_1Scheduler/#function-sync","title":"function sync","text":"<pre><code>inline bool robot_dart::Scheduler::sync () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#protected-types-documentation","title":"Protected Types Documentation","text":""},{"location":"api/classrobot__dart_1_1Scheduler/#typedef-clock_t","title":"typedef clock_t","text":"<pre><code>using robot_dart::Scheduler::clock_t =  std::chrono::high_resolution_clock;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1Scheduler/#variable-_average_it_duration","title":"variable _average_it_duration","text":"<pre><code>double robot_dart::Scheduler::_average_it_duration;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#variable-_current_step","title":"variable _current_step","text":"<pre><code>int robot_dart::Scheduler::_current_step;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#variable-_current_time","title":"variable _current_time","text":"<pre><code>double robot_dart::Scheduler::_current_time;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#variable-_dt","title":"variable _dt","text":"<pre><code>double robot_dart::Scheduler::_dt;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#variable-_it_duration","title":"variable _it_duration","text":"<pre><code>double robot_dart::Scheduler::_it_duration;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#variable-_last_iteration_time","title":"variable _last_iteration_time","text":"<pre><code>clock_t::time_point robot_dart::Scheduler::_last_iteration_time;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#variable-_max_frequency","title":"variable _max_frequency","text":"<pre><code>int robot_dart::Scheduler::_max_frequency;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#variable-_real_start_time","title":"variable _real_start_time","text":"<pre><code>double robot_dart::Scheduler::_real_start_time;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#variable-_real_time","title":"variable _real_time","text":"<pre><code>double robot_dart::Scheduler::_real_time;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#variable-_simu_start_time","title":"variable _simu_start_time","text":"<pre><code>double robot_dart::Scheduler::_simu_start_time;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#variable-_start_time","title":"variable _start_time","text":"<pre><code>clock_t::time_point robot_dart::Scheduler::_start_time;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#variable-_sync","title":"variable _sync","text":"<pre><code>bool robot_dart::Scheduler::_sync;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/scheduler.hpp</code></p>"},{"location":"api/namespacerobot__dart_1_1collision__filter/","title":"Namespace robot_dart::collision_filter","text":"<p>Namespace List &gt; robot_dart &gt; collision_filter</p>"},{"location":"api/namespacerobot__dart_1_1collision__filter/#classes","title":"Classes","text":"Type Name class BitmaskContactFilter <p>The documentation for this class was generated from the following file <code>robot_dart/robot_dart_simu.cpp</code></p>"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/","title":"Class robot_dart::collision_filter::BitmaskContactFilter","text":"<p>ClassList &gt; robot_dart &gt; collision_filter &gt; BitmaskContactFilter</p> <p>Inherits the following classes: dart::BodyNodeCollisionFilter</p>"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#classes","title":"Classes","text":"Type Name struct Masks"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#public-types","title":"Public Types","text":"Type Name typedef const dart::CollisionObject * DartCollisionConstPtr typedef const dart::dynamics::ShapeNode * DartShapeConstPtr"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#public-functions","title":"Public Functions","text":"Type Name void add_to_map (DartShapeConstPtr shape, uint32_t col_mask, uint32_t cat_mask)  void add_to_map (dart::dynamics::SkeletonPtr skel, uint32_t col_mask, uint32_t cat_mask)  void clear_all ()  bool ignoresCollision (DartCollisionConstPtr object1, DartCollisionConstPtr object2) override const Masks mask (DartShapeConstPtr shape) const void remove_from_map (DartShapeConstPtr shape)  void remove_from_map (dart::dynamics::SkeletonPtr skel)  virtual ~BitmaskContactFilter () = default"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#typedef-dartcollisionconstptr","title":"typedef DartCollisionConstPtr","text":"<pre><code>using robot_dart::collision_filter::BitmaskContactFilter::DartCollisionConstPtr =  const dart::collision::CollisionObject*;\n</code></pre>"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#typedef-dartshapeconstptr","title":"typedef DartShapeConstPtr","text":"<pre><code>using robot_dart::collision_filter::BitmaskContactFilter::DartShapeConstPtr =  const dart::dynamics::ShapeNode*;\n</code></pre>"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#function-add_to_map-12","title":"function add_to_map [\u00bd]","text":"<pre><code>inline void robot_dart::collision_filter::BitmaskContactFilter::add_to_map (\n    DartShapeConstPtr shape,\n    uint32_t col_mask,\n    uint32_t cat_mask\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#function-add_to_map-22","title":"function add_to_map [2/2]","text":"<pre><code>inline void robot_dart::collision_filter::BitmaskContactFilter::add_to_map (\n    dart::dynamics::SkeletonPtr skel,\n    uint32_t col_mask,\n    uint32_t cat_mask\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#function-clear_all","title":"function clear_all","text":"<pre><code>inline void robot_dart::collision_filter::BitmaskContactFilter::clear_all () \n</code></pre>"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#function-ignorescollision","title":"function ignoresCollision","text":"<pre><code>inline bool robot_dart::collision_filter::BitmaskContactFilter::ignoresCollision (\n    DartCollisionConstPtr object1,\n    DartCollisionConstPtr object2\n) override const\n</code></pre>"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#function-mask","title":"function mask","text":"<pre><code>inline Masks robot_dart::collision_filter::BitmaskContactFilter::mask (\n    DartShapeConstPtr shape\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#function-remove_from_map-12","title":"function remove_from_map [\u00bd]","text":"<pre><code>inline void robot_dart::collision_filter::BitmaskContactFilter::remove_from_map (\n    DartShapeConstPtr shape\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#function-remove_from_map-22","title":"function remove_from_map [2/2]","text":"<pre><code>inline void robot_dart::collision_filter::BitmaskContactFilter::remove_from_map (\n    dart::dynamics::SkeletonPtr skel\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#function-bitmaskcontactfilter","title":"function ~BitmaskContactFilter","text":"<pre><code>virtual robot_dart::collision_filter::BitmaskContactFilter::~BitmaskContactFilter () = default\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/robot_dart_simu.cpp</code></p>"},{"location":"api/structrobot__dart_1_1collision__filter_1_1BitmaskContactFilter_1_1Masks/","title":"Struct robot_dart::collision_filter::BitmaskContactFilter::Masks","text":"<p>ClassList &gt; robot_dart &gt; collision_filter &gt; BitmaskContactFilter &gt; Masks</p>"},{"location":"api/structrobot__dart_1_1collision__filter_1_1BitmaskContactFilter_1_1Masks/#public-attributes","title":"Public Attributes","text":"Type Name uint32_t category_mask   = = 0xffffffff uint32_t collision_mask   = = 0xffffffff"},{"location":"api/structrobot__dart_1_1collision__filter_1_1BitmaskContactFilter_1_1Masks/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1collision__filter_1_1BitmaskContactFilter_1_1Masks/#variable-category_mask","title":"variable category_mask","text":"<pre><code>uint32_t robot_dart::collision_filter::BitmaskContactFilter::Masks::category_mask;\n</code></pre>"},{"location":"api/structrobot__dart_1_1collision__filter_1_1BitmaskContactFilter_1_1Masks/#variable-collision_mask","title":"variable collision_mask","text":"<pre><code>uint32_t robot_dart::collision_filter::BitmaskContactFilter::Masks::collision_mask;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/robot_dart_simu.cpp</code></p>"},{"location":"api/namespacerobot__dart_1_1control/","title":"Namespace robot_dart::control","text":"<p>Namespace List &gt; robot_dart &gt; control</p>"},{"location":"api/namespacerobot__dart_1_1control/#classes","title":"Classes","text":"Type Name class PDControl class PolicyControl &lt;typename Policy&gt; class RobotControl class SimpleControl <p>The documentation for this class was generated from the following file <code>robot_dart/control/pd_control.cpp</code></p>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/","title":"Class robot_dart::control::PDControl","text":"<p>ClassList &gt; robot_dart &gt; control &gt; PDControl</p> <p>Inherits the following classes: robot_dart::control::RobotControl</p>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#public-functions","title":"Public Functions","text":"Type Name PDControl ()  PDControl (const Eigen::VectorXd &amp; ctrl, bool full_control=false, bool use_angular_errors=true)  PDControl (const Eigen::VectorXd &amp; ctrl, const std::vector&lt; std::string &gt; &amp; controllable_dofs, bool use_angular_errors=true)  virtual Eigen::VectorXd calculate (double) override virtual std::shared_ptr&lt; RobotControl &gt; clone () override const virtual void configure () override std::pair&lt; Eigen::VectorXd, Eigen::VectorXd &gt; pd () const void set_pd (double p, double d)  void set_pd (const Eigen::VectorXd &amp; p, const Eigen::VectorXd &amp; d)  void set_use_angular_errors (bool enable=true)  bool using_angular_errors () const"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#public-functions-inherited-from-robot_dartcontrolrobotcontrol","title":"Public Functions inherited from robot_dart::control::RobotControl","text":"<p>See robot_dart::control::RobotControl</p> Type Name RobotControl ()  RobotControl (const Eigen::VectorXd &amp; ctrl, bool full_control=false)  RobotControl (const Eigen::VectorXd &amp; ctrl, const std::vector&lt; std::string &gt; &amp; controllable_dofs)  void activate (bool enable=true)  bool active () const virtual Eigen::VectorXd calculate (double t) = 0 virtual std::shared_ptr&lt; RobotControl &gt; clone () const = 0 virtual void configure () = 0 const std::vector&lt; std::string &gt; &amp; controllable_dofs () const void init ()  const Eigen::VectorXd &amp; parameters () const std::shared_ptr&lt; Robot &gt; robot () const void set_parameters (const Eigen::VectorXd &amp; ctrl)  void set_robot (const std::shared_ptr&lt; Robot &gt; &amp; robot)  void set_weight (double weight)  double weight () const virtual ~RobotControl ()"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#protected-attributes","title":"Protected Attributes","text":"Type Name Eigen::VectorXd _Kd Eigen::VectorXd _Kp bool _use_angular_errors"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#protected-attributes-inherited-from-robot_dartcontrolrobotcontrol","title":"Protected Attributes inherited from robot_dart::control::RobotControl","text":"<p>See robot_dart::control::RobotControl</p> Type Name bool _active bool _check_free   = = false int _control_dof std::vector&lt; std::string &gt; _controllable_dofs Eigen::VectorXd _ctrl int _dof std::weak_ptr&lt; Robot &gt; _robot double _weight"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#protected-static-functions","title":"Protected Static Functions","text":"Type Name double _angle_dist (double target, double current)"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-pdcontrol-13","title":"function PDControl [\u2153]","text":"<pre><code>robot_dart::control::PDControl::PDControl () \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-pdcontrol-23","title":"function PDControl [\u2154]","text":"<pre><code>robot_dart::control::PDControl::PDControl (\n    const Eigen::VectorXd &amp; ctrl,\n    bool full_control=false,\n    bool use_angular_errors=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-pdcontrol-33","title":"function PDControl [3/3]","text":"<pre><code>robot_dart::control::PDControl::PDControl (\n    const Eigen::VectorXd &amp; ctrl,\n    const std::vector&lt; std::string &gt; &amp; controllable_dofs,\n    bool use_angular_errors=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-calculate","title":"function calculate","text":"<pre><code>virtual Eigen::VectorXd robot_dart::control::PDControl::calculate (\n    double\n) override\n</code></pre> <p>Implements robot_dart::control::RobotControl::calculate</p>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-clone","title":"function clone","text":"<pre><code>virtual std::shared_ptr&lt; RobotControl &gt; robot_dart::control::PDControl::clone () override const\n</code></pre> <p>Implements robot_dart::control::RobotControl::clone</p>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-configure","title":"function configure","text":"<pre><code>virtual void robot_dart::control::PDControl::configure () override\n</code></pre> <p>Implements robot_dart::control::RobotControl::configure</p>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-pd","title":"function pd","text":"<pre><code>std::pair&lt; Eigen::VectorXd, Eigen::VectorXd &gt; robot_dart::control::PDControl::pd () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-set_pd-12","title":"function set_pd [\u00bd]","text":"<pre><code>void robot_dart::control::PDControl::set_pd (\n    double p,\n    double d\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-set_pd-22","title":"function set_pd [2/2]","text":"<pre><code>void robot_dart::control::PDControl::set_pd (\n    const Eigen::VectorXd &amp; p,\n    const Eigen::VectorXd &amp; d\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-set_use_angular_errors","title":"function set_use_angular_errors","text":"<pre><code>void robot_dart::control::PDControl::set_use_angular_errors (\n    bool enable=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-using_angular_errors","title":"function using_angular_errors","text":"<pre><code>bool robot_dart::control::PDControl::using_angular_errors () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#variable-_kd","title":"variable _Kd","text":"<pre><code>Eigen::VectorXd robot_dart::control::PDControl::_Kd;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#variable-_kp","title":"variable _Kp","text":"<pre><code>Eigen::VectorXd robot_dart::control::PDControl::_Kp;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#variable-_use_angular_errors","title":"variable _use_angular_errors","text":"<pre><code>bool robot_dart::control::PDControl::_use_angular_errors;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#protected-static-functions-documentation","title":"Protected Static Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-_angle_dist","title":"function _angle_dist","text":"<pre><code>static double robot_dart::control::PDControl::_angle_dist (\n    double target,\n    double current\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/control/pd_control.hpp</code></p>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/","title":"Class robot_dart::control::PolicyControl","text":"<p>template &lt;typename Policy&gt;</p> <p>ClassList &gt; robot_dart &gt; control &gt; PolicyControl</p> <p>Inherits the following classes: robot_dart::control::RobotControl</p>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#public-functions","title":"Public Functions","text":"Type Name PolicyControl ()  PolicyControl (double dt, const Eigen::VectorXd &amp; ctrl, bool full_control=false)  PolicyControl (const Eigen::VectorXd &amp; ctrl, bool full_control=false)  PolicyControl (double dt, const Eigen::VectorXd &amp; ctrl, const std::vector&lt; std::string &gt; &amp; controllable_dofs)  PolicyControl (const Eigen::VectorXd &amp; ctrl, const std::vector&lt; std::string &gt; &amp; controllable_dofs)  virtual Eigen::VectorXd calculate (double t) override virtual std::shared_ptr&lt; RobotControl &gt; clone () override const virtual void configure () override Eigen::VectorXd h_params () const void set_h_params (const Eigen::VectorXd &amp; h_params)"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#public-functions-inherited-from-robot_dartcontrolrobotcontrol","title":"Public Functions inherited from robot_dart::control::RobotControl","text":"<p>See robot_dart::control::RobotControl</p> Type Name RobotControl ()  RobotControl (const Eigen::VectorXd &amp; ctrl, bool full_control=false)  RobotControl (const Eigen::VectorXd &amp; ctrl, const std::vector&lt; std::string &gt; &amp; controllable_dofs)  void activate (bool enable=true)  bool active () const virtual Eigen::VectorXd calculate (double t) = 0 virtual std::shared_ptr&lt; RobotControl &gt; clone () const = 0 virtual void configure () = 0 const std::vector&lt; std::string &gt; &amp; controllable_dofs () const void init ()  const Eigen::VectorXd &amp; parameters () const std::shared_ptr&lt; Robot &gt; robot () const void set_parameters (const Eigen::VectorXd &amp; ctrl)  void set_robot (const std::shared_ptr&lt; Robot &gt; &amp; robot)  void set_weight (double weight)  double weight () const virtual ~RobotControl ()"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#protected-attributes","title":"Protected Attributes","text":"Type Name double _dt bool _first bool _full_dt int _i Policy _policy Eigen::VectorXd _prev_commands double _prev_time double _threshold"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#protected-attributes-inherited-from-robot_dartcontrolrobotcontrol","title":"Protected Attributes inherited from robot_dart::control::RobotControl","text":"<p>See robot_dart::control::RobotControl</p> Type Name bool _active bool _check_free   = = false int _control_dof std::vector&lt; std::string &gt; _controllable_dofs Eigen::VectorXd _ctrl int _dof std::weak_ptr&lt; Robot &gt; _robot double _weight"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#function-policycontrol-15","title":"function PolicyControl [\u2155]","text":"<pre><code>inline robot_dart::control::PolicyControl::PolicyControl () \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#function-policycontrol-25","title":"function PolicyControl [\u2156]","text":"<pre><code>inline robot_dart::control::PolicyControl::PolicyControl (\n    double dt,\n    const Eigen::VectorXd &amp; ctrl,\n    bool full_control=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#function-policycontrol-35","title":"function PolicyControl [\u2157]","text":"<pre><code>inline robot_dart::control::PolicyControl::PolicyControl (\n    const Eigen::VectorXd &amp; ctrl,\n    bool full_control=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#function-policycontrol-45","title":"function PolicyControl [\u2158]","text":"<pre><code>inline robot_dart::control::PolicyControl::PolicyControl (\n    double dt,\n    const Eigen::VectorXd &amp; ctrl,\n    const std::vector&lt; std::string &gt; &amp; controllable_dofs\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#function-policycontrol-55","title":"function PolicyControl [5/5]","text":"<pre><code>inline robot_dart::control::PolicyControl::PolicyControl (\n    const Eigen::VectorXd &amp; ctrl,\n    const std::vector&lt; std::string &gt; &amp; controllable_dofs\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#function-calculate","title":"function calculate","text":"<pre><code>inline virtual Eigen::VectorXd robot_dart::control::PolicyControl::calculate (\n    double t\n) override\n</code></pre> <p>Implements robot_dart::control::RobotControl::calculate</p>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#function-clone","title":"function clone","text":"<pre><code>inline virtual std::shared_ptr&lt; RobotControl &gt; robot_dart::control::PolicyControl::clone () override const\n</code></pre> <p>Implements robot_dart::control::RobotControl::clone</p>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#function-configure","title":"function configure","text":"<pre><code>inline virtual void robot_dart::control::PolicyControl::configure () override\n</code></pre> <p>Implements robot_dart::control::RobotControl::configure</p>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#function-h_params","title":"function h_params","text":"<pre><code>inline Eigen::VectorXd robot_dart::control::PolicyControl::h_params () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#function-set_h_params","title":"function set_h_params","text":"<pre><code>inline void robot_dart::control::PolicyControl::set_h_params (\n    const Eigen::VectorXd &amp; h_params\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#variable-_dt","title":"variable _dt","text":"<pre><code>double robot_dart::control::PolicyControl&lt; Policy &gt;::_dt;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#variable-_first","title":"variable _first","text":"<pre><code>bool robot_dart::control::PolicyControl&lt; Policy &gt;::_first;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#variable-_full_dt","title":"variable _full_dt","text":"<pre><code>bool robot_dart::control::PolicyControl&lt; Policy &gt;::_full_dt;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#variable-_i","title":"variable _i","text":"<pre><code>int robot_dart::control::PolicyControl&lt; Policy &gt;::_i;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#variable-_policy","title":"variable _policy","text":"<pre><code>Policy robot_dart::control::PolicyControl&lt; Policy &gt;::_policy;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#variable-_prev_commands","title":"variable _prev_commands","text":"<pre><code>Eigen::VectorXd robot_dart::control::PolicyControl&lt; Policy &gt;::_prev_commands;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#variable-_prev_time","title":"variable _prev_time","text":"<pre><code>double robot_dart::control::PolicyControl&lt; Policy &gt;::_prev_time;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#variable-_threshold","title":"variable _threshold","text":"<pre><code>double robot_dart::control::PolicyControl&lt; Policy &gt;::_threshold;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/control/policy_control.hpp</code></p>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/","title":"Class robot_dart::control::RobotControl","text":"<p>ClassList &gt; robot_dart &gt; control &gt; RobotControl</p> <p>Inherited by the following classes: robot_dart::control::PDControl,  robot_dart::control::PolicyControl,  robot_dart::control::SimpleControl</p>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#public-functions","title":"Public Functions","text":"Type Name RobotControl ()  RobotControl (const Eigen::VectorXd &amp; ctrl, bool full_control=false)  RobotControl (const Eigen::VectorXd &amp; ctrl, const std::vector&lt; std::string &gt; &amp; controllable_dofs)  void activate (bool enable=true)  bool active () const virtual Eigen::VectorXd calculate (double t) = 0 virtual std::shared_ptr&lt; RobotControl &gt; clone () const = 0 virtual void configure () = 0 const std::vector&lt; std::string &gt; &amp; controllable_dofs () const void init ()  const Eigen::VectorXd &amp; parameters () const std::shared_ptr&lt; Robot &gt; robot () const void set_parameters (const Eigen::VectorXd &amp; ctrl)  void set_robot (const std::shared_ptr&lt; Robot &gt; &amp; robot)  void set_weight (double weight)  double weight () const virtual ~RobotControl ()"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#protected-attributes","title":"Protected Attributes","text":"Type Name bool _active bool _check_free   = = false int _control_dof std::vector&lt; std::string &gt; _controllable_dofs Eigen::VectorXd _ctrl int _dof std::weak_ptr&lt; Robot &gt; _robot double _weight"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-robotcontrol-13","title":"function RobotControl [\u2153]","text":"<pre><code>robot_dart::control::RobotControl::RobotControl () \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-robotcontrol-23","title":"function RobotControl [\u2154]","text":"<pre><code>robot_dart::control::RobotControl::RobotControl (\n    const Eigen::VectorXd &amp; ctrl,\n    bool full_control=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-robotcontrol-33","title":"function RobotControl [3/3]","text":"<pre><code>robot_dart::control::RobotControl::RobotControl (\n    const Eigen::VectorXd &amp; ctrl,\n    const std::vector&lt; std::string &gt; &amp; controllable_dofs\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-activate","title":"function activate","text":"<pre><code>void robot_dart::control::RobotControl::activate (\n    bool enable=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-active","title":"function active","text":"<pre><code>bool robot_dart::control::RobotControl::active () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-calculate","title":"function calculate","text":"<pre><code>virtual Eigen::VectorXd robot_dart::control::RobotControl::calculate (\n    double t\n) = 0\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-clone","title":"function clone","text":"<pre><code>virtual std::shared_ptr&lt; RobotControl &gt; robot_dart::control::RobotControl::clone () const = 0\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-configure","title":"function configure","text":"<pre><code>virtual void robot_dart::control::RobotControl::configure () = 0\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-controllable_dofs","title":"function controllable_dofs","text":"<pre><code>const std::vector&lt; std::string &gt; &amp; robot_dart::control::RobotControl::controllable_dofs () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-init","title":"function init","text":"<pre><code>void robot_dart::control::RobotControl::init () \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-parameters","title":"function parameters","text":"<pre><code>const Eigen::VectorXd &amp; robot_dart::control::RobotControl::parameters () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-robot","title":"function robot","text":"<pre><code>std::shared_ptr&lt; Robot &gt; robot_dart::control::RobotControl::robot () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-set_parameters","title":"function set_parameters","text":"<pre><code>void robot_dart::control::RobotControl::set_parameters (\n    const Eigen::VectorXd &amp; ctrl\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-set_robot","title":"function set_robot","text":"<pre><code>void robot_dart::control::RobotControl::set_robot (\n    const std::shared_ptr&lt; Robot &gt; &amp; robot\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-set_weight","title":"function set_weight","text":"<pre><code>void robot_dart::control::RobotControl::set_weight (\n    double weight\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-weight","title":"function weight","text":"<pre><code>double robot_dart::control::RobotControl::weight () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-robotcontrol","title":"function ~RobotControl","text":"<pre><code>inline virtual robot_dart::control::RobotControl::~RobotControl () \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#variable-_active","title":"variable _active","text":"<pre><code>bool robot_dart::control::RobotControl::_active;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#variable-_check_free","title":"variable _check_free","text":"<pre><code>bool robot_dart::control::RobotControl::_check_free;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#variable-_control_dof","title":"variable _control_dof","text":"<pre><code>int robot_dart::control::RobotControl::_control_dof;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#variable-_controllable_dofs","title":"variable _controllable_dofs","text":"<pre><code>std::vector&lt;std::string&gt; robot_dart::control::RobotControl::_controllable_dofs;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#variable-_ctrl","title":"variable _ctrl","text":"<pre><code>Eigen::VectorXd robot_dart::control::RobotControl::_ctrl;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#variable-_dof","title":"variable _dof","text":"<pre><code>int robot_dart::control::RobotControl::_dof;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#variable-_robot","title":"variable _robot","text":"<pre><code>std::weak_ptr&lt;Robot&gt; robot_dart::control::RobotControl::_robot;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#variable-_weight","title":"variable _weight","text":"<pre><code>double robot_dart::control::RobotControl::_weight;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/control/robot_control.hpp</code></p>"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/","title":"Class robot_dart::control::SimpleControl","text":"<p>ClassList &gt; robot_dart &gt; control &gt; SimpleControl</p> <p>Inherits the following classes: robot_dart::control::RobotControl</p>"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#public-functions","title":"Public Functions","text":"Type Name SimpleControl ()  SimpleControl (const Eigen::VectorXd &amp; ctrl, bool full_control=false)  SimpleControl (const Eigen::VectorXd &amp; ctrl, const std::vector&lt; std::string &gt; &amp; controllable_dofs)  virtual Eigen::VectorXd calculate (double) override virtual std::shared_ptr&lt; RobotControl &gt; clone () override const virtual void configure () override"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#public-functions-inherited-from-robot_dartcontrolrobotcontrol","title":"Public Functions inherited from robot_dart::control::RobotControl","text":"<p>See robot_dart::control::RobotControl</p> Type Name RobotControl ()  RobotControl (const Eigen::VectorXd &amp; ctrl, bool full_control=false)  RobotControl (const Eigen::VectorXd &amp; ctrl, const std::vector&lt; std::string &gt; &amp; controllable_dofs)  void activate (bool enable=true)  bool active () const virtual Eigen::VectorXd calculate (double t) = 0 virtual std::shared_ptr&lt; RobotControl &gt; clone () const = 0 virtual void configure () = 0 const std::vector&lt; std::string &gt; &amp; controllable_dofs () const void init ()  const Eigen::VectorXd &amp; parameters () const std::shared_ptr&lt; Robot &gt; robot () const void set_parameters (const Eigen::VectorXd &amp; ctrl)  void set_robot (const std::shared_ptr&lt; Robot &gt; &amp; robot)  void set_weight (double weight)  double weight () const virtual ~RobotControl ()"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#protected-attributes-inherited-from-robot_dartcontrolrobotcontrol","title":"Protected Attributes inherited from robot_dart::control::RobotControl","text":"<p>See robot_dart::control::RobotControl</p> Type Name bool _active bool _check_free   = = false int _control_dof std::vector&lt; std::string &gt; _controllable_dofs Eigen::VectorXd _ctrl int _dof std::weak_ptr&lt; Robot &gt; _robot double _weight"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#function-simplecontrol-13","title":"function SimpleControl [\u2153]","text":"<pre><code>robot_dart::control::SimpleControl::SimpleControl () \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#function-simplecontrol-23","title":"function SimpleControl [\u2154]","text":"<pre><code>robot_dart::control::SimpleControl::SimpleControl (\n    const Eigen::VectorXd &amp; ctrl,\n    bool full_control=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#function-simplecontrol-33","title":"function SimpleControl [3/3]","text":"<pre><code>robot_dart::control::SimpleControl::SimpleControl (\n    const Eigen::VectorXd &amp; ctrl,\n    const std::vector&lt; std::string &gt; &amp; controllable_dofs\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#function-calculate","title":"function calculate","text":"<pre><code>virtual Eigen::VectorXd robot_dart::control::SimpleControl::calculate (\n    double\n) override\n</code></pre> <p>Implements robot_dart::control::RobotControl::calculate</p>"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#function-clone","title":"function clone","text":"<pre><code>virtual std::shared_ptr&lt; RobotControl &gt; robot_dart::control::SimpleControl::clone () override const\n</code></pre> <p>Implements robot_dart::control::RobotControl::clone</p>"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#function-configure","title":"function configure","text":"<pre><code>virtual void robot_dart::control::SimpleControl::configure () override\n</code></pre> <p>Implements robot_dart::control::RobotControl::configure</p> <p>The documentation for this class was generated from the following file <code>robot_dart/control/simple_control.hpp</code></p>"},{"location":"api/namespacerobot__dart_1_1detail/","title":"Namespace robot_dart::detail","text":"<p>Namespace List &gt; robot_dart &gt; detail</p>"},{"location":"api/namespacerobot__dart_1_1detail/#public-functions","title":"Public Functions","text":"Type Name void add_dof_data (const Eigen::VectorXd &amp; data, dart::dynamics::SkeletonPtr skeleton, const std::vector&lt; std::string &gt; &amp; dof_names, const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map)  Eigen::VectorXd dof_data (dart::dynamics::SkeletonPtr skeleton, const std::vector&lt; std::string &gt; &amp; dof_names, const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map)  void set_dof_data (const Eigen::VectorXd &amp; data, dart::dynamics::SkeletonPtr skeleton, const std::vector&lt; std::string &gt; &amp; dof_names, const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map)"},{"location":"api/namespacerobot__dart_1_1detail/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/namespacerobot__dart_1_1detail/#function-add_dof_data","title":"function add_dof_data","text":"<pre><code>template&lt;int content&gt;\nvoid robot_dart::detail::add_dof_data (\n    const Eigen::VectorXd &amp; data,\n    dart::dynamics::SkeletonPtr skeleton,\n    const std::vector&lt; std::string &gt; &amp; dof_names,\n    const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map\n) \n</code></pre>"},{"location":"api/namespacerobot__dart_1_1detail/#function-dof_data","title":"function dof_data","text":"<pre><code>template&lt;int content&gt;\nEigen::VectorXd robot_dart::detail::dof_data (\n    dart::dynamics::SkeletonPtr skeleton,\n    const std::vector&lt; std::string &gt; &amp; dof_names,\n    const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map\n) \n</code></pre>"},{"location":"api/namespacerobot__dart_1_1detail/#function-set_dof_data","title":"function set_dof_data","text":"<pre><code>template&lt;int content&gt;\nvoid robot_dart::detail::set_dof_data (\n    const Eigen::VectorXd &amp; data,\n    dart::dynamics::SkeletonPtr skeleton,\n    const std::vector&lt; std::string &gt; &amp; dof_names,\n    const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/robot.cpp</code></p>"},{"location":"api/namespacerobot__dart_1_1gui/","title":"Namespace robot_dart::gui","text":"<p>Namespace List &gt; robot_dart &gt; gui</p>"},{"location":"api/namespacerobot__dart_1_1gui/#namespaces","title":"Namespaces","text":"Type Name namespace magnum"},{"location":"api/namespacerobot__dart_1_1gui/#classes","title":"Classes","text":"Type Name class Base struct DepthImage struct GrayscaleImage struct Image"},{"location":"api/namespacerobot__dart_1_1gui/#public-functions","title":"Public Functions","text":"Type Name GrayscaleImage convert_rgb_to_grayscale (const Image &amp; rgb)  std::vector&lt; Eigen::Vector3d &gt; point_cloud_from_depth_array (const DepthImage &amp; depth_image, const Eigen::Matrix3d &amp; intrinsic_matrix, const Eigen::Matrix4d &amp; tf, double far_plane)  void save_png_image (const std::string &amp; filename, const Image &amp; rgb)  void save_png_image (const std::string &amp; filename, const GrayscaleImage &amp; gray)"},{"location":"api/namespacerobot__dart_1_1gui/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/namespacerobot__dart_1_1gui/#function-convert_rgb_to_grayscale","title":"function convert_rgb_to_grayscale","text":"<pre><code>GrayscaleImage robot_dart::gui::convert_rgb_to_grayscale (\n    const Image &amp; rgb\n) \n</code></pre>"},{"location":"api/namespacerobot__dart_1_1gui/#function-point_cloud_from_depth_array","title":"function point_cloud_from_depth_array","text":"<pre><code>std::vector&lt; Eigen::Vector3d &gt; robot_dart::gui::point_cloud_from_depth_array (\n    const DepthImage &amp; depth_image,\n    const Eigen::Matrix3d &amp; intrinsic_matrix,\n    const Eigen::Matrix4d &amp; tf,\n    double far_plane\n) \n</code></pre>"},{"location":"api/namespacerobot__dart_1_1gui/#function-save_png_image","title":"function save_png_image","text":"<pre><code>void robot_dart::gui::save_png_image (\n    const std::string &amp; filename,\n    const Image &amp; rgb\n) \n</code></pre>"},{"location":"api/namespacerobot__dart_1_1gui/#function-save_png_image_1","title":"function save_png_image","text":"<pre><code>void robot_dart::gui::save_png_image (\n    const std::string &amp; filename,\n    const GrayscaleImage &amp; gray\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/base.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/","title":"Class robot_dart::gui::Base","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; Base</p> <p>Inherited by the following classes: robot_dart::gui::magnum::BaseGraphics,  robot_dart::gui::magnum::BaseGraphics,  robot_dart::gui::magnum::BaseGraphics</p>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#public-functions","title":"Public Functions","text":"Type Name Base ()  virtual DepthImage depth_array ()  virtual GrayscaleImage depth_image ()  virtual bool done () const virtual size_t height () const virtual Image image ()  virtual GrayscaleImage raw_depth_image ()  virtual void refresh ()  virtual void set_enable (bool)  virtual void set_fps (int)  virtual void set_render_period (double)  virtual void set_simu (RobotDARTSimu * simu)  const RobotDARTSimu * simu () const virtual size_t width () const virtual ~Base ()"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#protected-attributes","title":"Protected Attributes","text":"Type Name RobotDARTSimu * _simu   = = nullptr"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-base","title":"function Base","text":"<pre><code>inline robot_dart::gui::Base::Base () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-depth_array","title":"function depth_array","text":"<pre><code>inline virtual DepthImage robot_dart::gui::Base::depth_array () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-depth_image","title":"function depth_image","text":"<pre><code>inline virtual GrayscaleImage robot_dart::gui::Base::depth_image () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-done","title":"function done","text":"<pre><code>inline virtual bool robot_dart::gui::Base::done () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-height","title":"function height","text":"<pre><code>inline virtual size_t robot_dart::gui::Base::height () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-image","title":"function image","text":"<pre><code>inline virtual Image robot_dart::gui::Base::image () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-raw_depth_image","title":"function raw_depth_image","text":"<pre><code>inline virtual GrayscaleImage robot_dart::gui::Base::raw_depth_image () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-refresh","title":"function refresh","text":"<pre><code>inline virtual void robot_dart::gui::Base::refresh () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-set_enable","title":"function set_enable","text":"<pre><code>inline virtual void robot_dart::gui::Base::set_enable (\n    bool\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-set_fps","title":"function set_fps","text":"<pre><code>inline virtual void robot_dart::gui::Base::set_fps (\n    int\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-set_render_period","title":"function set_render_period","text":"<pre><code>inline virtual void robot_dart::gui::Base::set_render_period (\n    double\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-set_simu","title":"function set_simu","text":"<pre><code>inline virtual void robot_dart::gui::Base::set_simu (\n    RobotDARTSimu * simu\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-simu","title":"function simu","text":"<pre><code>inline const RobotDARTSimu * robot_dart::gui::Base::simu () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-width","title":"function width","text":"<pre><code>inline virtual size_t robot_dart::gui::Base::width () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-base_1","title":"function ~Base","text":"<pre><code>inline virtual robot_dart::gui::Base::~Base () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1Base/#variable-_simu","title":"variable _simu","text":"<pre><code>RobotDARTSimu* robot_dart::gui::Base::_simu;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/base.hpp</code></p>"},{"location":"api/structrobot__dart_1_1gui_1_1DepthImage/","title":"Struct robot_dart::gui::DepthImage","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; DepthImage</p>"},{"location":"api/structrobot__dart_1_1gui_1_1DepthImage/#public-attributes","title":"Public Attributes","text":"Type Name std::vector&lt; double &gt; data size_t height   = = 0 size_t width   = = 0"},{"location":"api/structrobot__dart_1_1gui_1_1DepthImage/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1DepthImage/#variable-data","title":"variable data","text":"<pre><code>std::vector&lt;double&gt; robot_dart::gui::DepthImage::data;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1DepthImage/#variable-height","title":"variable height","text":"<pre><code>size_t robot_dart::gui::DepthImage::height;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1DepthImage/#variable-width","title":"variable width","text":"<pre><code>size_t robot_dart::gui::DepthImage::width;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/helper.hpp</code></p>"},{"location":"api/structrobot__dart_1_1gui_1_1GrayscaleImage/","title":"Struct robot_dart::gui::GrayscaleImage","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; GrayscaleImage</p>"},{"location":"api/structrobot__dart_1_1gui_1_1GrayscaleImage/#public-attributes","title":"Public Attributes","text":"Type Name std::vector&lt; uint8_t &gt; data size_t height   = = 0 size_t width   = = 0"},{"location":"api/structrobot__dart_1_1gui_1_1GrayscaleImage/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1GrayscaleImage/#variable-data","title":"variable data","text":"<pre><code>std::vector&lt;uint8_t&gt; robot_dart::gui::GrayscaleImage::data;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1GrayscaleImage/#variable-height","title":"variable height","text":"<pre><code>size_t robot_dart::gui::GrayscaleImage::height;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1GrayscaleImage/#variable-width","title":"variable width","text":"<pre><code>size_t robot_dart::gui::GrayscaleImage::width;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/helper.hpp</code></p>"},{"location":"api/structrobot__dart_1_1gui_1_1Image/","title":"Struct robot_dart::gui::Image","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; Image</p>"},{"location":"api/structrobot__dart_1_1gui_1_1Image/#public-attributes","title":"Public Attributes","text":"Type Name size_t channels   = = 3 std::vector&lt; uint8_t &gt; data size_t height   = = 0 size_t width   = = 0"},{"location":"api/structrobot__dart_1_1gui_1_1Image/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1Image/#variable-channels","title":"variable channels","text":"<pre><code>size_t robot_dart::gui::Image::channels;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1Image/#variable-data","title":"variable data","text":"<pre><code>std::vector&lt;uint8_t&gt; robot_dart::gui::Image::data;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1Image/#variable-height","title":"variable height","text":"<pre><code>size_t robot_dart::gui::Image::height;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1Image/#variable-width","title":"variable width","text":"<pre><code>size_t robot_dart::gui::Image::width;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/helper.hpp</code></p>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/","title":"Namespace robot_dart::gui::magnum","text":"<p>Namespace List &gt; robot_dart &gt; gui &gt; magnum</p>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#namespaces","title":"Namespaces","text":"Type Name namespace gs namespace sensor"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#classes","title":"Classes","text":"Type Name class BaseApplication class BaseGraphics &lt;typename T&gt; class CubeMapShadowedColorObject class CubeMapShadowedObject struct DebugDrawData class DrawableObject class GlfwApplication struct GlobalData class Graphics struct GraphicsConfiguration struct ObjectStruct struct ShadowData class ShadowedColorObject class ShadowedObject class WindowlessGLApplication class WindowlessGraphics"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#public-types","title":"Public Types","text":"Type Name typedef Magnum::SceneGraph::Camera3D Camera3D typedef Magnum::SceneGraph::Object&lt; Magnum::SceneGraph::MatrixTransformation3D &gt; Object3D typedef Magnum::SceneGraph::Scene&lt; Magnum::SceneGraph::MatrixTransformation3D &gt; Scene3D"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#public-functions","title":"Public Functions","text":"Type Name BaseApplication * make_application (RobotDARTSimu * simu, const GraphicsConfiguration &amp; configuration=GraphicsConfiguration())"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#typedef-camera3d","title":"typedef Camera3D","text":"<pre><code>using robot_dart::gui::magnum::Camera3D =  Magnum::SceneGraph::Camera3D;\n</code></pre>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#typedef-object3d","title":"typedef Object3D","text":"<pre><code>using robot_dart::gui::magnum::Object3D =  Magnum::SceneGraph::Object&lt;Magnum::SceneGraph::MatrixTransformation3D&gt;;\n</code></pre>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#typedef-scene3d","title":"typedef Scene3D","text":"<pre><code>using robot_dart::gui::magnum::Scene3D =  Magnum::SceneGraph::Scene&lt;Magnum::SceneGraph::MatrixTransformation3D&gt;;\n</code></pre>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#function-make_application","title":"function make_application","text":"<pre><code>template&lt;typename T&gt;\ninline BaseApplication * robot_dart::gui::magnum::make_application (\n    RobotDARTSimu * simu,\n    const GraphicsConfiguration &amp; configuration=GraphicsConfiguration ()\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/base_application.cpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/","title":"Class robot_dart::gui::magnum::BaseApplication","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; BaseApplication</p> <p>Inherited by the following classes: robot_dart::gui::magnum::GlfwApplication,  robot_dart::gui::magnum::WindowlessGLApplication</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#public-functions","title":"Public Functions","text":"Type Name BaseApplication (const GraphicsConfiguration &amp; configuration=GraphicsConfiguration())  void add_light (const gs::Light &amp; light)  bool attach_camera (gs::Camera &amp; camera, dart::dynamics::BodyNode * body)  gs::Camera &amp; camera ()  const gs::Camera &amp; camera () const void clear_lights ()  DebugDrawData debug_draw_data ()  DepthImage depth_array ()  GrayscaleImage depth_image ()  bool done () const Magnum::SceneGraph::DrawableGroup3D &amp; drawables ()  void enable_shadows (bool enable=true, bool drawTransparentShadows=false)  Corrade::Containers::Optional&lt; Magnum::Image2D &gt; &amp; image ()  void init (RobotDARTSimu * simu, const GraphicsConfiguration &amp; configuration)  gs::Light &amp; light (size_t i)  std::vector&lt; gs::Light &gt; &amp; lights ()  void look_at (const Eigen::Vector3d &amp; camera_pos, const Eigen::Vector3d &amp; look_at, const Eigen::Vector3d &amp; up)  size_t num_lights () const GrayscaleImage raw_depth_image ()  void record_video (const std::string &amp; video_fname, int fps)  virtual void render ()  void render_shadows ()  Scene3D &amp; scene ()  bool shadowed () const bool transparent_shadows () const void update_graphics ()  void update_lights (const gs::Camera &amp; camera)  virtual ~BaseApplication ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#protected-attributes","title":"Protected Attributes","text":"Type Name std::unique_ptr&lt; Magnum::GL::Mesh &gt; _3D_axis_mesh std::unique_ptr&lt; Magnum::Shaders::VertexColorGL3D &gt; _3D_axis_shader std::unique_ptr&lt; Magnum::GL::Mesh &gt; _background_mesh std::unique_ptr&lt; Magnum::Shaders::FlatGL2D &gt; _background_shader std::unique_ptr&lt; gs::Camera &gt; _camera std::unique_ptr&lt; gs::PhongMultiLight &gt; _color_shader GraphicsConfiguration _configuration Magnum::SceneGraph::DrawableGroup3D _cubemap_color_drawables std::unique_ptr&lt; gs::CubeMapColor &gt; _cubemap_color_shader Magnum::SceneGraph::DrawableGroup3D _cubemap_drawables std::unique_ptr&lt; gs::CubeMap &gt; _cubemap_shader std::unique_ptr&lt; gs::CubeMapColor &gt; _cubemap_texture_color_shader std::unique_ptr&lt; gs::CubeMap &gt; _cubemap_texture_shader std::unique_ptr&lt; Magnum::DartIntegration::World &gt; _dart_world bool _done   = = false std::unordered_map&lt; Magnum::DartIntegration::Object *, ObjectStruct * &gt; _drawable_objects Magnum::SceneGraph::DrawableGroup3D _drawables Corrade::Containers::Pointer&lt; Magnum::Text::AbstractFont &gt; _font Corrade::PluginManager::Manager&lt; Magnum::Text::AbstractFont &gt; _font_manager Corrade::Containers::Pointer&lt; Magnum::Text::DistanceFieldGlyphCache &gt; _glyph_cache Corrade::PluginManager::Manager&lt; Magnum::Trade::AbstractImporter &gt; _importer_manager std::vector&lt; gs::Light &gt; _lights int _max_lights   = = 5 Scene3D _scene std::unique_ptr&lt; Camera3D &gt; _shadow_camera Object3D * _shadow_camera_object std::unique_ptr&lt; Magnum::GL::CubeMapTextureArray &gt; _shadow_color_cube_map std::unique_ptr&lt; gs::ShadowMapColor &gt; _shadow_color_shader std::unique_ptr&lt; Magnum::GL::Texture2DArray &gt; _shadow_color_texture std::unique_ptr&lt; Magnum::GL::CubeMapTextureArray &gt; _shadow_cube_map std::vector&lt; ShadowData &gt; _shadow_data int _shadow_map_size   = = 512 std::unique_ptr&lt; gs::ShadowMap &gt; _shadow_shader std::unique_ptr&lt; Magnum::GL::Texture2DArray &gt; _shadow_texture std::unique_ptr&lt; gs::ShadowMapColor &gt; _shadow_texture_color_shader std::unique_ptr&lt; gs::ShadowMap &gt; _shadow_texture_shader bool _shadowed   = = true Magnum::SceneGraph::DrawableGroup3D _shadowed_color_drawables Magnum::SceneGraph::DrawableGroup3D _shadowed_drawables RobotDARTSimu * _simu Corrade::Containers::Pointer&lt; Magnum::GL::Buffer &gt; _text_indices std::unique_ptr&lt; Magnum::Shaders::DistanceFieldVectorGL2D &gt; _text_shader Corrade::Containers::Pointer&lt; Magnum::GL::Buffer &gt; _text_vertices std::unique_ptr&lt; gs::PhongMultiLight &gt; _texture_shader int _transparentSize   = = 0 bool _transparent_shadows   = = false"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#protected-functions","title":"Protected Functions","text":"Type Name void _gl_clean_up ()  void _prepare_shadows ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-baseapplication","title":"function BaseApplication","text":"<pre><code>robot_dart::gui::magnum::BaseApplication::BaseApplication (\n    const GraphicsConfiguration &amp; configuration=GraphicsConfiguration ()\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-add_light","title":"function add_light","text":"<pre><code>void robot_dart::gui::magnum::BaseApplication::add_light (\n    const gs::Light &amp; light\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-attach_camera","title":"function attach_camera","text":"<pre><code>bool robot_dart::gui::magnum::BaseApplication::attach_camera (\n    gs::Camera &amp; camera,\n    dart::dynamics::BodyNode * body\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-camera-12","title":"function camera [\u00bd]","text":"<pre><code>inline gs::Camera &amp; robot_dart::gui::magnum::BaseApplication::camera () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-camera-22","title":"function camera [2/2]","text":"<pre><code>inline const gs::Camera &amp; robot_dart::gui::magnum::BaseApplication::camera () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-clear_lights","title":"function clear_lights","text":"<pre><code>void robot_dart::gui::magnum::BaseApplication::clear_lights () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-debug_draw_data","title":"function debug_draw_data","text":"<pre><code>inline DebugDrawData robot_dart::gui::magnum::BaseApplication::debug_draw_data () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-depth_array","title":"function depth_array","text":"<pre><code>DepthImage robot_dart::gui::magnum::BaseApplication::depth_array () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-depth_image","title":"function depth_image","text":"<pre><code>GrayscaleImage robot_dart::gui::magnum::BaseApplication::depth_image () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-done","title":"function done","text":"<pre><code>bool robot_dart::gui::magnum::BaseApplication::done () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-drawables","title":"function drawables","text":"<pre><code>inline Magnum::SceneGraph::DrawableGroup3D &amp; robot_dart::gui::magnum::BaseApplication::drawables () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-enable_shadows","title":"function enable_shadows","text":"<pre><code>void robot_dart::gui::magnum::BaseApplication::enable_shadows (\n    bool enable=true,\n    bool drawTransparentShadows=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-image","title":"function image","text":"<pre><code>inline Corrade::Containers::Optional&lt; Magnum::Image2D &gt; &amp; robot_dart::gui::magnum::BaseApplication::image () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-init","title":"function init","text":"<pre><code>void robot_dart::gui::magnum::BaseApplication::init (\n    RobotDARTSimu * simu,\n    const GraphicsConfiguration &amp; configuration\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-light","title":"function light","text":"<pre><code>gs::Light &amp; robot_dart::gui::magnum::BaseApplication::light (\n    size_t i\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-lights","title":"function lights","text":"<pre><code>std::vector&lt; gs::Light &gt; &amp; robot_dart::gui::magnum::BaseApplication::lights () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-look_at","title":"function look_at","text":"<pre><code>void robot_dart::gui::magnum::BaseApplication::look_at (\n    const Eigen::Vector3d &amp; camera_pos,\n    const Eigen::Vector3d &amp; look_at,\n    const Eigen::Vector3d &amp; up\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-num_lights","title":"function num_lights","text":"<pre><code>size_t robot_dart::gui::magnum::BaseApplication::num_lights () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-raw_depth_image","title":"function raw_depth_image","text":"<pre><code>GrayscaleImage robot_dart::gui::magnum::BaseApplication::raw_depth_image () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-record_video","title":"function record_video","text":"<pre><code>inline void robot_dart::gui::magnum::BaseApplication::record_video (\n    const std::string &amp; video_fname,\n    int fps\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-render","title":"function render","text":"<pre><code>inline virtual void robot_dart::gui::magnum::BaseApplication::render () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-render_shadows","title":"function render_shadows","text":"<pre><code>void robot_dart::gui::magnum::BaseApplication::render_shadows () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-scene","title":"function scene","text":"<pre><code>inline Scene3D &amp; robot_dart::gui::magnum::BaseApplication::scene () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-shadowed","title":"function shadowed","text":"<pre><code>inline bool robot_dart::gui::magnum::BaseApplication::shadowed () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-transparent_shadows","title":"function transparent_shadows","text":"<pre><code>inline bool robot_dart::gui::magnum::BaseApplication::transparent_shadows () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-update_graphics","title":"function update_graphics","text":"<pre><code>void robot_dart::gui::magnum::BaseApplication::update_graphics () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-update_lights","title":"function update_lights","text":"<pre><code>void robot_dart::gui::magnum::BaseApplication::update_lights (\n    const gs::Camera &amp; camera\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-baseapplication_1","title":"function ~BaseApplication","text":"<pre><code>inline virtual robot_dart::gui::magnum::BaseApplication::~BaseApplication () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_3d_axis_mesh","title":"variable _3D_axis_mesh","text":"<pre><code>std::unique_ptr&lt;Magnum::GL::Mesh&gt; robot_dart::gui::magnum::BaseApplication::_3D_axis_mesh;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_3d_axis_shader","title":"variable _3D_axis_shader","text":"<pre><code>std::unique_ptr&lt;Magnum::Shaders::VertexColorGL3D&gt; robot_dart::gui::magnum::BaseApplication::_3D_axis_shader;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_background_mesh","title":"variable _background_mesh","text":"<pre><code>std::unique_ptr&lt;Magnum::GL::Mesh&gt; robot_dart::gui::magnum::BaseApplication::_background_mesh;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_background_shader","title":"variable _background_shader","text":"<pre><code>std::unique_ptr&lt;Magnum::Shaders::FlatGL2D&gt; robot_dart::gui::magnum::BaseApplication::_background_shader;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_camera","title":"variable _camera","text":"<pre><code>std::unique_ptr&lt;gs::Camera&gt; robot_dart::gui::magnum::BaseApplication::_camera;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_color_shader","title":"variable _color_shader","text":"<pre><code>std::unique_ptr&lt;gs::PhongMultiLight&gt; robot_dart::gui::magnum::BaseApplication::_color_shader;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_configuration","title":"variable _configuration","text":"<pre><code>GraphicsConfiguration robot_dart::gui::magnum::BaseApplication::_configuration;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_cubemap_color_drawables","title":"variable _cubemap_color_drawables","text":"<pre><code>Magnum::SceneGraph::DrawableGroup3D robot_dart::gui::magnum::BaseApplication::_cubemap_color_drawables;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_cubemap_color_shader","title":"variable _cubemap_color_shader","text":"<pre><code>std::unique_ptr&lt;gs::CubeMapColor&gt; robot_dart::gui::magnum::BaseApplication::_cubemap_color_shader;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_cubemap_drawables","title":"variable _cubemap_drawables","text":"<pre><code>Magnum::SceneGraph::DrawableGroup3D robot_dart::gui::magnum::BaseApplication::_cubemap_drawables;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_cubemap_shader","title":"variable _cubemap_shader","text":"<pre><code>std::unique_ptr&lt;gs::CubeMap&gt; robot_dart::gui::magnum::BaseApplication::_cubemap_shader;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_cubemap_texture_color_shader","title":"variable _cubemap_texture_color_shader","text":"<pre><code>std::unique_ptr&lt;gs::CubeMapColor&gt; robot_dart::gui::magnum::BaseApplication::_cubemap_texture_color_shader;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_cubemap_texture_shader","title":"variable _cubemap_texture_shader","text":"<pre><code>std::unique_ptr&lt;gs::CubeMap&gt; robot_dart::gui::magnum::BaseApplication::_cubemap_texture_shader;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_dart_world","title":"variable _dart_world","text":"<pre><code>std::unique_ptr&lt;Magnum::DartIntegration::World&gt; robot_dart::gui::magnum::BaseApplication::_dart_world;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_done","title":"variable _done","text":"<pre><code>bool robot_dart::gui::magnum::BaseApplication::_done;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_drawable_objects","title":"variable _drawable_objects","text":"<pre><code>std::unordered_map&lt;Magnum::DartIntegration::Object*, ObjectStruct*&gt; robot_dart::gui::magnum::BaseApplication::_drawable_objects;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_drawables","title":"variable _drawables","text":"<pre><code>Magnum::SceneGraph::DrawableGroup3D robot_dart::gui::magnum::BaseApplication::_drawables;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_font","title":"variable _font","text":"<pre><code>Corrade::Containers::Pointer&lt;Magnum::Text::AbstractFont&gt; robot_dart::gui::magnum::BaseApplication::_font;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_font_manager","title":"variable _font_manager","text":"<pre><code>Corrade::PluginManager::Manager&lt;Magnum::Text::AbstractFont&gt; robot_dart::gui::magnum::BaseApplication::_font_manager;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_glyph_cache","title":"variable _glyph_cache","text":"<pre><code>Corrade::Containers::Pointer&lt;Magnum::Text::DistanceFieldGlyphCache&gt; robot_dart::gui::magnum::BaseApplication::_glyph_cache;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_importer_manager","title":"variable _importer_manager","text":"<pre><code>Corrade::PluginManager::Manager&lt;Magnum::Trade::AbstractImporter&gt; robot_dart::gui::magnum::BaseApplication::_importer_manager;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_lights","title":"variable _lights","text":"<pre><code>std::vector&lt;gs::Light&gt; robot_dart::gui::magnum::BaseApplication::_lights;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_max_lights","title":"variable _max_lights","text":"<pre><code>int robot_dart::gui::magnum::BaseApplication::_max_lights;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_scene","title":"variable _scene","text":"<pre><code>Scene3D robot_dart::gui::magnum::BaseApplication::_scene;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_camera","title":"variable _shadow_camera","text":"<pre><code>std::unique_ptr&lt;Camera3D&gt; robot_dart::gui::magnum::BaseApplication::_shadow_camera;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_camera_object","title":"variable _shadow_camera_object","text":"<pre><code>Object3D* robot_dart::gui::magnum::BaseApplication::_shadow_camera_object;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_color_cube_map","title":"variable _shadow_color_cube_map","text":"<pre><code>std::unique_ptr&lt;Magnum::GL::CubeMapTextureArray&gt; robot_dart::gui::magnum::BaseApplication::_shadow_color_cube_map;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_color_shader","title":"variable _shadow_color_shader","text":"<pre><code>std::unique_ptr&lt;gs::ShadowMapColor&gt; robot_dart::gui::magnum::BaseApplication::_shadow_color_shader;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_color_texture","title":"variable _shadow_color_texture","text":"<pre><code>std::unique_ptr&lt;Magnum::GL::Texture2DArray&gt; robot_dart::gui::magnum::BaseApplication::_shadow_color_texture;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_cube_map","title":"variable _shadow_cube_map","text":"<pre><code>std::unique_ptr&lt;Magnum::GL::CubeMapTextureArray&gt; robot_dart::gui::magnum::BaseApplication::_shadow_cube_map;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_data","title":"variable _shadow_data","text":"<pre><code>std::vector&lt;ShadowData&gt; robot_dart::gui::magnum::BaseApplication::_shadow_data;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_map_size","title":"variable _shadow_map_size","text":"<pre><code>int robot_dart::gui::magnum::BaseApplication::_shadow_map_size;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_shader","title":"variable _shadow_shader","text":"<pre><code>std::unique_ptr&lt;gs::ShadowMap&gt; robot_dart::gui::magnum::BaseApplication::_shadow_shader;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_texture","title":"variable _shadow_texture","text":"<pre><code>std::unique_ptr&lt;Magnum::GL::Texture2DArray&gt; robot_dart::gui::magnum::BaseApplication::_shadow_texture;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_texture_color_shader","title":"variable _shadow_texture_color_shader","text":"<pre><code>std::unique_ptr&lt;gs::ShadowMapColor&gt; robot_dart::gui::magnum::BaseApplication::_shadow_texture_color_shader;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_texture_shader","title":"variable _shadow_texture_shader","text":"<pre><code>std::unique_ptr&lt;gs::ShadowMap&gt; robot_dart::gui::magnum::BaseApplication::_shadow_texture_shader;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadowed","title":"variable _shadowed","text":"<pre><code>bool robot_dart::gui::magnum::BaseApplication::_shadowed;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadowed_color_drawables","title":"variable _shadowed_color_drawables","text":"<pre><code>Magnum::SceneGraph::DrawableGroup3D robot_dart::gui::magnum::BaseApplication::_shadowed_color_drawables;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadowed_drawables","title":"variable _shadowed_drawables","text":"<pre><code>Magnum::SceneGraph::DrawableGroup3D robot_dart::gui::magnum::BaseApplication::_shadowed_drawables;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_simu","title":"variable _simu","text":"<pre><code>RobotDARTSimu* robot_dart::gui::magnum::BaseApplication::_simu;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_text_indices","title":"variable _text_indices","text":"<pre><code>Corrade::Containers::Pointer&lt;Magnum::GL::Buffer&gt; robot_dart::gui::magnum::BaseApplication::_text_indices;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_text_shader","title":"variable _text_shader","text":"<pre><code>std::unique_ptr&lt;Magnum::Shaders::DistanceFieldVectorGL2D&gt; robot_dart::gui::magnum::BaseApplication::_text_shader;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_text_vertices","title":"variable _text_vertices","text":"<pre><code>Corrade::Containers::Pointer&lt;Magnum::GL::Buffer&gt; robot_dart::gui::magnum::BaseApplication::_text_vertices;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_texture_shader","title":"variable _texture_shader","text":"<pre><code>std::unique_ptr&lt;gs::PhongMultiLight&gt; robot_dart::gui::magnum::BaseApplication::_texture_shader;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_transparentsize","title":"variable _transparentSize","text":"<pre><code>int robot_dart::gui::magnum::BaseApplication::_transparentSize;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_transparent_shadows","title":"variable _transparent_shadows","text":"<pre><code>bool robot_dart::gui::magnum::BaseApplication::_transparent_shadows;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#protected-functions-documentation","title":"Protected Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-_gl_clean_up","title":"function _gl_clean_up","text":"<pre><code>void robot_dart::gui::magnum::BaseApplication::_gl_clean_up () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-_prepare_shadows","title":"function _prepare_shadows","text":"<pre><code>void robot_dart::gui::magnum::BaseApplication::_prepare_shadows () \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/base_application.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/","title":"Class robot_dart::gui::magnum::BaseGraphics","text":"<p>template &lt;typename T&gt;</p> <p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; BaseGraphics</p> <p>Inherits the following classes: robot_dart::gui::Base</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#public-functions","title":"Public Functions","text":"Type Name BaseGraphics (const GraphicsConfiguration &amp; configuration=GraphicsConfiguration())  void add_light (const magnum::Light &amp; light)  gs::Camera &amp; camera ()  const gs::Camera &amp; camera () const Eigen::Matrix4d camera_extrinsic_matrix () const Eigen::Matrix3d camera_intrinsic_matrix () const void clear_lights ()  virtual DepthImage depth_array () override virtual GrayscaleImage depth_image () override virtual bool done () override const void enable_shadows (bool enable=true, bool transparent=true)  virtual size_t height () override const virtual Image image () override magnum::Light &amp; light (size_t i)  std::vector&lt; gs::Light &gt; &amp; lights ()  void look_at (const Eigen::Vector3d &amp; camera_pos, const Eigen::Vector3d &amp; look_at=Eigen::Vector3d(0, 0, 0), const Eigen::Vector3d &amp; up=Eigen::Vector3d(0, 0, 1))  BaseApplication * magnum_app ()  const BaseApplication * magnum_app () const Magnum::Image2D * magnum_image ()  size_t num_lights () const virtual GrayscaleImage raw_depth_image () override void record_video (const std::string &amp; video_fname, int fps=-1)  virtual void refresh () override virtual void set_enable (bool enable) override virtual void set_fps (int fps) override virtual void set_simu (RobotDARTSimu * simu) override bool shadowed () const bool transparent_shadows () const virtual size_t width () override const virtual ~BaseGraphics ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#public-functions-inherited-from-robot_dartguibase","title":"Public Functions inherited from robot_dart::gui::Base","text":"<p>See robot_dart::gui::Base</p> Type Name Base ()  virtual DepthImage depth_array ()  virtual GrayscaleImage depth_image ()  virtual bool done () const virtual size_t height () const virtual Image image ()  virtual GrayscaleImage raw_depth_image ()  virtual void refresh ()  virtual void set_enable (bool)  virtual void set_fps (int)  virtual void set_render_period (double)  virtual void set_simu (RobotDARTSimu * simu)  const RobotDARTSimu * simu () const virtual size_t width () const virtual ~Base ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#protected-attributes","title":"Protected Attributes","text":"Type Name GraphicsConfiguration _configuration bool _enabled int _fps std::unique_ptr&lt; BaseApplication &gt; _magnum_app Corrade::Utility::Debug _magnum_silence_output   = {nullptr}"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#protected-attributes-inherited-from-robot_dartguibase","title":"Protected Attributes inherited from robot_dart::gui::Base","text":"<p>See robot_dart::gui::Base</p> Type Name RobotDARTSimu * _simu   = = nullptr"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-basegraphics","title":"function BaseGraphics","text":"<pre><code>inline robot_dart::gui::magnum::BaseGraphics::BaseGraphics (\n    const GraphicsConfiguration &amp; configuration=GraphicsConfiguration ()\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-add_light","title":"function add_light","text":"<pre><code>inline void robot_dart::gui::magnum::BaseGraphics::add_light (\n    const magnum::gs::Light &amp; light\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-camera-12","title":"function camera [\u00bd]","text":"<pre><code>inline gs::Camera &amp; robot_dart::gui::magnum::BaseGraphics::camera () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-camera-22","title":"function camera [2/2]","text":"<pre><code>inline const gs::Camera &amp; robot_dart::gui::magnum::BaseGraphics::camera () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-camera_extrinsic_matrix","title":"function camera_extrinsic_matrix","text":"<pre><code>inline Eigen::Matrix4d robot_dart::gui::magnum::BaseGraphics::camera_extrinsic_matrix () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-camera_intrinsic_matrix","title":"function camera_intrinsic_matrix","text":"<pre><code>inline Eigen::Matrix3d robot_dart::gui::magnum::BaseGraphics::camera_intrinsic_matrix () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-clear_lights","title":"function clear_lights","text":"<pre><code>inline void robot_dart::gui::magnum::BaseGraphics::clear_lights () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-depth_array","title":"function depth_array","text":"<pre><code>inline virtual DepthImage robot_dart::gui::magnum::BaseGraphics::depth_array () override\n</code></pre> <p>Implements robot_dart::gui::Base::depth_array</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-depth_image","title":"function depth_image","text":"<pre><code>inline virtual GrayscaleImage robot_dart::gui::magnum::BaseGraphics::depth_image () override\n</code></pre> <p>Implements robot_dart::gui::Base::depth_image</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-done","title":"function done","text":"<pre><code>inline virtual bool robot_dart::gui::magnum::BaseGraphics::done () override const\n</code></pre> <p>Implements robot_dart::gui::Base::done</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-enable_shadows","title":"function enable_shadows","text":"<pre><code>inline void robot_dart::gui::magnum::BaseGraphics::enable_shadows (\n    bool enable=true,\n    bool transparent=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-height","title":"function height","text":"<pre><code>inline virtual size_t robot_dart::gui::magnum::BaseGraphics::height () override const\n</code></pre> <p>Implements robot_dart::gui::Base::height</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-image","title":"function image","text":"<pre><code>inline virtual Image robot_dart::gui::magnum::BaseGraphics::image () override\n</code></pre> <p>Implements robot_dart::gui::Base::image</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-light","title":"function light","text":"<pre><code>inline magnum::gs::Light &amp; robot_dart::gui::magnum::BaseGraphics::light (\n    size_t i\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-lights","title":"function lights","text":"<pre><code>inline std::vector&lt; gs::Light &gt; &amp; robot_dart::gui::magnum::BaseGraphics::lights () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-look_at","title":"function look_at","text":"<pre><code>inline void robot_dart::gui::magnum::BaseGraphics::look_at (\n    const Eigen::Vector3d &amp; camera_pos,\n    const Eigen::Vector3d &amp; look_at=Eigen::Vector3d(0, 0, 0),\n    const Eigen::Vector3d &amp; up=Eigen::Vector3d(0, 0, 1)\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-magnum_app-12","title":"function magnum_app [\u00bd]","text":"<pre><code>inline BaseApplication * robot_dart::gui::magnum::BaseGraphics::magnum_app () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-magnum_app-22","title":"function magnum_app [2/2]","text":"<pre><code>inline const BaseApplication * robot_dart::gui::magnum::BaseGraphics::magnum_app () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-magnum_image","title":"function magnum_image","text":"<pre><code>inline Magnum::Image2D * robot_dart::gui::magnum::BaseGraphics::magnum_image () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-num_lights","title":"function num_lights","text":"<pre><code>inline size_t robot_dart::gui::magnum::BaseGraphics::num_lights () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-raw_depth_image","title":"function raw_depth_image","text":"<pre><code>inline virtual GrayscaleImage robot_dart::gui::magnum::BaseGraphics::raw_depth_image () override\n</code></pre> <p>Implements robot_dart::gui::Base::raw_depth_image</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-record_video","title":"function record_video","text":"<pre><code>inline void robot_dart::gui::magnum::BaseGraphics::record_video (\n    const std::string &amp; video_fname,\n    int fps=-1\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-refresh","title":"function refresh","text":"<pre><code>inline virtual void robot_dart::gui::magnum::BaseGraphics::refresh () override\n</code></pre> <p>Implements robot_dart::gui::Base::refresh</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-set_enable","title":"function set_enable","text":"<pre><code>inline virtual void robot_dart::gui::magnum::BaseGraphics::set_enable (\n    bool enable\n) override\n</code></pre> <p>Implements robot_dart::gui::Base::set_enable</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-set_fps","title":"function set_fps","text":"<pre><code>inline virtual void robot_dart::gui::magnum::BaseGraphics::set_fps (\n    int fps\n) override\n</code></pre> <p>Implements robot_dart::gui::Base::set_fps</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-set_simu","title":"function set_simu","text":"<pre><code>inline virtual void robot_dart::gui::magnum::BaseGraphics::set_simu (\n    RobotDARTSimu * simu\n) override\n</code></pre> <p>Implements robot_dart::gui::Base::set_simu</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-shadowed","title":"function shadowed","text":"<pre><code>inline bool robot_dart::gui::magnum::BaseGraphics::shadowed () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-transparent_shadows","title":"function transparent_shadows","text":"<pre><code>inline bool robot_dart::gui::magnum::BaseGraphics::transparent_shadows () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-width","title":"function width","text":"<pre><code>inline virtual size_t robot_dart::gui::magnum::BaseGraphics::width () override const\n</code></pre> <p>Implements robot_dart::gui::Base::width</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-basegraphics_1","title":"function ~BaseGraphics","text":"<pre><code>inline virtual robot_dart::gui::magnum::BaseGraphics::~BaseGraphics () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#variable-_configuration","title":"variable _configuration","text":"<pre><code>GraphicsConfiguration robot_dart::gui::magnum::BaseGraphics&lt; T &gt;::_configuration;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#variable-_enabled","title":"variable _enabled","text":"<pre><code>bool robot_dart::gui::magnum::BaseGraphics&lt; T &gt;::_enabled;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#variable-_fps","title":"variable _fps","text":"<pre><code>int robot_dart::gui::magnum::BaseGraphics&lt; T &gt;::_fps;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#variable-_magnum_app","title":"variable _magnum_app","text":"<pre><code>std::unique_ptr&lt;BaseApplication&gt; robot_dart::gui::magnum::BaseGraphics&lt; T &gt;::_magnum_app;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#variable-_magnum_silence_output","title":"variable _magnum_silence_output","text":"<pre><code>Corrade::Utility::Debug robot_dart::gui::magnum::BaseGraphics&lt; T &gt;::_magnum_silence_output;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/base_graphics.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedColorObject/","title":"Class robot_dart::gui::magnum::CubeMapShadowedColorObject","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; CubeMapShadowedColorObject</p> <p>Inherits the following classes: Object3D,  Magnum::SceneGraph::Drawable3D</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedColorObject/#public-functions","title":"Public Functions","text":"Type Name CubeMapShadowedColorObject (RobotDARTSimu * simu, dart::dynamics::ShapeNode * shape, const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes, gs::CubeMapColor &amp; shader, gs::CubeMapColor &amp; texture_shader, Object3D * parent, Magnum::SceneGraph::DrawableGroup3D * group)  CubeMapShadowedColorObject &amp; set_materials (const std::vector&lt; gs::Material &gt; &amp; materials)  CubeMapShadowedColorObject &amp; set_meshes (const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes)  CubeMapShadowedColorObject &amp; set_scalings (const std::vector&lt; Magnum::Vector3 &gt; &amp; scalings)  dart::dynamics::ShapeNode * shape () const RobotDARTSimu * simu () const"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedColorObject/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedColorObject/#function-cubemapshadowedcolorobject","title":"function CubeMapShadowedColorObject","text":"<pre><code>explicit robot_dart::gui::magnum::CubeMapShadowedColorObject::CubeMapShadowedColorObject (\n    RobotDARTSimu * simu,\n    dart::dynamics::ShapeNode * shape,\n    const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes,\n    gs::CubeMapColor &amp; shader,\n    gs::CubeMapColor &amp; texture_shader,\n    Object3D * parent,\n    Magnum::SceneGraph::DrawableGroup3D * group\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedColorObject/#function-set_materials","title":"function set_materials","text":"<pre><code>CubeMapShadowedColorObject &amp; robot_dart::gui::magnum::CubeMapShadowedColorObject::set_materials (\n    const std::vector&lt; gs::Material &gt; &amp; materials\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedColorObject/#function-set_meshes","title":"function set_meshes","text":"<pre><code>CubeMapShadowedColorObject &amp; robot_dart::gui::magnum::CubeMapShadowedColorObject::set_meshes (\n    const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedColorObject/#function-set_scalings","title":"function set_scalings","text":"<pre><code>CubeMapShadowedColorObject &amp; robot_dart::gui::magnum::CubeMapShadowedColorObject::set_scalings (\n    const std::vector&lt; Magnum::Vector3 &gt; &amp; scalings\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedColorObject/#function-shape","title":"function shape","text":"<pre><code>inline dart::dynamics::ShapeNode * robot_dart::gui::magnum::CubeMapShadowedColorObject::shape () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedColorObject/#function-simu","title":"function simu","text":"<pre><code>inline RobotDARTSimu * robot_dart::gui::magnum::CubeMapShadowedColorObject::simu () const\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/drawables.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedObject/","title":"Class robot_dart::gui::magnum::CubeMapShadowedObject","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; CubeMapShadowedObject</p> <p>Inherits the following classes: Object3D,  Magnum::SceneGraph::Drawable3D</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedObject/#public-functions","title":"Public Functions","text":"Type Name CubeMapShadowedObject (RobotDARTSimu * simu, dart::dynamics::ShapeNode * shape, const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes, gs::CubeMap &amp; shader, gs::CubeMap &amp; texture_shader, Object3D * parent, Magnum::SceneGraph::DrawableGroup3D * group)  CubeMapShadowedObject &amp; set_materials (const std::vector&lt; gs::Material &gt; &amp; materials)  CubeMapShadowedObject &amp; set_meshes (const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes)  CubeMapShadowedObject &amp; set_scalings (const std::vector&lt; Magnum::Vector3 &gt; &amp; scalings)  dart::dynamics::ShapeNode * shape () const RobotDARTSimu * simu () const"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedObject/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedObject/#function-cubemapshadowedobject","title":"function CubeMapShadowedObject","text":"<pre><code>explicit robot_dart::gui::magnum::CubeMapShadowedObject::CubeMapShadowedObject (\n    RobotDARTSimu * simu,\n    dart::dynamics::ShapeNode * shape,\n    const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes,\n    gs::CubeMap &amp; shader,\n    gs::CubeMap &amp; texture_shader,\n    Object3D * parent,\n    Magnum::SceneGraph::DrawableGroup3D * group\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedObject/#function-set_materials","title":"function set_materials","text":"<pre><code>CubeMapShadowedObject &amp; robot_dart::gui::magnum::CubeMapShadowedObject::set_materials (\n    const std::vector&lt; gs::Material &gt; &amp; materials\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedObject/#function-set_meshes","title":"function set_meshes","text":"<pre><code>CubeMapShadowedObject &amp; robot_dart::gui::magnum::CubeMapShadowedObject::set_meshes (\n    const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedObject/#function-set_scalings","title":"function set_scalings","text":"<pre><code>CubeMapShadowedObject &amp; robot_dart::gui::magnum::CubeMapShadowedObject::set_scalings (\n    const std::vector&lt; Magnum::Vector3 &gt; &amp; scalings\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedObject/#function-shape","title":"function shape","text":"<pre><code>inline dart::dynamics::ShapeNode * robot_dart::gui::magnum::CubeMapShadowedObject::shape () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedObject/#function-simu","title":"function simu","text":"<pre><code>inline RobotDARTSimu * robot_dart::gui::magnum::CubeMapShadowedObject::simu () const\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/drawables.hpp</code></p>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/","title":"Struct robot_dart::gui::magnum::DebugDrawData","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; DebugDrawData</p>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/#public-attributes","title":"Public Attributes","text":"Type Name Magnum::GL::Mesh * axes_mesh Magnum::Shaders::VertexColorGL3D * axes_shader Magnum::GL::Mesh * background_mesh Magnum::Shaders::FlatGL2D * background_shader Magnum::Text::DistanceFieldGlyphCache * cache Magnum::Text::AbstractFont * font Magnum::GL::Buffer * text_indices Magnum::Shaders::DistanceFieldVectorGL2D * text_shader Magnum::GL::Buffer * text_vertices"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/#variable-axes_mesh","title":"variable axes_mesh","text":"<pre><code>Magnum::GL::Mesh* robot_dart::gui::magnum::DebugDrawData::axes_mesh;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/#variable-axes_shader","title":"variable axes_shader","text":"<pre><code>Magnum::Shaders::VertexColorGL3D* robot_dart::gui::magnum::DebugDrawData::axes_shader;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/#variable-background_mesh","title":"variable background_mesh","text":"<pre><code>Magnum::GL::Mesh* robot_dart::gui::magnum::DebugDrawData::background_mesh;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/#variable-background_shader","title":"variable background_shader","text":"<pre><code>Magnum::Shaders::FlatGL2D* robot_dart::gui::magnum::DebugDrawData::background_shader;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/#variable-cache","title":"variable cache","text":"<pre><code>Magnum::Text::DistanceFieldGlyphCache* robot_dart::gui::magnum::DebugDrawData::cache;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/#variable-font","title":"variable font","text":"<pre><code>Magnum::Text::AbstractFont* robot_dart::gui::magnum::DebugDrawData::font;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/#variable-text_indices","title":"variable text_indices","text":"<pre><code>Magnum::GL::Buffer* robot_dart::gui::magnum::DebugDrawData::text_indices;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/#variable-text_shader","title":"variable text_shader","text":"<pre><code>Magnum::Shaders::DistanceFieldVectorGL2D* robot_dart::gui::magnum::DebugDrawData::text_shader;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/#variable-text_vertices","title":"variable text_vertices","text":"<pre><code>Magnum::GL::Buffer* robot_dart::gui::magnum::DebugDrawData::text_vertices;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/base_application.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/","title":"Class robot_dart::gui::magnum::DrawableObject","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; DrawableObject</p> <p>Inherits the following classes: Object3D,  Magnum::SceneGraph::Drawable3D</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#public-functions","title":"Public Functions","text":"Type Name DrawableObject (RobotDARTSimu * simu, dart::dynamics::ShapeNode * shape, const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes, const std::vector&lt; gs::Material &gt; &amp; materials, gs::PhongMultiLight &amp; color, gs::PhongMultiLight &amp; texture, Object3D * parent, Magnum::SceneGraph::DrawableGroup3D * group)  const std::vector&lt; gs::Material &gt; &amp; materials () const DrawableObject &amp; set_color_shader (std::reference_wrapper&lt; gs::PhongMultiLight &gt; shader)  DrawableObject &amp; set_materials (const std::vector&lt; gs::Material &gt; &amp; materials)  DrawableObject &amp; set_meshes (const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes)  DrawableObject &amp; set_scalings (const std::vector&lt; Magnum::Vector3 &gt; &amp; scalings)  DrawableObject &amp; set_soft_bodies (const std::vector&lt; bool &gt; &amp; softBody)  DrawableObject &amp; set_texture_shader (std::reference_wrapper&lt; gs::PhongMultiLight &gt; shader)  DrawableObject &amp; set_transparent (bool transparent=true)  dart::dynamics::ShapeNode * shape () const RobotDARTSimu * simu () const bool transparent () const"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#function-drawableobject","title":"function DrawableObject","text":"<pre><code>explicit robot_dart::gui::magnum::DrawableObject::DrawableObject (\n    RobotDARTSimu * simu,\n    dart::dynamics::ShapeNode * shape,\n    const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes,\n    const std::vector&lt; gs::Material &gt; &amp; materials,\n    gs::PhongMultiLight &amp; color,\n    gs::PhongMultiLight &amp; texture,\n    Object3D * parent,\n    Magnum::SceneGraph::DrawableGroup3D * group\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#function-materials","title":"function materials","text":"<pre><code>inline const std::vector&lt; gs::Material &gt; &amp; robot_dart::gui::magnum::DrawableObject::materials () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#function-set_color_shader","title":"function set_color_shader","text":"<pre><code>DrawableObject &amp; robot_dart::gui::magnum::DrawableObject::set_color_shader (\n    std::reference_wrapper&lt; gs::PhongMultiLight &gt; shader\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#function-set_materials","title":"function set_materials","text":"<pre><code>DrawableObject &amp; robot_dart::gui::magnum::DrawableObject::set_materials (\n    const std::vector&lt; gs::Material &gt; &amp; materials\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#function-set_meshes","title":"function set_meshes","text":"<pre><code>DrawableObject &amp; robot_dart::gui::magnum::DrawableObject::set_meshes (\n    const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#function-set_scalings","title":"function set_scalings","text":"<pre><code>DrawableObject &amp; robot_dart::gui::magnum::DrawableObject::set_scalings (\n    const std::vector&lt; Magnum::Vector3 &gt; &amp; scalings\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#function-set_soft_bodies","title":"function set_soft_bodies","text":"<pre><code>DrawableObject &amp; robot_dart::gui::magnum::DrawableObject::set_soft_bodies (\n    const std::vector&lt; bool &gt; &amp; softBody\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#function-set_texture_shader","title":"function set_texture_shader","text":"<pre><code>DrawableObject &amp; robot_dart::gui::magnum::DrawableObject::set_texture_shader (\n    std::reference_wrapper&lt; gs::PhongMultiLight &gt; shader\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#function-set_transparent","title":"function set_transparent","text":"<pre><code>DrawableObject &amp; robot_dart::gui::magnum::DrawableObject::set_transparent (\n    bool transparent=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#function-shape","title":"function shape","text":"<pre><code>inline dart::dynamics::ShapeNode * robot_dart::gui::magnum::DrawableObject::shape () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#function-simu","title":"function simu","text":"<pre><code>inline RobotDARTSimu * robot_dart::gui::magnum::DrawableObject::simu () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#function-transparent","title":"function transparent","text":"<pre><code>inline bool robot_dart::gui::magnum::DrawableObject::transparent () const\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/drawables.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/","title":"Class robot_dart::gui::magnum::GlfwApplication","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; GlfwApplication</p> <p>Inherits the following classes: robot_dart::gui::magnum::BaseApplication,  Magnum::Platform::Application</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#public-functions","title":"Public Functions","text":"Type Name GlfwApplication (int argc, char ** argv, RobotDARTSimu * simu, const GraphicsConfiguration &amp; configuration=GraphicsConfiguration())  virtual void render () override ~GlfwApplication ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#public-functions-inherited-from-robot_dartguimagnumbaseapplication","title":"Public Functions inherited from robot_dart::gui::magnum::BaseApplication","text":"<p>See robot_dart::gui::magnum::BaseApplication</p> Type Name BaseApplication (const GraphicsConfiguration &amp; configuration=GraphicsConfiguration())  void add_light (const gs::Light &amp; light)  bool attach_camera (gs::Camera &amp; camera, dart::dynamics::BodyNode * body)  gs::Camera &amp; camera ()  const gs::Camera &amp; camera () const void clear_lights ()  DebugDrawData debug_draw_data ()  DepthImage depth_array ()  GrayscaleImage depth_image ()  bool done () const Magnum::SceneGraph::DrawableGroup3D &amp; drawables ()  void enable_shadows (bool enable=true, bool drawTransparentShadows=false)  Corrade::Containers::Optional&lt; Magnum::Image2D &gt; &amp; image ()  void init (RobotDARTSimu * simu, const GraphicsConfiguration &amp; configuration)  gs::Light &amp; light (size_t i)  std::vector&lt; gs::Light &gt; &amp; lights ()  void look_at (const Eigen::Vector3d &amp; camera_pos, const Eigen::Vector3d &amp; look_at, const Eigen::Vector3d &amp; up)  size_t num_lights () const GrayscaleImage raw_depth_image ()  void record_video (const std::string &amp; video_fname, int fps)  virtual void render ()  void render_shadows ()  Scene3D &amp; scene ()  bool shadowed () const bool transparent_shadows () const void update_graphics ()  void update_lights (const gs::Camera &amp; camera)  virtual ~BaseApplication ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#protected-attributes","title":"Protected Attributes","text":"Type Name Magnum::Color4 _bg_color bool _draw_debug bool _draw_main_camera RobotDARTSimu * _simu Magnum::Float _speed_move Magnum::Float _speed_strafe"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#protected-attributes-inherited-from-robot_dartguimagnumbaseapplication","title":"Protected Attributes inherited from robot_dart::gui::magnum::BaseApplication","text":"<p>See robot_dart::gui::magnum::BaseApplication</p> Type Name std::unique_ptr&lt; Magnum::GL::Mesh &gt; _3D_axis_mesh std::unique_ptr&lt; Magnum::Shaders::VertexColorGL3D &gt; _3D_axis_shader std::unique_ptr&lt; Magnum::GL::Mesh &gt; _background_mesh std::unique_ptr&lt; Magnum::Shaders::FlatGL2D &gt; _background_shader std::unique_ptr&lt; gs::Camera &gt; _camera std::unique_ptr&lt; gs::PhongMultiLight &gt; _color_shader GraphicsConfiguration _configuration Magnum::SceneGraph::DrawableGroup3D _cubemap_color_drawables std::unique_ptr&lt; gs::CubeMapColor &gt; _cubemap_color_shader Magnum::SceneGraph::DrawableGroup3D _cubemap_drawables std::unique_ptr&lt; gs::CubeMap &gt; _cubemap_shader std::unique_ptr&lt; gs::CubeMapColor &gt; _cubemap_texture_color_shader std::unique_ptr&lt; gs::CubeMap &gt; _cubemap_texture_shader std::unique_ptr&lt; Magnum::DartIntegration::World &gt; _dart_world bool _done   = = false std::unordered_map&lt; Magnum::DartIntegration::Object *, ObjectStruct * &gt; _drawable_objects Magnum::SceneGraph::DrawableGroup3D _drawables Corrade::Containers::Pointer&lt; Magnum::Text::AbstractFont &gt; _font Corrade::PluginManager::Manager&lt; Magnum::Text::AbstractFont &gt; _font_manager Corrade::Containers::Pointer&lt; Magnum::Text::DistanceFieldGlyphCache &gt; _glyph_cache Corrade::PluginManager::Manager&lt; Magnum::Trade::AbstractImporter &gt; _importer_manager std::vector&lt; gs::Light &gt; _lights int _max_lights   = = 5 Scene3D _scene std::unique_ptr&lt; Camera3D &gt; _shadow_camera Object3D * _shadow_camera_object std::unique_ptr&lt; Magnum::GL::CubeMapTextureArray &gt; _shadow_color_cube_map std::unique_ptr&lt; gs::ShadowMapColor &gt; _shadow_color_shader std::unique_ptr&lt; Magnum::GL::Texture2DArray &gt; _shadow_color_texture std::unique_ptr&lt; Magnum::GL::CubeMapTextureArray &gt; _shadow_cube_map std::vector&lt; ShadowData &gt; _shadow_data int _shadow_map_size   = = 512 std::unique_ptr&lt; gs::ShadowMap &gt; _shadow_shader std::unique_ptr&lt; Magnum::GL::Texture2DArray &gt; _shadow_texture std::unique_ptr&lt; gs::ShadowMapColor &gt; _shadow_texture_color_shader std::unique_ptr&lt; gs::ShadowMap &gt; _shadow_texture_shader bool _shadowed   = = true Magnum::SceneGraph::DrawableGroup3D _shadowed_color_drawables Magnum::SceneGraph::DrawableGroup3D _shadowed_drawables RobotDARTSimu * _simu Corrade::Containers::Pointer&lt; Magnum::GL::Buffer &gt; _text_indices std::unique_ptr&lt; Magnum::Shaders::DistanceFieldVectorGL2D &gt; _text_shader Corrade::Containers::Pointer&lt; Magnum::GL::Buffer &gt; _text_vertices std::unique_ptr&lt; gs::PhongMultiLight &gt; _texture_shader int _transparentSize   = = 0 bool _transparent_shadows   = = false"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#protected-static-attributes","title":"Protected Static Attributes","text":"Type Name Magnum::Float _speed   = = 0.05f"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#protected-functions","title":"Protected Functions","text":"Type Name void drawEvent () override void exitEvent (ExitEvent &amp; event) override virtual void keyPressEvent (KeyEvent &amp; event) override virtual void keyReleaseEvent (KeyEvent &amp; event) override virtual void mouseMoveEvent (MouseMoveEvent &amp; event) override virtual void mouseScrollEvent (MouseScrollEvent &amp; event) override void viewportEvent (ViewportEvent &amp; event) override"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#protected-functions-inherited-from-robot_dartguimagnumbaseapplication","title":"Protected Functions inherited from robot_dart::gui::magnum::BaseApplication","text":"<p>See robot_dart::gui::magnum::BaseApplication</p> Type Name void _gl_clean_up ()  void _prepare_shadows ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#function-glfwapplication","title":"function GlfwApplication","text":"<pre><code>explicit robot_dart::gui::magnum::GlfwApplication::GlfwApplication (\n    int argc,\n    char ** argv,\n    RobotDARTSimu * simu,\n    const GraphicsConfiguration &amp; configuration=GraphicsConfiguration ()\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#function-render","title":"function render","text":"<pre><code>virtual void robot_dart::gui::magnum::GlfwApplication::render () override\n</code></pre> <p>Implements robot_dart::gui::magnum::BaseApplication::render</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#function-glfwapplication_1","title":"function ~GlfwApplication","text":"<pre><code>robot_dart::gui::magnum::GlfwApplication::~GlfwApplication () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#variable-_bg_color","title":"variable _bg_color","text":"<pre><code>Magnum::Color4 robot_dart::gui::magnum::GlfwApplication::_bg_color;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#variable-_draw_debug","title":"variable _draw_debug","text":"<pre><code>bool robot_dart::gui::magnum::GlfwApplication::_draw_debug;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#variable-_draw_main_camera","title":"variable _draw_main_camera","text":"<pre><code>bool robot_dart::gui::magnum::GlfwApplication::_draw_main_camera;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#variable-_simu","title":"variable _simu","text":"<pre><code>RobotDARTSimu* robot_dart::gui::magnum::GlfwApplication::_simu;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#variable-_speed_move","title":"variable _speed_move","text":"<pre><code>Magnum::Float robot_dart::gui::magnum::GlfwApplication::_speed_move;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#variable-_speed_strafe","title":"variable _speed_strafe","text":"<pre><code>Magnum::Float robot_dart::gui::magnum::GlfwApplication::_speed_strafe;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#protected-static-attributes-documentation","title":"Protected Static Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#variable-_speed","title":"variable _speed","text":"<pre><code>Magnum::Float robot_dart::gui::magnum::GlfwApplication::_speed;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#protected-functions-documentation","title":"Protected Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#function-drawevent","title":"function drawEvent","text":"<pre><code>void robot_dart::gui::magnum::GlfwApplication::drawEvent () override\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#function-exitevent","title":"function exitEvent","text":"<pre><code>void robot_dart::gui::magnum::GlfwApplication::exitEvent (\n    ExitEvent &amp; event\n) override\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#function-keypressevent","title":"function keyPressEvent","text":"<pre><code>virtual void robot_dart::gui::magnum::GlfwApplication::keyPressEvent (\n    KeyEvent &amp; event\n) override\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#function-keyreleaseevent","title":"function keyReleaseEvent","text":"<pre><code>virtual void robot_dart::gui::magnum::GlfwApplication::keyReleaseEvent (\n    KeyEvent &amp; event\n) override\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#function-mousemoveevent","title":"function mouseMoveEvent","text":"<pre><code>virtual void robot_dart::gui::magnum::GlfwApplication::mouseMoveEvent (\n    MouseMoveEvent &amp; event\n) override\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#function-mousescrollevent","title":"function mouseScrollEvent","text":"<pre><code>virtual void robot_dart::gui::magnum::GlfwApplication::mouseScrollEvent (\n    MouseScrollEvent &amp; event\n) override\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#function-viewportevent","title":"function viewportEvent","text":"<pre><code>void robot_dart::gui::magnum::GlfwApplication::viewportEvent (\n    ViewportEvent &amp; event\n) override\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/glfw_application.hpp</code></p>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/","title":"Struct robot_dart::gui::magnum::GlobalData","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; GlobalData</p>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/#public-functions","title":"Public Functions","text":"Type Name GlobalData (const GlobalData &amp;) = delete void free_gl_context (Magnum::Platform::WindowlessGLContext * context)  Magnum::Platform::WindowlessGLContext * gl_context ()  void operator= (const GlobalData &amp;) = delete void set_max_contexts (size_t N)"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/#public-static-functions","title":"Public Static Functions","text":"Type Name GlobalData * instance ()"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/#function-globaldata-12","title":"function GlobalData [\u00bd]","text":"<pre><code>robot_dart::gui::magnum::GlobalData::GlobalData (\n    const GlobalData &amp;\n) = delete\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/#function-free_gl_context","title":"function free_gl_context","text":"<pre><code>void robot_dart::gui::magnum::GlobalData::free_gl_context (\n    Magnum::Platform::WindowlessGLContext * context\n) \n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/#function-gl_context","title":"function gl_context","text":"<pre><code>Magnum::Platform::WindowlessGLContext * robot_dart::gui::magnum::GlobalData::gl_context () \n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/#function-operator","title":"function operator=","text":"<pre><code>void robot_dart::gui::magnum::GlobalData::operator= (\n    const GlobalData &amp;\n) = delete\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/#function-set_max_contexts","title":"function set_max_contexts","text":"<pre><code>void robot_dart::gui::magnum::GlobalData::set_max_contexts (\n    size_t N\n) \n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/#public-static-functions-documentation","title":"Public Static Functions Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/#function-instance","title":"function instance","text":"<pre><code>static inline GlobalData * robot_dart::gui::magnum::GlobalData::instance () \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/base_application.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/","title":"Class robot_dart::gui::magnum::Graphics","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; Graphics</p> <p>Inherits the following classes: robot_dart::gui::magnum::BaseGraphics</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#public-functions","title":"Public Functions","text":"Type Name Graphics (const GraphicsConfiguration &amp; configuration=default_configuration())  virtual void set_simu (RobotDARTSimu * simu) override ~Graphics ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#public-functions-inherited-from-robot_dartguimagnumbasegraphics","title":"Public Functions inherited from robot_dart::gui::magnum::BaseGraphics","text":"<p>See robot_dart::gui::magnum::BaseGraphics</p> Type Name BaseGraphics (const GraphicsConfiguration &amp; configuration=GraphicsConfiguration())  void add_light (const magnum::Light &amp; light)  gs::Camera &amp; camera ()  const gs::Camera &amp; camera () const Eigen::Matrix4d camera_extrinsic_matrix () const Eigen::Matrix3d camera_intrinsic_matrix () const void clear_lights ()  virtual DepthImage depth_array () override virtual GrayscaleImage depth_image () override virtual bool done () override const void enable_shadows (bool enable=true, bool transparent=true)  virtual size_t height () override const virtual Image image () override magnum::Light &amp; light (size_t i)  std::vector&lt; gs::Light &gt; &amp; lights ()  void look_at (const Eigen::Vector3d &amp; camera_pos, const Eigen::Vector3d &amp; look_at=Eigen::Vector3d(0, 0, 0), const Eigen::Vector3d &amp; up=Eigen::Vector3d(0, 0, 1))  BaseApplication * magnum_app ()  const BaseApplication * magnum_app () const Magnum::Image2D * magnum_image ()  size_t num_lights () const virtual GrayscaleImage raw_depth_image () override void record_video (const std::string &amp; video_fname, int fps=-1)  virtual void refresh () override virtual void set_enable (bool enable) override virtual void set_fps (int fps) override virtual void set_simu (RobotDARTSimu * simu) override bool shadowed () const bool transparent_shadows () const virtual size_t width () override const virtual ~BaseGraphics ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#public-functions-inherited-from-robot_dartguibase","title":"Public Functions inherited from robot_dart::gui::Base","text":"<p>See robot_dart::gui::Base</p> Type Name Base ()  virtual DepthImage depth_array ()  virtual GrayscaleImage depth_image ()  virtual bool done () const virtual size_t height () const virtual Image image ()  virtual GrayscaleImage raw_depth_image ()  virtual void refresh ()  virtual void set_enable (bool)  virtual void set_fps (int)  virtual void set_render_period (double)  virtual void set_simu (RobotDARTSimu * simu)  const RobotDARTSimu * simu () const virtual size_t width () const virtual ~Base ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#public-static-functions","title":"Public Static Functions","text":"Type Name GraphicsConfiguration default_configuration ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#protected-attributes-inherited-from-robot_dartguimagnumbasegraphics","title":"Protected Attributes inherited from robot_dart::gui::magnum::BaseGraphics","text":"<p>See robot_dart::gui::magnum::BaseGraphics</p> Type Name GraphicsConfiguration _configuration bool _enabled int _fps std::unique_ptr&lt; BaseApplication &gt; _magnum_app Corrade::Utility::Debug _magnum_silence_output   = {nullptr}"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#protected-attributes-inherited-from-robot_dartguibase","title":"Protected Attributes inherited from robot_dart::gui::Base","text":"<p>See robot_dart::gui::Base</p> Type Name RobotDARTSimu * _simu   = = nullptr"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#function-graphics","title":"function Graphics","text":"<pre><code>inline robot_dart::gui::magnum::Graphics::Graphics (\n    const GraphicsConfiguration &amp; configuration=default_configuration()\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#function-set_simu","title":"function set_simu","text":"<pre><code>virtual void robot_dart::gui::magnum::Graphics::set_simu (\n    RobotDARTSimu * simu\n) override\n</code></pre> <p>Implements robot_dart::gui::magnum::BaseGraphics::set_simu</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#function-graphics_1","title":"function ~Graphics","text":"<pre><code>inline robot_dart::gui::magnum::Graphics::~Graphics () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#public-static-functions-documentation","title":"Public Static Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#function-default_configuration","title":"function default_configuration","text":"<pre><code>static GraphicsConfiguration robot_dart::gui::magnum::Graphics::default_configuration () \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/graphics.hpp</code></p>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/","title":"Struct robot_dart::gui::magnum::GraphicsConfiguration","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; GraphicsConfiguration</p>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#public-attributes","title":"Public Attributes","text":"Type Name Eigen::Vector4d bg_color   = {0.0, 0.0, 0.0, 1.0} bool draw_debug   = = true bool draw_main_camera   = = true bool draw_text   = = true size_t height   = = 480 size_t max_lights   = = 3 size_t shadow_map_size   = = 1024 bool shadowed   = = true double specular_strength   = = 0.25 std::string title   = = \"DART\" bool transparent_shadows   = = true size_t width   = = 640"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#variable-bg_color","title":"variable bg_color","text":"<pre><code>Eigen::Vector4d robot_dart::gui::magnum::GraphicsConfiguration::bg_color;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#variable-draw_debug","title":"variable draw_debug","text":"<pre><code>bool robot_dart::gui::magnum::GraphicsConfiguration::draw_debug;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#variable-draw_main_camera","title":"variable draw_main_camera","text":"<pre><code>bool robot_dart::gui::magnum::GraphicsConfiguration::draw_main_camera;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#variable-draw_text","title":"variable draw_text","text":"<pre><code>bool robot_dart::gui::magnum::GraphicsConfiguration::draw_text;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#variable-height","title":"variable height","text":"<pre><code>size_t robot_dart::gui::magnum::GraphicsConfiguration::height;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#variable-max_lights","title":"variable max_lights","text":"<pre><code>size_t robot_dart::gui::magnum::GraphicsConfiguration::max_lights;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#variable-shadow_map_size","title":"variable shadow_map_size","text":"<pre><code>size_t robot_dart::gui::magnum::GraphicsConfiguration::shadow_map_size;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#variable-shadowed","title":"variable shadowed","text":"<pre><code>bool robot_dart::gui::magnum::GraphicsConfiguration::shadowed;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#variable-specular_strength","title":"variable specular_strength","text":"<pre><code>double robot_dart::gui::magnum::GraphicsConfiguration::specular_strength;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#variable-title","title":"variable title","text":"<pre><code>std::string robot_dart::gui::magnum::GraphicsConfiguration::title;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#variable-transparent_shadows","title":"variable transparent_shadows","text":"<pre><code>bool robot_dart::gui::magnum::GraphicsConfiguration::transparent_shadows;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#variable-width","title":"variable width","text":"<pre><code>size_t robot_dart::gui::magnum::GraphicsConfiguration::width;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/base_application.hpp</code></p>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ObjectStruct/","title":"Struct robot_dart::gui::magnum::ObjectStruct","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; ObjectStruct</p>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ObjectStruct/#public-attributes","title":"Public Attributes","text":"Type Name CubeMapShadowedObject * cubemapped CubeMapShadowedColorObject * cubemapped_color DrawableObject * drawable ShadowedObject * shadowed ShadowedColorObject * shadowed_color"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ObjectStruct/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ObjectStruct/#variable-cubemapped","title":"variable cubemapped","text":"<pre><code>CubeMapShadowedObject* robot_dart::gui::magnum::ObjectStruct::cubemapped;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ObjectStruct/#variable-cubemapped_color","title":"variable cubemapped_color","text":"<pre><code>CubeMapShadowedColorObject* robot_dart::gui::magnum::ObjectStruct::cubemapped_color;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ObjectStruct/#variable-drawable","title":"variable drawable","text":"<pre><code>DrawableObject* robot_dart::gui::magnum::ObjectStruct::drawable;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ObjectStruct/#variable-shadowed","title":"variable shadowed","text":"<pre><code>ShadowedObject* robot_dart::gui::magnum::ObjectStruct::shadowed;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ObjectStruct/#variable-shadowed_color","title":"variable shadowed_color","text":"<pre><code>ShadowedColorObject* robot_dart::gui::magnum::ObjectStruct::shadowed_color;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/drawables.hpp</code></p>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ShadowData/","title":"Struct robot_dart::gui::magnum::ShadowData","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; ShadowData</p>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ShadowData/#public-attributes","title":"Public Attributes","text":"Type Name Magnum::GL::Framebuffer shadow_color_framebuffer   = {Magnum::NoCreate} Magnum::GL::Framebuffer shadow_framebuffer   = {Magnum::NoCreate}"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ShadowData/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ShadowData/#variable-shadow_color_framebuffer","title":"variable shadow_color_framebuffer","text":"<pre><code>Magnum::GL::Framebuffer robot_dart::gui::magnum::ShadowData::shadow_color_framebuffer;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ShadowData/#variable-shadow_framebuffer","title":"variable shadow_framebuffer","text":"<pre><code>Magnum::GL::Framebuffer robot_dart::gui::magnum::ShadowData::shadow_framebuffer;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/drawables.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedColorObject/","title":"Class robot_dart::gui::magnum::ShadowedColorObject","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; ShadowedColorObject</p> <p>Inherits the following classes: Object3D,  Magnum::SceneGraph::Drawable3D</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedColorObject/#public-functions","title":"Public Functions","text":"Type Name ShadowedColorObject (RobotDARTSimu * simu, dart::dynamics::ShapeNode * shape, const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes, gs::ShadowMapColor &amp; shader, gs::ShadowMapColor &amp; texture_shader, Object3D * parent, Magnum::SceneGraph::DrawableGroup3D * group)  ShadowedColorObject &amp; set_materials (const std::vector&lt; gs::Material &gt; &amp; materials)  ShadowedColorObject &amp; set_meshes (const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes)  ShadowedColorObject &amp; set_scalings (const std::vector&lt; Magnum::Vector3 &gt; &amp; scalings)  dart::dynamics::ShapeNode * shape () const RobotDARTSimu * simu () const"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedColorObject/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedColorObject/#function-shadowedcolorobject","title":"function ShadowedColorObject","text":"<pre><code>explicit robot_dart::gui::magnum::ShadowedColorObject::ShadowedColorObject (\n    RobotDARTSimu * simu,\n    dart::dynamics::ShapeNode * shape,\n    const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes,\n    gs::ShadowMapColor &amp; shader,\n    gs::ShadowMapColor &amp; texture_shader,\n    Object3D * parent,\n    Magnum::SceneGraph::DrawableGroup3D * group\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedColorObject/#function-set_materials","title":"function set_materials","text":"<pre><code>ShadowedColorObject &amp; robot_dart::gui::magnum::ShadowedColorObject::set_materials (\n    const std::vector&lt; gs::Material &gt; &amp; materials\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedColorObject/#function-set_meshes","title":"function set_meshes","text":"<pre><code>ShadowedColorObject &amp; robot_dart::gui::magnum::ShadowedColorObject::set_meshes (\n    const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedColorObject/#function-set_scalings","title":"function set_scalings","text":"<pre><code>ShadowedColorObject &amp; robot_dart::gui::magnum::ShadowedColorObject::set_scalings (\n    const std::vector&lt; Magnum::Vector3 &gt; &amp; scalings\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedColorObject/#function-shape","title":"function shape","text":"<pre><code>inline dart::dynamics::ShapeNode * robot_dart::gui::magnum::ShadowedColorObject::shape () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedColorObject/#function-simu","title":"function simu","text":"<pre><code>inline RobotDARTSimu * robot_dart::gui::magnum::ShadowedColorObject::simu () const\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/drawables.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedObject/","title":"Class robot_dart::gui::magnum::ShadowedObject","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; ShadowedObject</p> <p>Inherits the following classes: Object3D,  Magnum::SceneGraph::Drawable3D</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedObject/#public-functions","title":"Public Functions","text":"Type Name ShadowedObject (RobotDARTSimu * simu, dart::dynamics::ShapeNode * shape, const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes, gs::ShadowMap &amp; shader, gs::ShadowMap &amp; texture_shader, Object3D * parent, Magnum::SceneGraph::DrawableGroup3D * group)  ShadowedObject &amp; set_materials (const std::vector&lt; gs::Material &gt; &amp; materials)  ShadowedObject &amp; set_meshes (const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes)  ShadowedObject &amp; set_scalings (const std::vector&lt; Magnum::Vector3 &gt; &amp; scalings)  dart::dynamics::ShapeNode * shape () const RobotDARTSimu * simu () const"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedObject/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedObject/#function-shadowedobject","title":"function ShadowedObject","text":"<pre><code>explicit robot_dart::gui::magnum::ShadowedObject::ShadowedObject (\n    RobotDARTSimu * simu,\n    dart::dynamics::ShapeNode * shape,\n    const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes,\n    gs::ShadowMap &amp; shader,\n    gs::ShadowMap &amp; texture_shader,\n    Object3D * parent,\n    Magnum::SceneGraph::DrawableGroup3D * group\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedObject/#function-set_materials","title":"function set_materials","text":"<pre><code>ShadowedObject &amp; robot_dart::gui::magnum::ShadowedObject::set_materials (\n    const std::vector&lt; gs::Material &gt; &amp; materials\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedObject/#function-set_meshes","title":"function set_meshes","text":"<pre><code>ShadowedObject &amp; robot_dart::gui::magnum::ShadowedObject::set_meshes (\n    const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedObject/#function-set_scalings","title":"function set_scalings","text":"<pre><code>ShadowedObject &amp; robot_dart::gui::magnum::ShadowedObject::set_scalings (\n    const std::vector&lt; Magnum::Vector3 &gt; &amp; scalings\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedObject/#function-shape","title":"function shape","text":"<pre><code>inline dart::dynamics::ShapeNode * robot_dart::gui::magnum::ShadowedObject::shape () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedObject/#function-simu","title":"function simu","text":"<pre><code>inline RobotDARTSimu * robot_dart::gui::magnum::ShadowedObject::simu () const\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/drawables.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/","title":"Class robot_dart::gui::magnum::WindowlessGLApplication","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; WindowlessGLApplication</p> <p>Inherits the following classes: robot_dart::gui::magnum::BaseApplication,  Magnum::Platform::WindowlessApplication</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#public-functions","title":"Public Functions","text":"Type Name WindowlessGLApplication (int argc, char ** argv, RobotDARTSimu * simu, const GraphicsConfiguration &amp; configuration=GraphicsConfiguration())  virtual void render () override ~WindowlessGLApplication ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#public-functions-inherited-from-robot_dartguimagnumbaseapplication","title":"Public Functions inherited from robot_dart::gui::magnum::BaseApplication","text":"<p>See robot_dart::gui::magnum::BaseApplication</p> Type Name BaseApplication (const GraphicsConfiguration &amp; configuration=GraphicsConfiguration())  void add_light (const gs::Light &amp; light)  bool attach_camera (gs::Camera &amp; camera, dart::dynamics::BodyNode * body)  gs::Camera &amp; camera ()  const gs::Camera &amp; camera () const void clear_lights ()  DebugDrawData debug_draw_data ()  DepthImage depth_array ()  GrayscaleImage depth_image ()  bool done () const Magnum::SceneGraph::DrawableGroup3D &amp; drawables ()  void enable_shadows (bool enable=true, bool drawTransparentShadows=false)  Corrade::Containers::Optional&lt; Magnum::Image2D &gt; &amp; image ()  void init (RobotDARTSimu * simu, const GraphicsConfiguration &amp; configuration)  gs::Light &amp; light (size_t i)  std::vector&lt; gs::Light &gt; &amp; lights ()  void look_at (const Eigen::Vector3d &amp; camera_pos, const Eigen::Vector3d &amp; look_at, const Eigen::Vector3d &amp; up)  size_t num_lights () const GrayscaleImage raw_depth_image ()  void record_video (const std::string &amp; video_fname, int fps)  virtual void render ()  void render_shadows ()  Scene3D &amp; scene ()  bool shadowed () const bool transparent_shadows () const void update_graphics ()  void update_lights (const gs::Camera &amp; camera)  virtual ~BaseApplication ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#protected-attributes","title":"Protected Attributes","text":"Type Name Magnum::Color4 _bg_color Magnum::GL::Renderbuffer _color   = {Magnum::NoCreate} Magnum::GL::Renderbuffer _depth   = {Magnum::NoCreate} bool _draw_debug bool _draw_main_camera Magnum::PixelFormat _format Magnum::GL::Framebuffer _framebuffer   = {Magnum::NoCreate} RobotDARTSimu * _simu"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#protected-attributes-inherited-from-robot_dartguimagnumbaseapplication","title":"Protected Attributes inherited from robot_dart::gui::magnum::BaseApplication","text":"<p>See robot_dart::gui::magnum::BaseApplication</p> Type Name std::unique_ptr&lt; Magnum::GL::Mesh &gt; _3D_axis_mesh std::unique_ptr&lt; Magnum::Shaders::VertexColorGL3D &gt; _3D_axis_shader std::unique_ptr&lt; Magnum::GL::Mesh &gt; _background_mesh std::unique_ptr&lt; Magnum::Shaders::FlatGL2D &gt; _background_shader std::unique_ptr&lt; gs::Camera &gt; _camera std::unique_ptr&lt; gs::PhongMultiLight &gt; _color_shader GraphicsConfiguration _configuration Magnum::SceneGraph::DrawableGroup3D _cubemap_color_drawables std::unique_ptr&lt; gs::CubeMapColor &gt; _cubemap_color_shader Magnum::SceneGraph::DrawableGroup3D _cubemap_drawables std::unique_ptr&lt; gs::CubeMap &gt; _cubemap_shader std::unique_ptr&lt; gs::CubeMapColor &gt; _cubemap_texture_color_shader std::unique_ptr&lt; gs::CubeMap &gt; _cubemap_texture_shader std::unique_ptr&lt; Magnum::DartIntegration::World &gt; _dart_world bool _done   = = false std::unordered_map&lt; Magnum::DartIntegration::Object *, ObjectStruct * &gt; _drawable_objects Magnum::SceneGraph::DrawableGroup3D _drawables Corrade::Containers::Pointer&lt; Magnum::Text::AbstractFont &gt; _font Corrade::PluginManager::Manager&lt; Magnum::Text::AbstractFont &gt; _font_manager Corrade::Containers::Pointer&lt; Magnum::Text::DistanceFieldGlyphCache &gt; _glyph_cache Corrade::PluginManager::Manager&lt; Magnum::Trade::AbstractImporter &gt; _importer_manager std::vector&lt; gs::Light &gt; _lights int _max_lights   = = 5 Scene3D _scene std::unique_ptr&lt; Camera3D &gt; _shadow_camera Object3D * _shadow_camera_object std::unique_ptr&lt; Magnum::GL::CubeMapTextureArray &gt; _shadow_color_cube_map std::unique_ptr&lt; gs::ShadowMapColor &gt; _shadow_color_shader std::unique_ptr&lt; Magnum::GL::Texture2DArray &gt; _shadow_color_texture std::unique_ptr&lt; Magnum::GL::CubeMapTextureArray &gt; _shadow_cube_map std::vector&lt; ShadowData &gt; _shadow_data int _shadow_map_size   = = 512 std::unique_ptr&lt; gs::ShadowMap &gt; _shadow_shader std::unique_ptr&lt; Magnum::GL::Texture2DArray &gt; _shadow_texture std::unique_ptr&lt; gs::ShadowMapColor &gt; _shadow_texture_color_shader std::unique_ptr&lt; gs::ShadowMap &gt; _shadow_texture_shader bool _shadowed   = = true Magnum::SceneGraph::DrawableGroup3D _shadowed_color_drawables Magnum::SceneGraph::DrawableGroup3D _shadowed_drawables RobotDARTSimu * _simu Corrade::Containers::Pointer&lt; Magnum::GL::Buffer &gt; _text_indices std::unique_ptr&lt; Magnum::Shaders::DistanceFieldVectorGL2D &gt; _text_shader Corrade::Containers::Pointer&lt; Magnum::GL::Buffer &gt; _text_vertices std::unique_ptr&lt; gs::PhongMultiLight &gt; _texture_shader int _transparentSize   = = 0 bool _transparent_shadows   = = false"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#protected-functions","title":"Protected Functions","text":"Type Name virtual int exec () override"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#protected-functions-inherited-from-robot_dartguimagnumbaseapplication","title":"Protected Functions inherited from robot_dart::gui::magnum::BaseApplication","text":"<p>See robot_dart::gui::magnum::BaseApplication</p> Type Name void _gl_clean_up ()  void _prepare_shadows ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#function-windowlessglapplication","title":"function WindowlessGLApplication","text":"<pre><code>explicit robot_dart::gui::magnum::WindowlessGLApplication::WindowlessGLApplication (\n    int argc,\n    char ** argv,\n    RobotDARTSimu * simu,\n    const GraphicsConfiguration &amp; configuration=GraphicsConfiguration ()\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#function-render","title":"function render","text":"<pre><code>virtual void robot_dart::gui::magnum::WindowlessGLApplication::render () override\n</code></pre> <p>Implements robot_dart::gui::magnum::BaseApplication::render</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#function-windowlessglapplication_1","title":"function ~WindowlessGLApplication","text":"<pre><code>robot_dart::gui::magnum::WindowlessGLApplication::~WindowlessGLApplication () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#variable-_bg_color","title":"variable _bg_color","text":"<pre><code>Magnum::Color4 robot_dart::gui::magnum::WindowlessGLApplication::_bg_color;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#variable-_color","title":"variable _color","text":"<pre><code>Magnum::GL::Renderbuffer robot_dart::gui::magnum::WindowlessGLApplication::_color;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#variable-_depth","title":"variable _depth","text":"<pre><code>Magnum::GL::Renderbuffer robot_dart::gui::magnum::WindowlessGLApplication::_depth;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#variable-_draw_debug","title":"variable _draw_debug","text":"<pre><code>bool robot_dart::gui::magnum::WindowlessGLApplication::_draw_debug;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#variable-_draw_main_camera","title":"variable _draw_main_camera","text":"<pre><code>bool robot_dart::gui::magnum::WindowlessGLApplication::_draw_main_camera;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#variable-_format","title":"variable _format","text":"<pre><code>Magnum::PixelFormat robot_dart::gui::magnum::WindowlessGLApplication::_format;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#variable-_framebuffer","title":"variable _framebuffer","text":"<pre><code>Magnum::GL::Framebuffer robot_dart::gui::magnum::WindowlessGLApplication::_framebuffer;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#variable-_simu","title":"variable _simu","text":"<pre><code>RobotDARTSimu* robot_dart::gui::magnum::WindowlessGLApplication::_simu;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#protected-functions-documentation","title":"Protected Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#function-exec","title":"function exec","text":"<pre><code>inline virtual int robot_dart::gui::magnum::WindowlessGLApplication::exec () override\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/windowless_gl_application.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/","title":"Class robot_dart::gui::magnum::WindowlessGraphics","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; WindowlessGraphics</p> <p>Inherits the following classes: robot_dart::gui::magnum::BaseGraphics</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#public-functions","title":"Public Functions","text":"Type Name WindowlessGraphics (const GraphicsConfiguration &amp; configuration=default_configuration())  virtual void set_simu (RobotDARTSimu * simu) override ~WindowlessGraphics ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#public-functions-inherited-from-robot_dartguimagnumbasegraphics","title":"Public Functions inherited from robot_dart::gui::magnum::BaseGraphics","text":"<p>See robot_dart::gui::magnum::BaseGraphics</p> Type Name BaseGraphics (const GraphicsConfiguration &amp; configuration=GraphicsConfiguration())  void add_light (const magnum::Light &amp; light)  gs::Camera &amp; camera ()  const gs::Camera &amp; camera () const Eigen::Matrix4d camera_extrinsic_matrix () const Eigen::Matrix3d camera_intrinsic_matrix () const void clear_lights ()  virtual DepthImage depth_array () override virtual GrayscaleImage depth_image () override virtual bool done () override const void enable_shadows (bool enable=true, bool transparent=true)  virtual size_t height () override const virtual Image image () override magnum::Light &amp; light (size_t i)  std::vector&lt; gs::Light &gt; &amp; lights ()  void look_at (const Eigen::Vector3d &amp; camera_pos, const Eigen::Vector3d &amp; look_at=Eigen::Vector3d(0, 0, 0), const Eigen::Vector3d &amp; up=Eigen::Vector3d(0, 0, 1))  BaseApplication * magnum_app ()  const BaseApplication * magnum_app () const Magnum::Image2D * magnum_image ()  size_t num_lights () const virtual GrayscaleImage raw_depth_image () override void record_video (const std::string &amp; video_fname, int fps=-1)  virtual void refresh () override virtual void set_enable (bool enable) override virtual void set_fps (int fps) override virtual void set_simu (RobotDARTSimu * simu) override bool shadowed () const bool transparent_shadows () const virtual size_t width () override const virtual ~BaseGraphics ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#public-functions-inherited-from-robot_dartguibase","title":"Public Functions inherited from robot_dart::gui::Base","text":"<p>See robot_dart::gui::Base</p> Type Name Base ()  virtual DepthImage depth_array ()  virtual GrayscaleImage depth_image ()  virtual bool done () const virtual size_t height () const virtual Image image ()  virtual GrayscaleImage raw_depth_image ()  virtual void refresh ()  virtual void set_enable (bool)  virtual void set_fps (int)  virtual void set_render_period (double)  virtual void set_simu (RobotDARTSimu * simu)  const RobotDARTSimu * simu () const virtual size_t width () const virtual ~Base ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#public-static-functions","title":"Public Static Functions","text":"Type Name GraphicsConfiguration default_configuration ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#protected-attributes-inherited-from-robot_dartguimagnumbasegraphics","title":"Protected Attributes inherited from robot_dart::gui::magnum::BaseGraphics","text":"<p>See robot_dart::gui::magnum::BaseGraphics</p> Type Name GraphicsConfiguration _configuration bool _enabled int _fps std::unique_ptr&lt; BaseApplication &gt; _magnum_app Corrade::Utility::Debug _magnum_silence_output   = {nullptr}"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#protected-attributes-inherited-from-robot_dartguibase","title":"Protected Attributes inherited from robot_dart::gui::Base","text":"<p>See robot_dart::gui::Base</p> Type Name RobotDARTSimu * _simu   = = nullptr"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#function-windowlessgraphics","title":"function WindowlessGraphics","text":"<pre><code>inline robot_dart::gui::magnum::WindowlessGraphics::WindowlessGraphics (\n    const GraphicsConfiguration &amp; configuration=default_configuration()\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#function-set_simu","title":"function set_simu","text":"<pre><code>virtual void robot_dart::gui::magnum::WindowlessGraphics::set_simu (\n    RobotDARTSimu * simu\n) override\n</code></pre> <p>Implements robot_dart::gui::magnum::BaseGraphics::set_simu</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#function-windowlessgraphics_1","title":"function ~WindowlessGraphics","text":"<pre><code>inline robot_dart::gui::magnum::WindowlessGraphics::~WindowlessGraphics () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#public-static-functions-documentation","title":"Public Static Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#function-default_configuration","title":"function default_configuration","text":"<pre><code>static GraphicsConfiguration robot_dart::gui::magnum::WindowlessGraphics::default_configuration () \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/windowless_graphics.hpp</code></p>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/","title":"Namespace robot_dart::gui::magnum::gs","text":"<p>Namespace List &gt; robot_dart &gt; gui &gt; magnum &gt; gs</p>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#classes","title":"Classes","text":"Type Name class Camera class CubeMap class CubeMapColor class Light class Material class PhongMultiLight class ShadowMap class ShadowMapColor"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#public-functions","title":"Public Functions","text":"Type Name Light create_directional_light (const Magnum::Vector3 &amp; direction, const Material &amp; material)  Light create_point_light (const Magnum::Vector3 &amp; position, const Material &amp; material, Magnum::Float intensity, const Magnum::Vector3 &amp; attenuationTerms)  Light create_spot_light (const Magnum::Vector3 &amp; position, const Material &amp; material, const Magnum::Vector3 &amp; spot_direction, Magnum::Float spot_exponent, Magnum::Float spot_cut_off, Magnum::Float intensity, const Magnum::Vector3 &amp; attenuationTerms)  DepthImage depth_array_from_image (Magnum::Image2D * image, Magnum::Float near_plane, Magnum::Float far_plane)  GrayscaleImage depth_from_image (Magnum::Image2D * image, bool linearize, Magnum::Float near_plane, Magnum::Float far_plane)  Image rgb_from_image (Magnum::Image2D * image)"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#public-static-functions","title":"Public Static Functions","text":"Type Name fs::path search_path (const fs::path &amp; filename)"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#function-create_directional_light","title":"function create_directional_light","text":"<pre><code>inline Light robot_dart::gui::magnum::gs::create_directional_light (\n    const Magnum::Vector3 &amp; direction,\n    const Material &amp; material\n) \n</code></pre>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#function-create_point_light","title":"function create_point_light","text":"<pre><code>inline Light robot_dart::gui::magnum::gs::create_point_light (\n    const Magnum::Vector3 &amp; position,\n    const Material &amp; material,\n    Magnum::Float intensity,\n    const Magnum::Vector3 &amp; attenuationTerms\n) \n</code></pre>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#function-create_spot_light","title":"function create_spot_light","text":"<pre><code>inline Light robot_dart::gui::magnum::gs::create_spot_light (\n    const Magnum::Vector3 &amp; position,\n    const Material &amp; material,\n    const Magnum::Vector3 &amp; spot_direction,\n    Magnum::Float spot_exponent,\n    Magnum::Float spot_cut_off,\n    Magnum::Float intensity,\n    const Magnum::Vector3 &amp; attenuationTerms\n) \n</code></pre>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#function-depth_array_from_image","title":"function depth_array_from_image","text":"<pre><code>DepthImage robot_dart::gui::magnum::gs::depth_array_from_image (\n    Magnum::Image2D * image,\n    Magnum::Float near_plane,\n    Magnum::Float far_plane\n) \n</code></pre>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#function-depth_from_image","title":"function depth_from_image","text":"<pre><code>GrayscaleImage robot_dart::gui::magnum::gs::depth_from_image (\n    Magnum::Image2D * image,\n    bool linearize,\n    Magnum::Float near_plane,\n    Magnum::Float far_plane\n) \n</code></pre>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#function-rgb_from_image","title":"function rgb_from_image","text":"<pre><code>Image robot_dart::gui::magnum::gs::rgb_from_image (\n    Magnum::Image2D * image\n) \n</code></pre>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#public-static-functions-documentation","title":"Public Static Functions Documentation","text":""},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#function-search_path","title":"function search_path","text":"<pre><code>static fs::path robot_dart::gui::magnum::gs::search_path (\n    const fs::path &amp; filename\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/camera.cpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/","title":"Class robot_dart::gui::magnum::Camera","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; gs &gt; Camera</p> <p>Inherits the following classes: Object3D</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#public-functions","title":"Public Functions","text":"Type Name Camera (Object3D &amp; object, Magnum::Int width, Magnum::Int height)  Camera3D &amp; camera () const Object3D &amp; camera_object () const Corrade::Containers::Optional&lt; Magnum::Image2D &gt; &amp; depth_image ()  void draw (Magnum::SceneGraph::DrawableGroup3D &amp; drawables, Magnum::GL::AbstractFramebuffer &amp; framebuffer, Magnum::PixelFormat format, RobotDARTSimu * simu, const DebugDrawData &amp; debug_data, bool draw_debug=true)  Magnum::Matrix4 extrinsic_matrix () const Magnum::Float far_plane () const Camera &amp; forward (Magnum::Float speed)  Magnum::Float fov () const Magnum::Int height () const Corrade::Containers::Optional&lt; Magnum::Image2D &gt; &amp; image ()  Magnum::Matrix3 intrinsic_matrix () const Camera &amp; look_at (const Magnum::Vector3 &amp; camera, const Magnum::Vector3 &amp; center, const Magnum::Vector3 &amp; up=Magnum::Vector3::zAxis())  Camera &amp; move (const Magnum::Vector2i &amp; shift)  Magnum::Float near_plane () const void record (bool recording, bool recording_depth=false)  void record_video (const std::string &amp; video_fname, int fps)  bool recording ()  bool recording_depth ()  Object3D &amp; root_object ()  Camera &amp; set_camera_params (Magnum::Float near_plane, Magnum::Float far_plane, Magnum::Float fov, Magnum::Int width, Magnum::Int height)  Camera &amp; set_far_plane (Magnum::Float far_plane)  Camera &amp; set_fov (Magnum::Float fov)  Camera &amp; set_near_plane (Magnum::Float near_plane)  Camera &amp; set_speed (const Magnum::Vector2 &amp; speed)  Camera &amp; set_viewport (const Magnum::Vector2i &amp; size)  Magnum::Vector2 speed () const Camera &amp; strafe (Magnum::Float speed)  void transform_lights (std::vector&lt; gs::Light &gt; &amp; lights) const Magnum::Int width () const ~Camera ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-camera","title":"function Camera","text":"<pre><code>explicit robot_dart::gui::magnum::gs::Camera::Camera (\n    Object3D &amp; object,\n    Magnum::Int width,\n    Magnum::Int height\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-camera_1","title":"function camera","text":"<pre><code>Camera3D &amp; robot_dart::gui::magnum::gs::Camera::camera () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-camera_object","title":"function camera_object","text":"<pre><code>Object3D &amp; robot_dart::gui::magnum::gs::Camera::camera_object () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-depth_image","title":"function depth_image","text":"<pre><code>inline Corrade::Containers::Optional&lt; Magnum::Image2D &gt; &amp; robot_dart::gui::magnum::gs::Camera::depth_image () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-draw","title":"function draw","text":"<pre><code>void robot_dart::gui::magnum::gs::Camera::draw (\n    Magnum::SceneGraph::DrawableGroup3D &amp; drawables,\n    Magnum::GL::AbstractFramebuffer &amp; framebuffer,\n    Magnum::PixelFormat format,\n    RobotDARTSimu * simu,\n    const DebugDrawData &amp; debug_data,\n    bool draw_debug=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-extrinsic_matrix","title":"function extrinsic_matrix","text":"<pre><code>Magnum::Matrix4 robot_dart::gui::magnum::gs::Camera::extrinsic_matrix () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-far_plane","title":"function far_plane","text":"<pre><code>inline Magnum::Float robot_dart::gui::magnum::gs::Camera::far_plane () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-forward","title":"function forward","text":"<pre><code>Camera &amp; robot_dart::gui::magnum::gs::Camera::forward (\n    Magnum::Float speed\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-fov","title":"function fov","text":"<pre><code>inline Magnum::Float robot_dart::gui::magnum::gs::Camera::fov () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-height","title":"function height","text":"<pre><code>inline Magnum::Int robot_dart::gui::magnum::gs::Camera::height () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-image","title":"function image","text":"<pre><code>inline Corrade::Containers::Optional&lt; Magnum::Image2D &gt; &amp; robot_dart::gui::magnum::gs::Camera::image () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-intrinsic_matrix","title":"function intrinsic_matrix","text":"<pre><code>Magnum::Matrix3 robot_dart::gui::magnum::gs::Camera::intrinsic_matrix () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-look_at","title":"function look_at","text":"<pre><code>Camera &amp; robot_dart::gui::magnum::gs::Camera::look_at (\n    const Magnum::Vector3 &amp; camera,\n    const Magnum::Vector3 &amp; center,\n    const Magnum::Vector3 &amp; up=Magnum::Vector3::zAxis()\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-move","title":"function move","text":"<pre><code>Camera &amp; robot_dart::gui::magnum::gs::Camera::move (\n    const Magnum::Vector2i &amp; shift\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-near_plane","title":"function near_plane","text":"<pre><code>inline Magnum::Float robot_dart::gui::magnum::gs::Camera::near_plane () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-record","title":"function record","text":"<pre><code>inline void robot_dart::gui::magnum::gs::Camera::record (\n    bool recording,\n    bool recording_depth=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-record_video","title":"function record_video","text":"<pre><code>void robot_dart::gui::magnum::gs::Camera::record_video (\n    const std::string &amp; video_fname,\n    int fps\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-recording","title":"function recording","text":"<pre><code>inline bool robot_dart::gui::magnum::gs::Camera::recording () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-recording_depth","title":"function recording_depth","text":"<pre><code>inline bool robot_dart::gui::magnum::gs::Camera::recording_depth () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-root_object","title":"function root_object","text":"<pre><code>Object3D &amp; robot_dart::gui::magnum::gs::Camera::root_object () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-set_camera_params","title":"function set_camera_params","text":"<pre><code>Camera &amp; robot_dart::gui::magnum::gs::Camera::set_camera_params (\n    Magnum::Float near_plane,\n    Magnum::Float far_plane,\n    Magnum::Float fov,\n    Magnum::Int width,\n    Magnum::Int height\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-set_far_plane","title":"function set_far_plane","text":"<pre><code>Camera &amp; robot_dart::gui::magnum::gs::Camera::set_far_plane (\n    Magnum::Float far_plane\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-set_fov","title":"function set_fov","text":"<pre><code>Camera &amp; robot_dart::gui::magnum::gs::Camera::set_fov (\n    Magnum::Float fov\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-set_near_plane","title":"function set_near_plane","text":"<pre><code>Camera &amp; robot_dart::gui::magnum::gs::Camera::set_near_plane (\n    Magnum::Float near_plane\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-set_speed","title":"function set_speed","text":"<pre><code>Camera &amp; robot_dart::gui::magnum::gs::Camera::set_speed (\n    const Magnum::Vector2 &amp; speed\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-set_viewport","title":"function set_viewport","text":"<pre><code>Camera &amp; robot_dart::gui::magnum::gs::Camera::set_viewport (\n    const Magnum::Vector2i &amp; size\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-speed","title":"function speed","text":"<pre><code>inline Magnum::Vector2 robot_dart::gui::magnum::gs::Camera::speed () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-strafe","title":"function strafe","text":"<pre><code>Camera &amp; robot_dart::gui::magnum::gs::Camera::strafe (\n    Magnum::Float speed\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-transform_lights","title":"function transform_lights","text":"<pre><code>void robot_dart::gui::magnum::gs::Camera::transform_lights (\n    std::vector&lt; gs::Light &gt; &amp; lights\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-width","title":"function width","text":"<pre><code>inline Magnum::Int robot_dart::gui::magnum::gs::Camera::width () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-camera_2","title":"function ~Camera","text":"<pre><code>robot_dart::gui::magnum::gs::Camera::~Camera () \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/camera.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/","title":"Class robot_dart::gui::magnum::CubeMap","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; gs &gt; CubeMap</p> <p>Inherits the following classes: Magnum::GL::AbstractShaderProgram</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#public-types","title":"Public Types","text":"Type Name enum Magnum::UnsignedByte Flag typedef Magnum::Containers::EnumSet&lt; Flag &gt; Flags typedef Magnum::Shaders::Generic3D::Position Position typedef Magnum::Shaders::Generic3D::TextureCoordinates TextureCoordinates"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#public-functions","title":"Public Functions","text":"Type Name CubeMap (Flags flags={})  CubeMap (Magnum::NoCreateT) noexcept Flags flags () const CubeMap &amp; set_far_plane (Magnum::Float far_plane)  CubeMap &amp; set_light_index (Magnum::Int index)  CubeMap &amp; set_light_position (const Magnum::Vector3 &amp; position)  CubeMap &amp; set_material (Material &amp; material)  CubeMap &amp; set_shadow_matrices (Magnum::Matrix4 matrices)  CubeMap &amp; set_transformation_matrix (const Magnum::Matrix4 &amp; matrix)"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#enum-flag","title":"enum Flag","text":"<pre><code>enum robot_dart::gui::magnum::gs::CubeMap::Flag {\n    DiffuseTexture = 1 &lt;&lt; 0\n};\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#typedef-flags","title":"typedef Flags","text":"<pre><code>using robot_dart::gui::magnum::gs::CubeMap::Flags =  Magnum::Containers::EnumSet&lt;Flag&gt;;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#typedef-position","title":"typedef Position","text":"<pre><code>using robot_dart::gui::magnum::gs::CubeMap::Position =  Magnum::Shaders::Generic3D::Position;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#typedef-texturecoordinates","title":"typedef TextureCoordinates","text":"<pre><code>using robot_dart::gui::magnum::gs::CubeMap::TextureCoordinates =  Magnum::Shaders::Generic3D::TextureCoordinates;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#function-cubemap-12","title":"function CubeMap [\u00bd]","text":"<pre><code>explicit robot_dart::gui::magnum::gs::CubeMap::CubeMap (\n    Flags flags={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#function-cubemap-22","title":"function CubeMap [2/2]","text":"<pre><code>explicit robot_dart::gui::magnum::gs::CubeMap::CubeMap (\n    Magnum::NoCreateT\n) noexcept\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#function-flags","title":"function flags","text":"<pre><code>Flags robot_dart::gui::magnum::gs::CubeMap::flags () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#function-set_far_plane","title":"function set_far_plane","text":"<pre><code>CubeMap &amp; robot_dart::gui::magnum::gs::CubeMap::set_far_plane (\n    Magnum::Float far_plane\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#function-set_light_index","title":"function set_light_index","text":"<pre><code>CubeMap &amp; robot_dart::gui::magnum::gs::CubeMap::set_light_index (\n    Magnum::Int index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#function-set_light_position","title":"function set_light_position","text":"<pre><code>CubeMap &amp; robot_dart::gui::magnum::gs::CubeMap::set_light_position (\n    const Magnum::Vector3 &amp; position\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#function-set_material","title":"function set_material","text":"<pre><code>CubeMap &amp; robot_dart::gui::magnum::gs::CubeMap::set_material (\n    Material &amp; material\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#function-set_shadow_matrices","title":"function set_shadow_matrices","text":"<pre><code>CubeMap &amp; robot_dart::gui::magnum::gs::CubeMap::set_shadow_matrices (\n    Magnum::Matrix4 matrices\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#function-set_transformation_matrix","title":"function set_transformation_matrix","text":"<pre><code>CubeMap &amp; robot_dart::gui::magnum::gs::CubeMap::set_transformation_matrix (\n    const Magnum::Matrix4 &amp; matrix\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/cube_map.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/","title":"Class robot_dart::gui::magnum::CubeMapColor","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; gs &gt; CubeMapColor</p> <p>Inherits the following classes: Magnum::GL::AbstractShaderProgram</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#public-types","title":"Public Types","text":"Type Name enum Magnum::UnsignedByte Flag typedef Magnum::Containers::EnumSet&lt; Flag &gt; Flags typedef Magnum::Shaders::Generic3D::Position Position typedef Magnum::Shaders::Generic3D::TextureCoordinates TextureCoordinates"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#public-functions","title":"Public Functions","text":"Type Name CubeMapColor (Flags flags={})  CubeMapColor (Magnum::NoCreateT) noexcept CubeMapColor &amp; bind_cube_map_texture (Magnum::GL::CubeMapTextureArray &amp; texture)  Flags flags () const CubeMapColor &amp; set_far_plane (Magnum::Float far_plane)  CubeMapColor &amp; set_light_index (Magnum::Int index)  CubeMapColor &amp; set_light_position (const Magnum::Vector3 &amp; position)  CubeMapColor &amp; set_material (Material &amp; material)  CubeMapColor &amp; set_shadow_matrices (Magnum::Matrix4 matrices)  CubeMapColor &amp; set_transformation_matrix (const Magnum::Matrix4 &amp; matrix)"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#enum-flag","title":"enum Flag","text":"<pre><code>enum robot_dart::gui::magnum::gs::CubeMapColor::Flag {\n    DiffuseTexture = 1 &lt;&lt; 0\n};\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#typedef-flags","title":"typedef Flags","text":"<pre><code>using robot_dart::gui::magnum::gs::CubeMapColor::Flags =  Magnum::Containers::EnumSet&lt;Flag&gt;;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#typedef-position","title":"typedef Position","text":"<pre><code>using robot_dart::gui::magnum::gs::CubeMapColor::Position =  Magnum::Shaders::Generic3D::Position;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#typedef-texturecoordinates","title":"typedef TextureCoordinates","text":"<pre><code>using robot_dart::gui::magnum::gs::CubeMapColor::TextureCoordinates =  Magnum::Shaders::Generic3D::TextureCoordinates;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#function-cubemapcolor-12","title":"function CubeMapColor [\u00bd]","text":"<pre><code>explicit robot_dart::gui::magnum::gs::CubeMapColor::CubeMapColor (\n    Flags flags={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#function-cubemapcolor-22","title":"function CubeMapColor [2/2]","text":"<pre><code>explicit robot_dart::gui::magnum::gs::CubeMapColor::CubeMapColor (\n    Magnum::NoCreateT\n) noexcept\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#function-bind_cube_map_texture","title":"function bind_cube_map_texture","text":"<pre><code>CubeMapColor &amp; robot_dart::gui::magnum::gs::CubeMapColor::bind_cube_map_texture (\n    Magnum::GL::CubeMapTextureArray &amp; texture\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#function-flags","title":"function flags","text":"<pre><code>Flags robot_dart::gui::magnum::gs::CubeMapColor::flags () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#function-set_far_plane","title":"function set_far_plane","text":"<pre><code>CubeMapColor &amp; robot_dart::gui::magnum::gs::CubeMapColor::set_far_plane (\n    Magnum::Float far_plane\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#function-set_light_index","title":"function set_light_index","text":"<pre><code>CubeMapColor &amp; robot_dart::gui::magnum::gs::CubeMapColor::set_light_index (\n    Magnum::Int index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#function-set_light_position","title":"function set_light_position","text":"<pre><code>CubeMapColor &amp; robot_dart::gui::magnum::gs::CubeMapColor::set_light_position (\n    const Magnum::Vector3 &amp; position\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#function-set_material","title":"function set_material","text":"<pre><code>CubeMapColor &amp; robot_dart::gui::magnum::gs::CubeMapColor::set_material (\n    Material &amp; material\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#function-set_shadow_matrices","title":"function set_shadow_matrices","text":"<pre><code>CubeMapColor &amp; robot_dart::gui::magnum::gs::CubeMapColor::set_shadow_matrices (\n    Magnum::Matrix4 matrices\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#function-set_transformation_matrix","title":"function set_transformation_matrix","text":"<pre><code>CubeMapColor &amp; robot_dart::gui::magnum::gs::CubeMapColor::set_transformation_matrix (\n    const Magnum::Matrix4 &amp; matrix\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/cube_map_color.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/","title":"Class robot_dart::gui::magnum::Light","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; gs &gt; Light</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#public-functions","title":"Public Functions","text":"Type Name Light ()  Light (const Magnum::Vector4 &amp; position, const Material &amp; material, const Magnum::Vector3 &amp; spot_direction, Magnum::Float spot_exponent, Magnum::Float spot_cut_off, const Magnum::Vector4 &amp; attenuation, bool cast_shadows=true)  Magnum::Vector4 &amp; attenuation ()  Magnum::Vector4 attenuation () const bool casts_shadows () const Material &amp; material ()  Material material () const Magnum::Vector4 position () const Light &amp; set_attenuation (const Magnum::Vector4 &amp; attenuation)  Light &amp; set_casts_shadows (bool cast_shadows)  Light &amp; set_material (const Material &amp; material)  Light &amp; set_position (const Magnum::Vector4 &amp; position)  Light &amp; set_shadow_matrix (const Magnum::Matrix4 &amp; shadowTransform)  Light &amp; set_spot_cut_off (Magnum::Float spot_cut_off)  Light &amp; set_spot_direction (const Magnum::Vector3 &amp; spot_direction)  Light &amp; set_spot_exponent (Magnum::Float spot_exponent)  Light &amp; set_transformed_position (const Magnum::Vector4 &amp; transformed_position)  Light &amp; set_transformed_spot_direction (const Magnum::Vector3 &amp; transformed_spot_direction)  Magnum::Matrix4 shadow_matrix () const Magnum::Float &amp; spot_cut_off ()  Magnum::Float spot_cut_off () const Magnum::Vector3 spot_direction () const Magnum::Float &amp; spot_exponent ()  Magnum::Float spot_exponent () const Magnum::Vector4 &amp; transformed_position ()  Magnum::Vector4 transformed_position () const Magnum::Vector3 &amp; transformed_spot_direction ()  Magnum::Vector3 transformed_spot_direction () const"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#protected-attributes","title":"Protected Attributes","text":"Type Name Magnum::Vector4 _attenuation bool _cast_shadows   = = true Material _material Magnum::Vector4 _position Magnum::Matrix4 _shadow_transform   = {} Magnum::Float _spot_cut_off Magnum::Vector3 _spot_direction Magnum::Float _spot_exponent Magnum::Vector4 _transformed_position Magnum::Vector3 _transformed_spot_direction"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-light-12","title":"function Light [\u00bd]","text":"<pre><code>robot_dart::gui::magnum::gs::Light::Light () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-light-22","title":"function Light [2/2]","text":"<pre><code>robot_dart::gui::magnum::gs::Light::Light (\n    const Magnum::Vector4 &amp; position,\n    const Material &amp; material,\n    const Magnum::Vector3 &amp; spot_direction,\n    Magnum::Float spot_exponent,\n    Magnum::Float spot_cut_off,\n    const Magnum::Vector4 &amp; attenuation,\n    bool cast_shadows=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-attenuation-12","title":"function attenuation [\u00bd]","text":"<pre><code>Magnum::Vector4 &amp; robot_dart::gui::magnum::gs::Light::attenuation () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-attenuation-22","title":"function attenuation [2/2]","text":"<pre><code>Magnum::Vector4 robot_dart::gui::magnum::gs::Light::attenuation () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-casts_shadows","title":"function casts_shadows","text":"<pre><code>bool robot_dart::gui::magnum::gs::Light::casts_shadows () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-material-12","title":"function material [\u00bd]","text":"<pre><code>Material &amp; robot_dart::gui::magnum::gs::Light::material () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-material-22","title":"function material [2/2]","text":"<pre><code>Material robot_dart::gui::magnum::gs::Light::material () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-position","title":"function position","text":"<pre><code>Magnum::Vector4 robot_dart::gui::magnum::gs::Light::position () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-set_attenuation","title":"function set_attenuation","text":"<pre><code>Light &amp; robot_dart::gui::magnum::gs::Light::set_attenuation (\n    const Magnum::Vector4 &amp; attenuation\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-set_casts_shadows","title":"function set_casts_shadows","text":"<pre><code>Light &amp; robot_dart::gui::magnum::gs::Light::set_casts_shadows (\n    bool cast_shadows\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-set_material","title":"function set_material","text":"<pre><code>Light &amp; robot_dart::gui::magnum::gs::Light::set_material (\n    const Material &amp; material\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-set_position","title":"function set_position","text":"<pre><code>Light &amp; robot_dart::gui::magnum::gs::Light::set_position (\n    const Magnum::Vector4 &amp; position\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-set_shadow_matrix","title":"function set_shadow_matrix","text":"<pre><code>Light &amp; robot_dart::gui::magnum::gs::Light::set_shadow_matrix (\n    const Magnum::Matrix4 &amp; shadowTransform\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-set_spot_cut_off","title":"function set_spot_cut_off","text":"<pre><code>Light &amp; robot_dart::gui::magnum::gs::Light::set_spot_cut_off (\n    Magnum::Float spot_cut_off\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-set_spot_direction","title":"function set_spot_direction","text":"<pre><code>Light &amp; robot_dart::gui::magnum::gs::Light::set_spot_direction (\n    const Magnum::Vector3 &amp; spot_direction\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-set_spot_exponent","title":"function set_spot_exponent","text":"<pre><code>Light &amp; robot_dart::gui::magnum::gs::Light::set_spot_exponent (\n    Magnum::Float spot_exponent\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-set_transformed_position","title":"function set_transformed_position","text":"<pre><code>Light &amp; robot_dart::gui::magnum::gs::Light::set_transformed_position (\n    const Magnum::Vector4 &amp; transformed_position\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-set_transformed_spot_direction","title":"function set_transformed_spot_direction","text":"<pre><code>Light &amp; robot_dart::gui::magnum::gs::Light::set_transformed_spot_direction (\n    const Magnum::Vector3 &amp; transformed_spot_direction\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-shadow_matrix","title":"function shadow_matrix","text":"<pre><code>Magnum::Matrix4 robot_dart::gui::magnum::gs::Light::shadow_matrix () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-spot_cut_off-12","title":"function spot_cut_off [\u00bd]","text":"<pre><code>Magnum::Float &amp; robot_dart::gui::magnum::gs::Light::spot_cut_off () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-spot_cut_off-22","title":"function spot_cut_off [2/2]","text":"<pre><code>Magnum::Float robot_dart::gui::magnum::gs::Light::spot_cut_off () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-spot_direction","title":"function spot_direction","text":"<pre><code>Magnum::Vector3 robot_dart::gui::magnum::gs::Light::spot_direction () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-spot_exponent-12","title":"function spot_exponent [\u00bd]","text":"<pre><code>Magnum::Float &amp; robot_dart::gui::magnum::gs::Light::spot_exponent () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-spot_exponent-22","title":"function spot_exponent [2/2]","text":"<pre><code>Magnum::Float robot_dart::gui::magnum::gs::Light::spot_exponent () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-transformed_position-12","title":"function transformed_position [\u00bd]","text":"<pre><code>Magnum::Vector4 &amp; robot_dart::gui::magnum::gs::Light::transformed_position () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-transformed_position-22","title":"function transformed_position [2/2]","text":"<pre><code>Magnum::Vector4 robot_dart::gui::magnum::gs::Light::transformed_position () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-transformed_spot_direction-12","title":"function transformed_spot_direction [\u00bd]","text":"<pre><code>Magnum::Vector3 &amp; robot_dart::gui::magnum::gs::Light::transformed_spot_direction () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-transformed_spot_direction-22","title":"function transformed_spot_direction [2/2]","text":"<pre><code>Magnum::Vector3 robot_dart::gui::magnum::gs::Light::transformed_spot_direction () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#variable-_attenuation","title":"variable _attenuation","text":"<pre><code>Magnum::Vector4 robot_dart::gui::magnum::gs::Light::_attenuation;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#variable-_cast_shadows","title":"variable _cast_shadows","text":"<pre><code>bool robot_dart::gui::magnum::gs::Light::_cast_shadows;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#variable-_material","title":"variable _material","text":"<pre><code>Material robot_dart::gui::magnum::gs::Light::_material;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#variable-_position","title":"variable _position","text":"<pre><code>Magnum::Vector4 robot_dart::gui::magnum::gs::Light::_position;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#variable-_shadow_transform","title":"variable _shadow_transform","text":"<pre><code>Magnum::Matrix4 robot_dart::gui::magnum::gs::Light::_shadow_transform;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#variable-_spot_cut_off","title":"variable _spot_cut_off","text":"<pre><code>Magnum::Float robot_dart::gui::magnum::gs::Light::_spot_cut_off;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#variable-_spot_direction","title":"variable _spot_direction","text":"<pre><code>Magnum::Vector3 robot_dart::gui::magnum::gs::Light::_spot_direction;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#variable-_spot_exponent","title":"variable _spot_exponent","text":"<pre><code>Magnum::Float robot_dart::gui::magnum::gs::Light::_spot_exponent;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#variable-_transformed_position","title":"variable _transformed_position","text":"<pre><code>Magnum::Vector4 robot_dart::gui::magnum::gs::Light::_transformed_position;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#variable-_transformed_spot_direction","title":"variable _transformed_spot_direction","text":"<pre><code>Magnum::Vector3 robot_dart::gui::magnum::gs::Light::_transformed_spot_direction;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/light.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/","title":"Class robot_dart::gui::magnum::Material","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; gs &gt; Material</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#public-functions","title":"Public Functions","text":"Type Name Material ()  Material (const Magnum::Color4 &amp; ambient, const Magnum::Color4 &amp; diffuse, const Magnum::Color4 &amp; specular, Magnum::Float shininess)  Material (Magnum::GL::Texture2D * ambient_texture, Magnum::GL::Texture2D * diffuse_texture, Magnum::GL::Texture2D * specular_texture, Magnum::Float shininess)  Magnum::Color4 &amp; ambient_color ()  Magnum::Color4 ambient_color () const Magnum::GL::Texture2D * ambient_texture ()  Magnum::Color4 &amp; diffuse_color ()  Magnum::Color4 diffuse_color () const Magnum::GL::Texture2D * diffuse_texture ()  bool has_ambient_texture () const bool has_diffuse_texture () const bool has_specular_texture () const Material &amp; set_ambient_color (const Magnum::Color4 &amp; ambient)  Material &amp; set_ambient_texture (Magnum::GL::Texture2D * ambient_texture)  Material &amp; set_diffuse_color (const Magnum::Color4 &amp; diffuse)  Material &amp; set_diffuse_texture (Magnum::GL::Texture2D * diffuse_texture)  Material &amp; set_shininess (Magnum::Float shininess)  Material &amp; set_specular_color (const Magnum::Color4 &amp; specular)  Material &amp; set_specular_texture (Magnum::GL::Texture2D * specular_texture)  Magnum::Float &amp; shininess ()  Magnum::Float shininess () const Magnum::Color4 &amp; specular_color ()  Magnum::Color4 specular_color () const Magnum::GL::Texture2D * specular_texture ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#protected-attributes","title":"Protected Attributes","text":"Type Name Magnum::Color4 _ambient Magnum::GL::Texture2D * _ambient_texture   = = NULL Magnum::Color4 _diffuse Magnum::GL::Texture2D * _diffuse_texture   = = NULL Magnum::Float _shininess Magnum::Color4 _specular Magnum::GL::Texture2D * _specular_texture   = = NULL"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-material-13","title":"function Material [\u2153]","text":"<pre><code>robot_dart::gui::magnum::gs::Material::Material () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-material-23","title":"function Material [\u2154]","text":"<pre><code>robot_dart::gui::magnum::gs::Material::Material (\n    const Magnum::Color4 &amp; ambient,\n    const Magnum::Color4 &amp; diffuse,\n    const Magnum::Color4 &amp; specular,\n    Magnum::Float shininess\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-material-33","title":"function Material [3/3]","text":"<pre><code>robot_dart::gui::magnum::gs::Material::Material (\n    Magnum::GL::Texture2D * ambient_texture,\n    Magnum::GL::Texture2D * diffuse_texture,\n    Magnum::GL::Texture2D * specular_texture,\n    Magnum::Float shininess\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-ambient_color-12","title":"function ambient_color [\u00bd]","text":"<pre><code>Magnum::Color4 &amp; robot_dart::gui::magnum::gs::Material::ambient_color () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-ambient_color-22","title":"function ambient_color [2/2]","text":"<pre><code>Magnum::Color4 robot_dart::gui::magnum::gs::Material::ambient_color () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-ambient_texture","title":"function ambient_texture","text":"<pre><code>Magnum::GL::Texture2D * robot_dart::gui::magnum::gs::Material::ambient_texture () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-diffuse_color-12","title":"function diffuse_color [\u00bd]","text":"<pre><code>Magnum::Color4 &amp; robot_dart::gui::magnum::gs::Material::diffuse_color () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-diffuse_color-22","title":"function diffuse_color [2/2]","text":"<pre><code>Magnum::Color4 robot_dart::gui::magnum::gs::Material::diffuse_color () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-diffuse_texture","title":"function diffuse_texture","text":"<pre><code>Magnum::GL::Texture2D * robot_dart::gui::magnum::gs::Material::diffuse_texture () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-has_ambient_texture","title":"function has_ambient_texture","text":"<pre><code>bool robot_dart::gui::magnum::gs::Material::has_ambient_texture () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-has_diffuse_texture","title":"function has_diffuse_texture","text":"<pre><code>bool robot_dart::gui::magnum::gs::Material::has_diffuse_texture () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-has_specular_texture","title":"function has_specular_texture","text":"<pre><code>bool robot_dart::gui::magnum::gs::Material::has_specular_texture () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-set_ambient_color","title":"function set_ambient_color","text":"<pre><code>Material &amp; robot_dart::gui::magnum::gs::Material::set_ambient_color (\n    const Magnum::Color4 &amp; ambient\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-set_ambient_texture","title":"function set_ambient_texture","text":"<pre><code>Material &amp; robot_dart::gui::magnum::gs::Material::set_ambient_texture (\n    Magnum::GL::Texture2D * ambient_texture\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-set_diffuse_color","title":"function set_diffuse_color","text":"<pre><code>Material &amp; robot_dart::gui::magnum::gs::Material::set_diffuse_color (\n    const Magnum::Color4 &amp; diffuse\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-set_diffuse_texture","title":"function set_diffuse_texture","text":"<pre><code>Material &amp; robot_dart::gui::magnum::gs::Material::set_diffuse_texture (\n    Magnum::GL::Texture2D * diffuse_texture\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-set_shininess","title":"function set_shininess","text":"<pre><code>Material &amp; robot_dart::gui::magnum::gs::Material::set_shininess (\n    Magnum::Float shininess\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-set_specular_color","title":"function set_specular_color","text":"<pre><code>Material &amp; robot_dart::gui::magnum::gs::Material::set_specular_color (\n    const Magnum::Color4 &amp; specular\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-set_specular_texture","title":"function set_specular_texture","text":"<pre><code>Material &amp; robot_dart::gui::magnum::gs::Material::set_specular_texture (\n    Magnum::GL::Texture2D * specular_texture\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-shininess-12","title":"function shininess [\u00bd]","text":"<pre><code>Magnum::Float &amp; robot_dart::gui::magnum::gs::Material::shininess () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-shininess-22","title":"function shininess [2/2]","text":"<pre><code>Magnum::Float robot_dart::gui::magnum::gs::Material::shininess () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-specular_color-12","title":"function specular_color [\u00bd]","text":"<pre><code>Magnum::Color4 &amp; robot_dart::gui::magnum::gs::Material::specular_color () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-specular_color-22","title":"function specular_color [2/2]","text":"<pre><code>Magnum::Color4 robot_dart::gui::magnum::gs::Material::specular_color () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-specular_texture","title":"function specular_texture","text":"<pre><code>Magnum::GL::Texture2D * robot_dart::gui::magnum::gs::Material::specular_texture () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#variable-_ambient","title":"variable _ambient","text":"<pre><code>Magnum::Color4 robot_dart::gui::magnum::gs::Material::_ambient;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#variable-_ambient_texture","title":"variable _ambient_texture","text":"<pre><code>Magnum::GL::Texture2D* robot_dart::gui::magnum::gs::Material::_ambient_texture;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#variable-_diffuse","title":"variable _diffuse","text":"<pre><code>Magnum::Color4 robot_dart::gui::magnum::gs::Material::_diffuse;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#variable-_diffuse_texture","title":"variable _diffuse_texture","text":"<pre><code>Magnum::GL::Texture2D* robot_dart::gui::magnum::gs::Material::_diffuse_texture;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#variable-_shininess","title":"variable _shininess","text":"<pre><code>Magnum::Float robot_dart::gui::magnum::gs::Material::_shininess;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#variable-_specular","title":"variable _specular","text":"<pre><code>Magnum::Color4 robot_dart::gui::magnum::gs::Material::_specular;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#variable-_specular_texture","title":"variable _specular_texture","text":"<pre><code>Magnum::GL::Texture2D* robot_dart::gui::magnum::gs::Material::_specular_texture;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/material.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/","title":"Class robot_dart::gui::magnum::PhongMultiLight","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; gs &gt; PhongMultiLight</p> <p>Inherits the following classes: Magnum::GL::AbstractShaderProgram</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#public-types","title":"Public Types","text":"Type Name enum Magnum::UnsignedByte Flag typedef Magnum::Containers::EnumSet&lt; Flag &gt; Flags typedef Magnum::Shaders::Generic3D::Normal Normal typedef Magnum::Shaders::Generic3D::Position Position typedef Magnum::Shaders::Generic3D::TextureCoordinates TextureCoordinates"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#public-functions","title":"Public Functions","text":"Type Name PhongMultiLight (Flags flags={}, Magnum::Int max_lights=10)  PhongMultiLight (Magnum::NoCreateT) noexcept PhongMultiLight &amp; bind_cube_map_color_texture (Magnum::GL::CubeMapTextureArray &amp; texture)  PhongMultiLight &amp; bind_cube_map_texture (Magnum::GL::CubeMapTextureArray &amp; texture)  PhongMultiLight &amp; bind_shadow_color_texture (Magnum::GL::Texture2DArray &amp; texture)  PhongMultiLight &amp; bind_shadow_texture (Magnum::GL::Texture2DArray &amp; texture)  Flags flags () const Magnum::Int max_lights () const PhongMultiLight &amp; set_camera_matrix (const Magnum::Matrix4 &amp; matrix)  PhongMultiLight &amp; set_far_plane (Magnum::Float far_plane)  PhongMultiLight &amp; set_is_shadowed (bool shadows)  PhongMultiLight &amp; set_light (Magnum::Int i, const Light &amp; light)  PhongMultiLight &amp; set_material (Material &amp; material)  PhongMultiLight &amp; set_normal_matrix (const Magnum::Matrix3x3 &amp; matrix)  PhongMultiLight &amp; set_projection_matrix (const Magnum::Matrix4 &amp; matrix)  PhongMultiLight &amp; set_specular_strength (Magnum::Float specular_strength)  PhongMultiLight &amp; set_transformation_matrix (const Magnum::Matrix4 &amp; matrix)  PhongMultiLight &amp; set_transparent_shadows (bool shadows)"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#enum-flag","title":"enum Flag","text":"<pre><code>enum robot_dart::gui::magnum::gs::PhongMultiLight::Flag {\n    AmbientTexture = 1 &lt;&lt; 0,\n    DiffuseTexture = 1 &lt;&lt; 1,\n    SpecularTexture = 1 &lt;&lt; 2\n};\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#typedef-flags","title":"typedef Flags","text":"<pre><code>using robot_dart::gui::magnum::gs::PhongMultiLight::Flags =  Magnum::Containers::EnumSet&lt;Flag&gt;;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#typedef-normal","title":"typedef Normal","text":"<pre><code>using robot_dart::gui::magnum::gs::PhongMultiLight::Normal =  Magnum::Shaders::Generic3D::Normal;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#typedef-position","title":"typedef Position","text":"<pre><code>using robot_dart::gui::magnum::gs::PhongMultiLight::Position =  Magnum::Shaders::Generic3D::Position;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#typedef-texturecoordinates","title":"typedef TextureCoordinates","text":"<pre><code>using robot_dart::gui::magnum::gs::PhongMultiLight::TextureCoordinates =  Magnum::Shaders::Generic3D::TextureCoordinates;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-phongmultilight-12","title":"function PhongMultiLight [\u00bd]","text":"<pre><code>explicit robot_dart::gui::magnum::gs::PhongMultiLight::PhongMultiLight (\n    Flags flags={},\n    Magnum::Int max_lights=10\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-phongmultilight-22","title":"function PhongMultiLight [2/2]","text":"<pre><code>explicit robot_dart::gui::magnum::gs::PhongMultiLight::PhongMultiLight (\n    Magnum::NoCreateT\n) noexcept\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-bind_cube_map_color_texture","title":"function bind_cube_map_color_texture","text":"<pre><code>PhongMultiLight &amp; robot_dart::gui::magnum::gs::PhongMultiLight::bind_cube_map_color_texture (\n    Magnum::GL::CubeMapTextureArray &amp; texture\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-bind_cube_map_texture","title":"function bind_cube_map_texture","text":"<pre><code>PhongMultiLight &amp; robot_dart::gui::magnum::gs::PhongMultiLight::bind_cube_map_texture (\n    Magnum::GL::CubeMapTextureArray &amp; texture\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-bind_shadow_color_texture","title":"function bind_shadow_color_texture","text":"<pre><code>PhongMultiLight &amp; robot_dart::gui::magnum::gs::PhongMultiLight::bind_shadow_color_texture (\n    Magnum::GL::Texture2DArray &amp; texture\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-bind_shadow_texture","title":"function bind_shadow_texture","text":"<pre><code>PhongMultiLight &amp; robot_dart::gui::magnum::gs::PhongMultiLight::bind_shadow_texture (\n    Magnum::GL::Texture2DArray &amp; texture\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-flags","title":"function flags","text":"<pre><code>Flags robot_dart::gui::magnum::gs::PhongMultiLight::flags () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-max_lights","title":"function max_lights","text":"<pre><code>Magnum::Int robot_dart::gui::magnum::gs::PhongMultiLight::max_lights () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-set_camera_matrix","title":"function set_camera_matrix","text":"<pre><code>PhongMultiLight &amp; robot_dart::gui::magnum::gs::PhongMultiLight::set_camera_matrix (\n    const Magnum::Matrix4 &amp; matrix\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-set_far_plane","title":"function set_far_plane","text":"<pre><code>PhongMultiLight &amp; robot_dart::gui::magnum::gs::PhongMultiLight::set_far_plane (\n    Magnum::Float far_plane\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-set_is_shadowed","title":"function set_is_shadowed","text":"<pre><code>PhongMultiLight &amp; robot_dart::gui::magnum::gs::PhongMultiLight::set_is_shadowed (\n    bool shadows\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-set_light","title":"function set_light","text":"<pre><code>PhongMultiLight &amp; robot_dart::gui::magnum::gs::PhongMultiLight::set_light (\n    Magnum::Int i,\n    const Light &amp; light\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-set_material","title":"function set_material","text":"<pre><code>PhongMultiLight &amp; robot_dart::gui::magnum::gs::PhongMultiLight::set_material (\n    Material &amp; material\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-set_normal_matrix","title":"function set_normal_matrix","text":"<pre><code>PhongMultiLight &amp; robot_dart::gui::magnum::gs::PhongMultiLight::set_normal_matrix (\n    const Magnum::Matrix3x3 &amp; matrix\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-set_projection_matrix","title":"function set_projection_matrix","text":"<pre><code>PhongMultiLight &amp; robot_dart::gui::magnum::gs::PhongMultiLight::set_projection_matrix (\n    const Magnum::Matrix4 &amp; matrix\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-set_specular_strength","title":"function set_specular_strength","text":"<pre><code>PhongMultiLight &amp; robot_dart::gui::magnum::gs::PhongMultiLight::set_specular_strength (\n    Magnum::Float specular_strength\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-set_transformation_matrix","title":"function set_transformation_matrix","text":"<pre><code>PhongMultiLight &amp; robot_dart::gui::magnum::gs::PhongMultiLight::set_transformation_matrix (\n    const Magnum::Matrix4 &amp; matrix\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-set_transparent_shadows","title":"function set_transparent_shadows","text":"<pre><code>PhongMultiLight &amp; robot_dart::gui::magnum::gs::PhongMultiLight::set_transparent_shadows (\n    bool shadows\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/phong_multi_light.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/","title":"Class robot_dart::gui::magnum::ShadowMap","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; gs &gt; ShadowMap</p> <p>Inherits the following classes: Magnum::GL::AbstractShaderProgram</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#public-types","title":"Public Types","text":"Type Name enum Magnum::UnsignedByte Flag typedef Magnum::Containers::EnumSet&lt; Flag &gt; Flags typedef Magnum::Shaders::Generic3D::Position Position typedef Magnum::Shaders::Generic3D::TextureCoordinates TextureCoordinates"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#public-functions","title":"Public Functions","text":"Type Name ShadowMap (Flags flags={})  ShadowMap (Magnum::NoCreateT) noexcept Flags flags () const ShadowMap &amp; set_material (Material &amp; material)  ShadowMap &amp; set_projection_matrix (const Magnum::Matrix4 &amp; matrix)  ShadowMap &amp; set_transformation_matrix (const Magnum::Matrix4 &amp; matrix)"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#enum-flag","title":"enum Flag","text":"<pre><code>enum robot_dart::gui::magnum::gs::ShadowMap::Flag {\n    DiffuseTexture = 1 &lt;&lt; 0\n};\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#typedef-flags","title":"typedef Flags","text":"<pre><code>using robot_dart::gui::magnum::gs::ShadowMap::Flags =  Magnum::Containers::EnumSet&lt;Flag&gt;;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#typedef-position","title":"typedef Position","text":"<pre><code>using robot_dart::gui::magnum::gs::ShadowMap::Position =  Magnum::Shaders::Generic3D::Position;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#typedef-texturecoordinates","title":"typedef TextureCoordinates","text":"<pre><code>using robot_dart::gui::magnum::gs::ShadowMap::TextureCoordinates =  Magnum::Shaders::Generic3D::TextureCoordinates;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#function-shadowmap-12","title":"function ShadowMap [\u00bd]","text":"<pre><code>explicit robot_dart::gui::magnum::gs::ShadowMap::ShadowMap (\n    Flags flags={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#function-shadowmap-22","title":"function ShadowMap [2/2]","text":"<pre><code>explicit robot_dart::gui::magnum::gs::ShadowMap::ShadowMap (\n    Magnum::NoCreateT\n) noexcept\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#function-flags","title":"function flags","text":"<pre><code>Flags robot_dart::gui::magnum::gs::ShadowMap::flags () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#function-set_material","title":"function set_material","text":"<pre><code>ShadowMap &amp; robot_dart::gui::magnum::gs::ShadowMap::set_material (\n    Material &amp; material\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#function-set_projection_matrix","title":"function set_projection_matrix","text":"<pre><code>ShadowMap &amp; robot_dart::gui::magnum::gs::ShadowMap::set_projection_matrix (\n    const Magnum::Matrix4 &amp; matrix\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#function-set_transformation_matrix","title":"function set_transformation_matrix","text":"<pre><code>ShadowMap &amp; robot_dart::gui::magnum::gs::ShadowMap::set_transformation_matrix (\n    const Magnum::Matrix4 &amp; matrix\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/shadow_map.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/","title":"Class robot_dart::gui::magnum::ShadowMapColor","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; gs &gt; ShadowMapColor</p> <p>Inherits the following classes: Magnum::GL::AbstractShaderProgram</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#public-types","title":"Public Types","text":"Type Name enum Magnum::UnsignedByte Flag typedef Magnum::Containers::EnumSet&lt; Flag &gt; Flags typedef Magnum::Shaders::Generic3D::Position Position typedef Magnum::Shaders::Generic3D::TextureCoordinates TextureCoordinates"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#public-functions","title":"Public Functions","text":"Type Name ShadowMapColor (Flags flags={})  ShadowMapColor (Magnum::NoCreateT) noexcept Flags flags () const ShadowMapColor &amp; set_material (Material &amp; material)  ShadowMapColor &amp; set_projection_matrix (const Magnum::Matrix4 &amp; matrix)  ShadowMapColor &amp; set_transformation_matrix (const Magnum::Matrix4 &amp; matrix)"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#enum-flag","title":"enum Flag","text":"<pre><code>enum robot_dart::gui::magnum::gs::ShadowMapColor::Flag {\n    DiffuseTexture = 1 &lt;&lt; 0\n};\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#typedef-flags","title":"typedef Flags","text":"<pre><code>using robot_dart::gui::magnum::gs::ShadowMapColor::Flags =  Magnum::Containers::EnumSet&lt;Flag&gt;;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#typedef-position","title":"typedef Position","text":"<pre><code>using robot_dart::gui::magnum::gs::ShadowMapColor::Position =  Magnum::Shaders::Generic3D::Position;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#typedef-texturecoordinates","title":"typedef TextureCoordinates","text":"<pre><code>using robot_dart::gui::magnum::gs::ShadowMapColor::TextureCoordinates =  Magnum::Shaders::Generic3D::TextureCoordinates;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#function-shadowmapcolor-12","title":"function ShadowMapColor [\u00bd]","text":"<pre><code>explicit robot_dart::gui::magnum::gs::ShadowMapColor::ShadowMapColor (\n    Flags flags={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#function-shadowmapcolor-22","title":"function ShadowMapColor [2/2]","text":"<pre><code>explicit robot_dart::gui::magnum::gs::ShadowMapColor::ShadowMapColor (\n    Magnum::NoCreateT\n) noexcept\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#function-flags","title":"function flags","text":"<pre><code>Flags robot_dart::gui::magnum::gs::ShadowMapColor::flags () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#function-set_material","title":"function set_material","text":"<pre><code>ShadowMapColor &amp; robot_dart::gui::magnum::gs::ShadowMapColor::set_material (\n    Material &amp; material\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#function-set_projection_matrix","title":"function set_projection_matrix","text":"<pre><code>ShadowMapColor &amp; robot_dart::gui::magnum::gs::ShadowMapColor::set_projection_matrix (\n    const Magnum::Matrix4 &amp; matrix\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#function-set_transformation_matrix","title":"function set_transformation_matrix","text":"<pre><code>ShadowMapColor &amp; robot_dart::gui::magnum::gs::ShadowMapColor::set_transformation_matrix (\n    const Magnum::Matrix4 &amp; matrix\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/shadow_map_color.hpp</code></p>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1sensor/","title":"Namespace robot_dart::gui::magnum::sensor","text":"<p>Namespace List &gt; robot_dart &gt; gui &gt; magnum &gt; sensor</p>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1sensor/#classes","title":"Classes","text":"Type Name class Camera <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/sensor/camera.cpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/","title":"Class robot_dart::gui::magnum::sensor::Camera","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; sensor &gt; Camera</p> <p>Inherits the following classes: robot_dart::sensor::Sensor</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#public-functions","title":"Public Functions","text":"Type Name Camera (BaseApplication * app, size_t width, size_t height, size_t freq=30, bool draw_debug=false)  virtual void attach_to_body (dart::dynamics::BodyNode * body, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) override virtual void attach_to_joint (dart::dynamics::Joint *, const Eigen::Isometry3d &amp;) override virtual void calculate (double) override gs::Camera &amp; camera ()  const gs::Camera &amp; camera () const Eigen::Matrix4d camera_extrinsic_matrix () const Eigen::Matrix3d camera_intrinsic_matrix () const DepthImage depth_array ()  GrayscaleImage depth_image ()  void draw_debug (bool draw=true)  bool drawing_debug () const Image image ()  virtual void init () override void look_at (const Eigen::Vector3d &amp; camera_pos, const Eigen::Vector3d &amp; look_at=Eigen::Vector3d(0, 0, 0), const Eigen::Vector3d &amp; up=Eigen::Vector3d(0, 0, 1))  Magnum::Image2D * magnum_depth_image ()  Magnum::Image2D * magnum_image ()  GrayscaleImage raw_depth_image ()  void record_video (const std::string &amp; video_fname)  virtual std::string type () override const ~Camera ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#public-functions-inherited-from-robot_dartsensorsensor","title":"Public Functions inherited from robot_dart::sensor::Sensor","text":"<p>See robot_dart::sensor::Sensor</p> Type Name Sensor (size_t freq=40)  void activate (bool enable=true)  bool active () const virtual void attach_to_body (dart::dynamics::BodyNode * body, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  void attach_to_body (const std::shared_ptr&lt; Robot &gt; &amp; robot, const std::string &amp; body_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  virtual void attach_to_joint (dart::dynamics::Joint * joint, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  void attach_to_joint (const std::shared_ptr&lt; Robot &gt; &amp; robot, const std::string &amp; joint_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  const std::string &amp; attached_to () const virtual void calculate (double) = 0 void detach ()  size_t frequency () const virtual void init () = 0 const Eigen::Isometry3d &amp; pose () const void refresh (double t)  void set_frequency (size_t freq)  void set_pose (const Eigen::Isometry3d &amp; tf)  void set_simu (RobotDARTSimu * simu)  const RobotDARTSimu * simu () const virtual std::string type () const = 0 virtual ~Sensor ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#protected-attributes","title":"Protected Attributes","text":"Type Name std::unique_ptr&lt; gs::Camera &gt; _camera Magnum::GL::Renderbuffer _color Magnum::GL::Renderbuffer _depth bool _draw_debug Magnum::PixelFormat _format Magnum::GL::Framebuffer _framebuffer   = {Magnum::NoCreate} size_t _height BaseApplication * _magnum_app size_t _width"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#protected-attributes-inherited-from-robot_dartsensorsensor","title":"Protected Attributes inherited from robot_dart::sensor::Sensor","text":"<p>See robot_dart::sensor::Sensor</p> Type Name bool _active Eigen::Isometry3d _attached_tf bool _attached_to_body   = = false bool _attached_to_joint   = = false bool _attaching_to_body   = = false bool _attaching_to_joint   = = false dart::dynamics::BodyNode * _body_attached size_t _frequency dart::dynamics::Joint * _joint_attached RobotDARTSimu * _simu   = = nullptr Eigen::Isometry3d _world_pose"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-camera","title":"function Camera","text":"<pre><code>robot_dart::gui::magnum::sensor::Camera::Camera (\n    BaseApplication * app,\n    size_t width,\n    size_t height,\n    size_t freq=30,\n    bool draw_debug=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-attach_to_body","title":"function attach_to_body","text":"<pre><code>virtual void robot_dart::gui::magnum::sensor::Camera::attach_to_body (\n    dart::dynamics::BodyNode * body,\n    const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()\n) override\n</code></pre> <p>Implements robot_dart::sensor::Sensor::attach_to_body</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-attach_to_joint","title":"function attach_to_joint","text":"<pre><code>inline virtual void robot_dart::gui::magnum::sensor::Camera::attach_to_joint (\n    dart::dynamics::Joint *,\n    const Eigen::Isometry3d &amp;\n) override\n</code></pre> <p>Implements robot_dart::sensor::Sensor::attach_to_joint</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-calculate","title":"function calculate","text":"<pre><code>virtual void robot_dart::gui::magnum::sensor::Camera::calculate (\n    double\n) override\n</code></pre> <p>Implements robot_dart::sensor::Sensor::calculate</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-camera-12","title":"function camera [\u00bd]","text":"<pre><code>inline gs::Camera &amp; robot_dart::gui::magnum::sensor::Camera::camera () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-camera-22","title":"function camera [2/2]","text":"<pre><code>inline const gs::Camera &amp; robot_dart::gui::magnum::sensor::Camera::camera () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-camera_extrinsic_matrix","title":"function camera_extrinsic_matrix","text":"<pre><code>Eigen::Matrix4d robot_dart::gui::magnum::sensor::Camera::camera_extrinsic_matrix () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-camera_intrinsic_matrix","title":"function camera_intrinsic_matrix","text":"<pre><code>Eigen::Matrix3d robot_dart::gui::magnum::sensor::Camera::camera_intrinsic_matrix () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-depth_array","title":"function depth_array","text":"<pre><code>DepthImage robot_dart::gui::magnum::sensor::Camera::depth_array () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-depth_image","title":"function depth_image","text":"<pre><code>GrayscaleImage robot_dart::gui::magnum::sensor::Camera::depth_image () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-draw_debug","title":"function draw_debug","text":"<pre><code>inline void robot_dart::gui::magnum::sensor::Camera::draw_debug (\n    bool draw=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-drawing_debug","title":"function drawing_debug","text":"<pre><code>inline bool robot_dart::gui::magnum::sensor::Camera::drawing_debug () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-image","title":"function image","text":"<pre><code>inline Image robot_dart::gui::magnum::sensor::Camera::image () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-init","title":"function init","text":"<pre><code>virtual void robot_dart::gui::magnum::sensor::Camera::init () override\n</code></pre> <p>Implements robot_dart::sensor::Sensor::init</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-look_at","title":"function look_at","text":"<pre><code>void robot_dart::gui::magnum::sensor::Camera::look_at (\n    const Eigen::Vector3d &amp; camera_pos,\n    const Eigen::Vector3d &amp; look_at=Eigen::Vector3d(0, 0, 0),\n    const Eigen::Vector3d &amp; up=Eigen::Vector3d(0, 0, 1)\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-magnum_depth_image","title":"function magnum_depth_image","text":"<pre><code>inline Magnum::Image2D * robot_dart::gui::magnum::sensor::Camera::magnum_depth_image () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-magnum_image","title":"function magnum_image","text":"<pre><code>inline Magnum::Image2D * robot_dart::gui::magnum::sensor::Camera::magnum_image () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-raw_depth_image","title":"function raw_depth_image","text":"<pre><code>GrayscaleImage robot_dart::gui::magnum::sensor::Camera::raw_depth_image () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-record_video","title":"function record_video","text":"<pre><code>inline void robot_dart::gui::magnum::sensor::Camera::record_video (\n    const std::string &amp; video_fname\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-type","title":"function type","text":"<pre><code>virtual std::string robot_dart::gui::magnum::sensor::Camera::type () override const\n</code></pre> <p>Implements robot_dart::sensor::Sensor::type</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-camera_1","title":"function ~Camera","text":"<pre><code>inline robot_dart::gui::magnum::sensor::Camera::~Camera () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#variable-_camera","title":"variable _camera","text":"<pre><code>std::unique_ptr&lt;gs::Camera&gt; robot_dart::gui::magnum::sensor::Camera::_camera;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#variable-_color","title":"variable _color","text":"<pre><code>Magnum::GL::Renderbuffer robot_dart::gui::magnum::sensor::Camera::_color;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#variable-_depth","title":"variable _depth","text":"<pre><code>Magnum::GL::Renderbuffer robot_dart::gui::magnum::sensor::Camera::_depth;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#variable-_draw_debug","title":"variable _draw_debug","text":"<pre><code>bool robot_dart::gui::magnum::sensor::Camera::_draw_debug;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#variable-_format","title":"variable _format","text":"<pre><code>Magnum::PixelFormat robot_dart::gui::magnum::sensor::Camera::_format;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#variable-_framebuffer","title":"variable _framebuffer","text":"<pre><code>Magnum::GL::Framebuffer robot_dart::gui::magnum::sensor::Camera::_framebuffer;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#variable-_height","title":"variable _height","text":"<pre><code>size_t robot_dart::gui::magnum::sensor::Camera::_height;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#variable-_magnum_app","title":"variable _magnum_app","text":"<pre><code>BaseApplication* robot_dart::gui::magnum::sensor::Camera::_magnum_app;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#variable-_width","title":"variable _width","text":"<pre><code>size_t robot_dart::gui::magnum::sensor::Camera::_width;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/sensor/camera.hpp</code></p>"},{"location":"api/namespacerobot__dart_1_1robots/","title":"Namespace robot_dart::robots","text":"<p>Namespace List &gt; robot_dart &gt; robots</p>"},{"location":"api/namespacerobot__dart_1_1robots/#classes","title":"Classes","text":"Type Name class A1 class Arm class Franka class Hexapod class ICub class Iiwa class Pendulum class Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __ class TalosFastCollision class TalosLight class Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __ class Ur3e class Ur3eHand class Vx300 <p>The documentation for this class was generated from the following file <code>robot_dart/robots/a1.cpp</code></p>"},{"location":"api/classrobot__dart_1_1robots_1_1A1/","title":"Class robot_dart::robots::A1","text":"<p>ClassList &gt; robot_dart &gt; robots &gt; A1</p> <p>Inherits the following classes: robot_dart::Robot</p>"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#public-functions","title":"Public Functions","text":"Type Name A1 (size_t frequency=1000, const std::string &amp; urdf=\"unitree_a1/a1.urdf\", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('a1\\_description', 'unitree\\_a1/a1\\_description'))  const sensor::IMU &amp; imu () const virtual void reset () override"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#protected-attributes","title":"Protected Attributes","text":"Type Name std::shared_ptr&lt; sensor::IMU &gt; _imu"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1A1/#function-a1","title":"function A1","text":"<pre><code>robot_dart::robots::A1::A1 (\n    size_t frequency=1000,\n    const std::string &amp; urdf=\"unitree_a1/a1.urdf\",\n    const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('a1_description', 'unitree_a1/a1_description')\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#function-imu","title":"function imu","text":"<pre><code>inline const sensor::IMU &amp; robot_dart::robots::A1::imu () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#function-reset","title":"function reset","text":"<pre><code>virtual void robot_dart::robots::A1::reset () override\n</code></pre> <p>Implements robot_dart::Robot::reset</p>"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1A1/#variable-_imu","title":"variable _imu","text":"<pre><code>std::shared_ptr&lt;sensor::IMU&gt; robot_dart::robots::A1::_imu;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/robots/a1.hpp</code></p>"},{"location":"api/classrobot__dart_1_1robots_1_1Arm/","title":"Class robot_dart::robots::Arm","text":"<p>ClassList &gt; robot_dart &gt; robots &gt; Arm</p> <p>Inherits the following classes: robot_dart::Robot</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Arm/#public-functions","title":"Public Functions","text":"Type Name Arm (const std::string &amp; urdf=\"arm.urdf\")"},{"location":"api/classrobot__dart_1_1robots_1_1Arm/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Arm/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Arm/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Arm/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Arm/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Arm/#function-arm","title":"function Arm","text":"<pre><code>inline robot_dart::robots::Arm::Arm (\n    const std::string &amp; urdf=\"arm.urdf\"\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/robots/arm.hpp</code></p>"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/","title":"Class robot_dart::robots::Franka","text":"<p>ClassList &gt; robot_dart &gt; robots &gt; Franka</p> <p>Inherits the following classes: robot_dart::Robot</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#public-functions","title":"Public Functions","text":"Type Name Franka (size_t frequency=1000, const std::string &amp; urdf=\"franka/franka.urdf\", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('franka\\_description', 'franka/franka\\_description'))  const sensor::ForceTorque &amp; ft_wrist () const"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#protected-attributes","title":"Protected Attributes","text":"Type Name std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_wrist"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#function-franka","title":"function Franka","text":"<pre><code>robot_dart::robots::Franka::Franka (\n    size_t frequency=1000,\n    const std::string &amp; urdf=\"franka/franka.urdf\",\n    const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('franka_description', 'franka/franka_description')\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#function-ft_wrist","title":"function ft_wrist","text":"<pre><code>inline const sensor::ForceTorque &amp; robot_dart::robots::Franka::ft_wrist () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#variable-_ft_wrist","title":"variable _ft_wrist","text":"<pre><code>std::shared_ptr&lt;sensor::ForceTorque&gt; robot_dart::robots::Franka::_ft_wrist;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#protected-functions-documentation","title":"Protected Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#function-_post_addition","title":"function _post_addition","text":"<pre><code>virtual void robot_dart::robots::Franka::_post_addition (\n    RobotDARTSimu *\n) override\n</code></pre> <p>Implements robot_dart::Robot::_post_addition</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#function-_post_removal","title":"function _post_removal","text":"<pre><code>virtual void robot_dart::robots::Franka::_post_removal (\n    RobotDARTSimu *\n) override\n</code></pre> <p>Implements robot_dart::Robot::_post_removal</p> <p>The documentation for this class was generated from the following file <code>robot_dart/robots/franka.hpp</code></p>"},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/","title":"Class robot_dart::robots::Hexapod","text":"<p>ClassList &gt; robot_dart &gt; robots &gt; Hexapod</p> <p>Inherits the following classes: robot_dart::Robot</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#public-functions","title":"Public Functions","text":"Type Name Hexapod (const std::string &amp; urdf=\"pexod.urdf\")  virtual void reset () override"},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#function-hexapod","title":"function Hexapod","text":"<pre><code>inline robot_dart::robots::Hexapod::Hexapod (\n    const std::string &amp; urdf=\"pexod.urdf\"\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#function-reset","title":"function reset","text":"<pre><code>inline virtual void robot_dart::robots::Hexapod::reset () override\n</code></pre> <p>Implements robot_dart::Robot::reset</p> <p>The documentation for this class was generated from the following file <code>robot_dart/robots/hexapod.hpp</code></p>"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/","title":"Class robot_dart::robots::ICub","text":"<p>ClassList &gt; robot_dart &gt; robots &gt; ICub</p> <p>Inherits the following classes: robot_dart::Robot</p>"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#public-functions","title":"Public Functions","text":"Type Name ICub (size_t frequency=1000, const std::string &amp; urdf=\"icub/icub.urdf\", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('icub\\_description', 'icub/icub\\_description'))  const sensor::ForceTorque &amp; ft_foot_left () const const sensor::ForceTorque &amp; ft_foot_right () const const sensor::IMU &amp; imu () const virtual void reset () override"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#protected-attributes","title":"Protected Attributes","text":"Type Name std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_foot_left std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_foot_right std::shared_ptr&lt; sensor::IMU &gt; _imu"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#function-icub","title":"function ICub","text":"<pre><code>robot_dart::robots::ICub::ICub (\n    size_t frequency=1000,\n    const std::string &amp; urdf=\"icub/icub.urdf\",\n    const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('icub_description', 'icub/icub_description')\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#function-ft_foot_left","title":"function ft_foot_left","text":"<pre><code>inline const sensor::ForceTorque &amp; robot_dart::robots::ICub::ft_foot_left () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#function-ft_foot_right","title":"function ft_foot_right","text":"<pre><code>inline const sensor::ForceTorque &amp; robot_dart::robots::ICub::ft_foot_right () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#function-imu","title":"function imu","text":"<pre><code>inline const sensor::IMU &amp; robot_dart::robots::ICub::imu () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#function-reset","title":"function reset","text":"<pre><code>virtual void robot_dart::robots::ICub::reset () override\n</code></pre> <p>Implements robot_dart::Robot::reset</p>"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#variable-_ft_foot_left","title":"variable _ft_foot_left","text":"<pre><code>std::shared_ptr&lt;sensor::ForceTorque&gt; robot_dart::robots::ICub::_ft_foot_left;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#variable-_ft_foot_right","title":"variable _ft_foot_right","text":"<pre><code>std::shared_ptr&lt;sensor::ForceTorque&gt; robot_dart::robots::ICub::_ft_foot_right;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#variable-_imu","title":"variable _imu","text":"<pre><code>std::shared_ptr&lt;sensor::IMU&gt; robot_dart::robots::ICub::_imu;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#protected-functions-documentation","title":"Protected Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#function-_post_addition","title":"function _post_addition","text":"<pre><code>virtual void robot_dart::robots::ICub::_post_addition (\n    RobotDARTSimu *\n) override\n</code></pre> <p>Implements robot_dart::Robot::_post_addition</p>"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#function-_post_removal","title":"function _post_removal","text":"<pre><code>virtual void robot_dart::robots::ICub::_post_removal (\n    RobotDARTSimu *\n) override\n</code></pre> <p>Implements robot_dart::Robot::_post_removal</p> <p>The documentation for this class was generated from the following file <code>robot_dart/robots/icub.hpp</code></p>"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/","title":"Class robot_dart::robots::Iiwa","text":"<p>ClassList &gt; robot_dart &gt; robots &gt; Iiwa</p> <p>Inherits the following classes: robot_dart::Robot</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#public-functions","title":"Public Functions","text":"Type Name Iiwa (size_t frequency=1000, const std::string &amp; urdf=\"iiwa/iiwa.urdf\", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('iiwa\\_description', 'iiwa/iiwa\\_description'))  const sensor::ForceTorque &amp; ft_wrist () const"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#protected-attributes","title":"Protected Attributes","text":"Type Name std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_wrist"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#function-iiwa","title":"function Iiwa","text":"<pre><code>robot_dart::robots::Iiwa::Iiwa (\n    size_t frequency=1000,\n    const std::string &amp; urdf=\"iiwa/iiwa.urdf\",\n    const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('iiwa_description', 'iiwa/iiwa_description')\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#function-ft_wrist","title":"function ft_wrist","text":"<pre><code>inline const sensor::ForceTorque &amp; robot_dart::robots::Iiwa::ft_wrist () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#variable-_ft_wrist","title":"variable _ft_wrist","text":"<pre><code>std::shared_ptr&lt;sensor::ForceTorque&gt; robot_dart::robots::Iiwa::_ft_wrist;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#protected-functions-documentation","title":"Protected Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#function-_post_addition","title":"function _post_addition","text":"<pre><code>virtual void robot_dart::robots::Iiwa::_post_addition (\n    RobotDARTSimu *\n) override\n</code></pre> <p>Implements robot_dart::Robot::_post_addition</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#function-_post_removal","title":"function _post_removal","text":"<pre><code>virtual void robot_dart::robots::Iiwa::_post_removal (\n    RobotDARTSimu *\n) override\n</code></pre> <p>Implements robot_dart::Robot::_post_removal</p> <p>The documentation for this class was generated from the following file <code>robot_dart/robots/iiwa.hpp</code></p>"},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/","title":"Class robot_dart::robots::Pendulum","text":"<p>ClassList &gt; robot_dart &gt; robots &gt; Pendulum</p> <p>Inherits the following classes: robot_dart::Robot</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/#public-functions","title":"Public Functions","text":"Type Name Pendulum (const std::string &amp; urdf=\"pendulum.urdf\")"},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/#function-pendulum","title":"function Pendulum","text":"<pre><code>inline robot_dart::robots::Pendulum::Pendulum (\n    const std::string &amp; urdf=\"pendulum.urdf\"\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/robots/pendulum.hpp</code></p>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/","title":"Class robot_dart::robots::Talos","text":"<p>ClassList &gt; robot_dart &gt; robots &gt; Talos</p> <p>datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __</p> <ul> <li><code>#include &lt;robot_dart/robots/talos.hpp&gt;</code></li> </ul> <p>Inherits the following classes: robot_dart::Robot</p> <p>Inherited by the following classes: robot_dart::robots::TalosFastCollision,  robot_dart::robots::TalosLight</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#public-types","title":"Public Types","text":"Type Name typedef std::unordered_map&lt; std::string, std::shared_ptr&lt; sensor::Torque &gt; &gt; torque_map_t"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#public-functions","title":"Public Functions","text":"Type Name Talos (size_t frequency=1000, const std::string &amp; urdf=\"talos/talos.urdf\", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('talos\\_description', 'talos/talos\\_description'))  const sensor::ForceTorque &amp; ft_foot_left () const const sensor::ForceTorque &amp; ft_foot_right () const const sensor::ForceTorque &amp; ft_wrist_left () const const sensor::ForceTorque &amp; ft_wrist_right () const const sensor::IMU &amp; imu () const virtual void reset () override const torque_map_t &amp; torques () const"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#protected-attributes","title":"Protected Attributes","text":"Type Name size_t _frequency std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_foot_left std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_foot_right std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_wrist_left std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_wrist_right std::shared_ptr&lt; sensor::IMU &gt; _imu torque_map_t _torques"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#typedef-torque_map_t","title":"typedef torque_map_t","text":"<pre><code>using robot_dart::robots::Talos::torque_map_t =  std::unordered_map&lt;std::string, std::shared_ptr&lt;sensor::Torque&gt;&gt;;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#function-talos","title":"function Talos","text":"<pre><code>robot_dart::robots::Talos::Talos (\n    size_t frequency=1000,\n    const std::string &amp; urdf=\"talos/talos.urdf\",\n    const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('talos_description', 'talos/talos_description')\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#function-ft_foot_left","title":"function ft_foot_left","text":"<pre><code>inline const sensor::ForceTorque &amp; robot_dart::robots::Talos::ft_foot_left () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#function-ft_foot_right","title":"function ft_foot_right","text":"<pre><code>inline const sensor::ForceTorque &amp; robot_dart::robots::Talos::ft_foot_right () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#function-ft_wrist_left","title":"function ft_wrist_left","text":"<pre><code>inline const sensor::ForceTorque &amp; robot_dart::robots::Talos::ft_wrist_left () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#function-ft_wrist_right","title":"function ft_wrist_right","text":"<pre><code>inline const sensor::ForceTorque &amp; robot_dart::robots::Talos::ft_wrist_right () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#function-imu","title":"function imu","text":"<pre><code>inline const sensor::IMU &amp; robot_dart::robots::Talos::imu () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#function-reset","title":"function reset","text":"<pre><code>virtual void robot_dart::robots::Talos::reset () override\n</code></pre> <p>Implements robot_dart::Robot::reset</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#function-torques","title":"function torques","text":"<pre><code>inline const torque_map_t &amp; robot_dart::robots::Talos::torques () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#variable-_frequency","title":"variable _frequency","text":"<pre><code>size_t robot_dart::robots::Talos::_frequency;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#variable-_ft_foot_left","title":"variable _ft_foot_left","text":"<pre><code>std::shared_ptr&lt;sensor::ForceTorque&gt; robot_dart::robots::Talos::_ft_foot_left;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#variable-_ft_foot_right","title":"variable _ft_foot_right","text":"<pre><code>std::shared_ptr&lt;sensor::ForceTorque&gt; robot_dart::robots::Talos::_ft_foot_right;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#variable-_ft_wrist_left","title":"variable _ft_wrist_left","text":"<pre><code>std::shared_ptr&lt;sensor::ForceTorque&gt; robot_dart::robots::Talos::_ft_wrist_left;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#variable-_ft_wrist_right","title":"variable _ft_wrist_right","text":"<pre><code>std::shared_ptr&lt;sensor::ForceTorque&gt; robot_dart::robots::Talos::_ft_wrist_right;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#variable-_imu","title":"variable _imu","text":"<pre><code>std::shared_ptr&lt;sensor::IMU&gt; robot_dart::robots::Talos::_imu;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#variable-_torques","title":"variable _torques","text":"<pre><code>torque_map_t robot_dart::robots::Talos::_torques;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#protected-functions-documentation","title":"Protected Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#function-_post_addition","title":"function _post_addition","text":"<pre><code>virtual void robot_dart::robots::Talos::_post_addition (\n    RobotDARTSimu *\n) override\n</code></pre> <p>Implements robot_dart::Robot::_post_addition</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#function-_post_removal","title":"function _post_removal","text":"<pre><code>virtual void robot_dart::robots::Talos::_post_removal (\n    RobotDARTSimu *\n) override\n</code></pre> <p>Implements robot_dart::Robot::_post_removal</p> <p>The documentation for this class was generated from the following file <code>robot_dart/robots/talos.hpp</code></p>"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/","title":"Class robot_dart::robots::TalosFastCollision","text":"<p>ClassList &gt; robot_dart &gt; robots &gt; TalosFastCollision</p> <p>Inherits the following classes: robot_dart::robots::Talos</p>"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-types-inherited-from-robot_dartrobotstalos","title":"Public Types inherited from robot_dart::robots::Talos","text":"<p>See robot_dart::robots::Talos</p> Type Name typedef std::unordered_map&lt; std::string, std::shared_ptr&lt; sensor::Torque &gt; &gt; torque_map_t"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-functions","title":"Public Functions","text":"Type Name TalosFastCollision (size_t frequency=1000, const std::string &amp; urdf=\"talos/talos_fast_collision.urdf\", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('talos\\_description', 'talos/talos\\_description'))"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-functions-inherited-from-robot_dartrobotstalos","title":"Public Functions inherited from robot_dart::robots::Talos","text":"<p>See robot_dart::robots::Talos</p> Type Name Talos (size_t frequency=1000, const std::string &amp; urdf=\"talos/talos.urdf\", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('talos\\_description', 'talos/talos\\_description'))  const sensor::ForceTorque &amp; ft_foot_left () const const sensor::ForceTorque &amp; ft_foot_right () const const sensor::ForceTorque &amp; ft_wrist_left () const const sensor::ForceTorque &amp; ft_wrist_right () const const sensor::IMU &amp; imu () const virtual void reset () override const torque_map_t &amp; torques () const"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-static-functions","title":"Public Static Functions","text":"Type Name std::vector&lt; std::tuple&lt; std::string, uint32_t, uint32_t &gt; &gt; collision_vec ()"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#protected-attributes-inherited-from-robot_dartrobotstalos","title":"Protected Attributes inherited from robot_dart::robots::Talos","text":"<p>See robot_dart::robots::Talos</p> Type Name size_t _frequency std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_foot_left std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_foot_right std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_wrist_left std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_wrist_right std::shared_ptr&lt; sensor::IMU &gt; _imu torque_map_t _torques"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#protected-functions-inherited-from-robot_dartrobotstalos","title":"Protected Functions inherited from robot_dart::robots::Talos","text":"<p>See robot_dart::robots::Talos</p> Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#function-talosfastcollision","title":"function TalosFastCollision","text":"<pre><code>inline robot_dart::robots::TalosFastCollision::TalosFastCollision (\n    size_t frequency=1000,\n    const std::string &amp; urdf=\"talos/talos_fast_collision.urdf\",\n    const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('talos_description', 'talos/talos_description')\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-static-functions-documentation","title":"Public Static Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#function-collision_vec","title":"function collision_vec","text":"<pre><code>static std::vector&lt; std::tuple&lt; std::string, uint32_t, uint32_t &gt; &gt; robot_dart::robots::TalosFastCollision::collision_vec () \n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#protected-functions-documentation","title":"Protected Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#function-_post_addition","title":"function _post_addition","text":"<pre><code>virtual void robot_dart::robots::TalosFastCollision::_post_addition (\n    RobotDARTSimu *\n) override\n</code></pre> <p>Implements robot_dart::robots::Talos::_post_addition</p> <p>The documentation for this class was generated from the following file <code>robot_dart/robots/talos.hpp</code></p>"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/","title":"Class robot_dart::robots::TalosLight","text":"<p>ClassList &gt; robot_dart &gt; robots &gt; TalosLight</p> <p>Inherits the following classes: robot_dart::robots::Talos</p>"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#public-types-inherited-from-robot_dartrobotstalos","title":"Public Types inherited from robot_dart::robots::Talos","text":"<p>See robot_dart::robots::Talos</p> Type Name typedef std::unordered_map&lt; std::string, std::shared_ptr&lt; sensor::Torque &gt; &gt; torque_map_t"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#public-functions","title":"Public Functions","text":"Type Name TalosLight (size_t frequency=1000, const std::string &amp; urdf=\"talos/talos_fast.urdf\", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('talos\\_description', 'talos/talos\\_description'))"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#public-functions-inherited-from-robot_dartrobotstalos","title":"Public Functions inherited from robot_dart::robots::Talos","text":"<p>See robot_dart::robots::Talos</p> Type Name Talos (size_t frequency=1000, const std::string &amp; urdf=\"talos/talos.urdf\", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('talos\\_description', 'talos/talos\\_description'))  const sensor::ForceTorque &amp; ft_foot_left () const const sensor::ForceTorque &amp; ft_foot_right () const const sensor::ForceTorque &amp; ft_wrist_left () const const sensor::ForceTorque &amp; ft_wrist_right () const const sensor::IMU &amp; imu () const virtual void reset () override const torque_map_t &amp; torques () const"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#protected-attributes-inherited-from-robot_dartrobotstalos","title":"Protected Attributes inherited from robot_dart::robots::Talos","text":"<p>See robot_dart::robots::Talos</p> Type Name size_t _frequency std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_foot_left std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_foot_right std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_wrist_left std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_wrist_right std::shared_ptr&lt; sensor::IMU &gt; _imu torque_map_t _torques"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#protected-functions-inherited-from-robot_dartrobotstalos","title":"Protected Functions inherited from robot_dart::robots::Talos","text":"<p>See robot_dart::robots::Talos</p> Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#function-taloslight","title":"function TalosLight","text":"<pre><code>inline robot_dart::robots::TalosLight::TalosLight (\n    size_t frequency=1000,\n    const std::string &amp; urdf=\"talos/talos_fast.urdf\",\n    const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('talos_description', 'talos/talos_description')\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/robots/talos.hpp</code></p>"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/","title":"Class robot_dart::robots::Tiago","text":"<p>ClassList &gt; robot_dart &gt; robots &gt; Tiago</p> <p>datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</p> <ul> <li><code>#include &lt;robot_dart/robots/tiago.hpp&gt;</code></li> </ul> <p>Inherits the following classes: robot_dart::Robot</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#public-functions","title":"Public Functions","text":"Type Name Tiago (size_t frequency=1000, const std::string &amp; urdf=\"tiago/tiago_steel.urdf\", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('tiago\\_description', 'tiago/tiago\\_description'))  std::vector&lt; std::string &gt; caster_joints () const const sensor::ForceTorque &amp; ft_wrist () const virtual void reset () override void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false, bool override_caster=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false, bool override_caster=false)"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#protected-attributes","title":"Protected Attributes","text":"Type Name std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_wrist"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#function-tiago","title":"function Tiago","text":"<pre><code>robot_dart::robots::Tiago::Tiago (\n    size_t frequency=1000,\n    const std::string &amp; urdf=\"tiago/tiago_steel.urdf\",\n    const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('tiago_description', 'tiago/tiago_description')\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#function-caster_joints","title":"function caster_joints","text":"<pre><code>inline std::vector&lt; std::string &gt; robot_dart::robots::Tiago::caster_joints () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#function-ft_wrist","title":"function ft_wrist","text":"<pre><code>inline const sensor::ForceTorque &amp; robot_dart::robots::Tiago::ft_wrist () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#function-reset","title":"function reset","text":"<pre><code>virtual void robot_dart::robots::Tiago::reset () override\n</code></pre> <p>Implements robot_dart::Robot::reset</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#function-set_actuator_type","title":"function set_actuator_type","text":"<pre><code>void robot_dart::robots::Tiago::set_actuator_type (\n    const std::string &amp; type,\n    const std::string &amp; joint_name,\n    bool override_mimic=false,\n    bool override_base=false,\n    bool override_caster=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#function-set_actuator_types","title":"function set_actuator_types","text":"<pre><code>void robot_dart::robots::Tiago::set_actuator_types (\n    const std::string &amp; type,\n    const std::vector&lt; std::string &gt; &amp; joint_names={},\n    bool override_mimic=false,\n    bool override_base=false,\n    bool override_caster=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#variable-_ft_wrist","title":"variable _ft_wrist","text":"<pre><code>std::shared_ptr&lt;sensor::ForceTorque&gt; robot_dart::robots::Tiago::_ft_wrist;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#protected-functions-documentation","title":"Protected Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#function-_post_addition","title":"function _post_addition","text":"<pre><code>virtual void robot_dart::robots::Tiago::_post_addition (\n    RobotDARTSimu *\n) override\n</code></pre> <p>Implements robot_dart::Robot::_post_addition</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#function-_post_removal","title":"function _post_removal","text":"<pre><code>virtual void robot_dart::robots::Tiago::_post_removal (\n    RobotDARTSimu *\n) override\n</code></pre> <p>Implements robot_dart::Robot::_post_removal</p> <p>The documentation for this class was generated from the following file <code>robot_dart/robots/tiago.hpp</code></p>"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/","title":"Class robot_dart::robots::Ur3e","text":"<p>ClassList &gt; robot_dart &gt; robots &gt; Ur3e</p> <p>Inherits the following classes: robot_dart::Robot</p> <p>Inherited by the following classes: robot_dart::robots::Ur3eHand</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#public-functions","title":"Public Functions","text":"Type Name Ur3e (size_t frequency=1000, const std::string &amp; urdf=\"ur3e/ur3e.urdf\", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('ur3e\\_description', 'ur3e/ur3e\\_description'))  const sensor::ForceTorque &amp; ft_wrist () const"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#protected-attributes","title":"Protected Attributes","text":"Type Name std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_wrist"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#function-ur3e","title":"function Ur3e","text":"<pre><code>robot_dart::robots::Ur3e::Ur3e (\n    size_t frequency=1000,\n    const std::string &amp; urdf=\"ur3e/ur3e.urdf\",\n    const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('ur3e_description', 'ur3e/ur3e_description')\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#function-ft_wrist","title":"function ft_wrist","text":"<pre><code>inline const sensor::ForceTorque &amp; robot_dart::robots::Ur3e::ft_wrist () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#variable-_ft_wrist","title":"variable _ft_wrist","text":"<pre><code>std::shared_ptr&lt;sensor::ForceTorque&gt; robot_dart::robots::Ur3e::_ft_wrist;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#protected-functions-documentation","title":"Protected Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#function-_post_addition","title":"function _post_addition","text":"<pre><code>virtual void robot_dart::robots::Ur3e::_post_addition (\n    RobotDARTSimu *\n) override\n</code></pre> <p>Implements robot_dart::Robot::_post_addition</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#function-_post_removal","title":"function _post_removal","text":"<pre><code>virtual void robot_dart::robots::Ur3e::_post_removal (\n    RobotDARTSimu *\n) override\n</code></pre> <p>Implements robot_dart::Robot::_post_removal</p> <p>The documentation for this class was generated from the following file <code>robot_dart/robots/ur3e.hpp</code></p>"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/","title":"Class robot_dart::robots::Ur3eHand","text":"<p>ClassList &gt; robot_dart &gt; robots &gt; Ur3eHand</p> <p>Inherits the following classes: robot_dart::robots::Ur3e</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#public-functions","title":"Public Functions","text":"Type Name Ur3eHand (size_t frequency=1000, const std::string &amp; urdf=\"ur3e/ur3e_with_schunk_hand.urdf\", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('ur3e\\_description', 'ur3e/ur3e\\_description'))"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#public-functions-inherited-from-robot_dartrobotsur3e","title":"Public Functions inherited from robot_dart::robots::Ur3e","text":"<p>See robot_dart::robots::Ur3e</p> Type Name Ur3e (size_t frequency=1000, const std::string &amp; urdf=\"ur3e/ur3e.urdf\", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('ur3e\\_description', 'ur3e/ur3e\\_description'))  const sensor::ForceTorque &amp; ft_wrist () const"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#protected-attributes-inherited-from-robot_dartrobotsur3e","title":"Protected Attributes inherited from robot_dart::robots::Ur3e","text":"<p>See robot_dart::robots::Ur3e</p> Type Name std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_wrist"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#protected-functions-inherited-from-robot_dartrobotsur3e","title":"Protected Functions inherited from robot_dart::robots::Ur3e","text":"<p>See robot_dart::robots::Ur3e</p> Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#function-ur3ehand","title":"function Ur3eHand","text":"<pre><code>inline robot_dart::robots::Ur3eHand::Ur3eHand (\n    size_t frequency=1000,\n    const std::string &amp; urdf=\"ur3e/ur3e_with_schunk_hand.urdf\",\n    const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('ur3e_description', 'ur3e/ur3e_description')\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/robots/ur3e.hpp</code></p>"},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/","title":"Class robot_dart::robots::Vx300","text":"<p>ClassList &gt; robot_dart &gt; robots &gt; Vx300</p> <p>Inherits the following classes: robot_dart::Robot</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/#public-functions","title":"Public Functions","text":"Type Name Vx300 (const std::string &amp; urdf=\"vx300/vx300.urdf\", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('interbotix\\_xsarm\\_descriptions', 'vx300'))"},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/#function-vx300","title":"function Vx300","text":"<pre><code>inline robot_dart::robots::Vx300::Vx300 (\n    const std::string &amp; urdf=\"vx300/vx300.urdf\",\n    const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('interbotix_xsarm_descriptions', 'vx300')\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/robots/vx300.hpp</code></p>"},{"location":"api/namespacerobot__dart_1_1sensor/","title":"Namespace robot_dart::sensor","text":"<p>Namespace List &gt; robot_dart &gt; sensor</p>"},{"location":"api/namespacerobot__dart_1_1sensor/#classes","title":"Classes","text":"Type Name class ForceTorque class IMU struct IMUConfig class Sensor class Torque <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/sensor/camera.hpp</code></p>"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/","title":"Class robot_dart::sensor::ForceTorque","text":"<p>ClassList &gt; robot_dart &gt; sensor &gt; ForceTorque</p> <p>Inherits the following classes: robot_dart::sensor::Sensor</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#public-functions","title":"Public Functions","text":"Type Name ForceTorque (dart::dynamics::Joint * joint, size_t frequency=1000, const std::string &amp; direction=\"child_to_parent\")  ForceTorque (const std::shared_ptr&lt; Robot &gt; &amp; robot, const std::string &amp; joint_name, size_t frequency=1000, const std::string &amp; direction=\"child_to_parent\")  virtual void attach_to_body (dart::dynamics::BodyNode *, const Eigen::Isometry3d &amp;) override virtual void calculate (double) override Eigen::Vector3d force () const virtual void init () override Eigen::Vector3d torque () const virtual std::string type () override const const Eigen::Vector6d &amp; wrench () const"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#public-functions-inherited-from-robot_dartsensorsensor","title":"Public Functions inherited from robot_dart::sensor::Sensor","text":"<p>See robot_dart::sensor::Sensor</p> Type Name Sensor (size_t freq=40)  void activate (bool enable=true)  bool active () const virtual void attach_to_body (dart::dynamics::BodyNode * body, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  void attach_to_body (const std::shared_ptr&lt; Robot &gt; &amp; robot, const std::string &amp; body_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  virtual void attach_to_joint (dart::dynamics::Joint * joint, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  void attach_to_joint (const std::shared_ptr&lt; Robot &gt; &amp; robot, const std::string &amp; joint_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  const std::string &amp; attached_to () const virtual void calculate (double) = 0 void detach ()  size_t frequency () const virtual void init () = 0 const Eigen::Isometry3d &amp; pose () const void refresh (double t)  void set_frequency (size_t freq)  void set_pose (const Eigen::Isometry3d &amp; tf)  void set_simu (RobotDARTSimu * simu)  const RobotDARTSimu * simu () const virtual std::string type () const = 0 virtual ~Sensor ()"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#protected-attributes","title":"Protected Attributes","text":"Type Name std::string _direction Eigen::Vector6d _wrench"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#protected-attributes-inherited-from-robot_dartsensorsensor","title":"Protected Attributes inherited from robot_dart::sensor::Sensor","text":"<p>See robot_dart::sensor::Sensor</p> Type Name bool _active Eigen::Isometry3d _attached_tf bool _attached_to_body   = = false bool _attached_to_joint   = = false bool _attaching_to_body   = = false bool _attaching_to_joint   = = false dart::dynamics::BodyNode * _body_attached size_t _frequency dart::dynamics::Joint * _joint_attached RobotDARTSimu * _simu   = = nullptr Eigen::Isometry3d _world_pose"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#function-forcetorque-12","title":"function ForceTorque [\u00bd]","text":"<pre><code>robot_dart::sensor::ForceTorque::ForceTorque (\n    dart::dynamics::Joint * joint,\n    size_t frequency=1000,\n    const std::string &amp; direction=\"child_to_parent\"\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#function-forcetorque-22","title":"function ForceTorque [2/2]","text":"<pre><code>inline robot_dart::sensor::ForceTorque::ForceTorque (\n    const std::shared_ptr&lt; Robot &gt; &amp; robot,\n    const std::string &amp; joint_name,\n    size_t frequency=1000,\n    const std::string &amp; direction=\"child_to_parent\"\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#function-attach_to_body","title":"function attach_to_body","text":"<pre><code>inline virtual void robot_dart::sensor::ForceTorque::attach_to_body (\n    dart::dynamics::BodyNode *,\n    const Eigen::Isometry3d &amp;\n) override\n</code></pre> <p>Implements robot_dart::sensor::Sensor::attach_to_body</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#function-calculate","title":"function calculate","text":"<pre><code>virtual void robot_dart::sensor::ForceTorque::calculate (\n    double\n) override\n</code></pre> <p>Implements robot_dart::sensor::Sensor::calculate</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#function-force","title":"function force","text":"<pre><code>Eigen::Vector3d robot_dart::sensor::ForceTorque::force () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#function-init","title":"function init","text":"<pre><code>virtual void robot_dart::sensor::ForceTorque::init () override\n</code></pre> <p>Implements robot_dart::sensor::Sensor::init</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#function-torque","title":"function torque","text":"<pre><code>Eigen::Vector3d robot_dart::sensor::ForceTorque::torque () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#function-type","title":"function type","text":"<pre><code>virtual std::string robot_dart::sensor::ForceTorque::type () override const\n</code></pre> <p>Implements robot_dart::sensor::Sensor::type</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#function-wrench","title":"function wrench","text":"<pre><code>const Eigen::Vector6d &amp; robot_dart::sensor::ForceTorque::wrench () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#variable-_direction","title":"variable _direction","text":"<pre><code>std::string robot_dart::sensor::ForceTorque::_direction;\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#variable-_wrench","title":"variable _wrench","text":"<pre><code>Eigen::Vector6d robot_dart::sensor::ForceTorque::_wrench;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/sensor/force_torque.hpp</code></p>"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/","title":"Class robot_dart::sensor::IMU","text":"<p>ClassList &gt; robot_dart &gt; sensor &gt; IMU</p> <p>Inherits the following classes: robot_dart::sensor::Sensor</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#public-functions","title":"Public Functions","text":"Type Name IMU (const IMUConfig &amp; config)  const Eigen::AngleAxisd &amp; angular_position () const Eigen::Vector3d angular_position_vec () const const Eigen::Vector3d &amp; angular_velocity () const virtual void attach_to_joint (dart::dynamics::Joint *, const Eigen::Isometry3d &amp;) override virtual void calculate (double) override virtual void init () override const Eigen::Vector3d &amp; linear_acceleration () const virtual std::string type () override const"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#public-functions-inherited-from-robot_dartsensorsensor","title":"Public Functions inherited from robot_dart::sensor::Sensor","text":"<p>See robot_dart::sensor::Sensor</p> Type Name Sensor (size_t freq=40)  void activate (bool enable=true)  bool active () const virtual void attach_to_body (dart::dynamics::BodyNode * body, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  void attach_to_body (const std::shared_ptr&lt; Robot &gt; &amp; robot, const std::string &amp; body_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  virtual void attach_to_joint (dart::dynamics::Joint * joint, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  void attach_to_joint (const std::shared_ptr&lt; Robot &gt; &amp; robot, const std::string &amp; joint_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  const std::string &amp; attached_to () const virtual void calculate (double) = 0 void detach ()  size_t frequency () const virtual void init () = 0 const Eigen::Isometry3d &amp; pose () const void refresh (double t)  void set_frequency (size_t freq)  void set_pose (const Eigen::Isometry3d &amp; tf)  void set_simu (RobotDARTSimu * simu)  const RobotDARTSimu * simu () const virtual std::string type () const = 0 virtual ~Sensor ()"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#protected-attributes","title":"Protected Attributes","text":"Type Name Eigen::AngleAxisd _angular_pos Eigen::Vector3d _angular_vel IMUConfig _config Eigen::Vector3d _linear_accel"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#protected-attributes-inherited-from-robot_dartsensorsensor","title":"Protected Attributes inherited from robot_dart::sensor::Sensor","text":"<p>See robot_dart::sensor::Sensor</p> Type Name bool _active Eigen::Isometry3d _attached_tf bool _attached_to_body   = = false bool _attached_to_joint   = = false bool _attaching_to_body   = = false bool _attaching_to_joint   = = false dart::dynamics::BodyNode * _body_attached size_t _frequency dart::dynamics::Joint * _joint_attached RobotDARTSimu * _simu   = = nullptr Eigen::Isometry3d _world_pose"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#function-imu","title":"function IMU","text":"<pre><code>robot_dart::sensor::IMU::IMU (\n    const IMUConfig &amp; config\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#function-angular_position","title":"function angular_position","text":"<pre><code>const Eigen::AngleAxisd &amp; robot_dart::sensor::IMU::angular_position () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#function-angular_position_vec","title":"function angular_position_vec","text":"<pre><code>Eigen::Vector3d robot_dart::sensor::IMU::angular_position_vec () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#function-angular_velocity","title":"function angular_velocity","text":"<pre><code>const Eigen::Vector3d &amp; robot_dart::sensor::IMU::angular_velocity () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#function-attach_to_joint","title":"function attach_to_joint","text":"<pre><code>inline virtual void robot_dart::sensor::IMU::attach_to_joint (\n    dart::dynamics::Joint *,\n    const Eigen::Isometry3d &amp;\n) override\n</code></pre> <p>Implements robot_dart::sensor::Sensor::attach_to_joint</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#function-calculate","title":"function calculate","text":"<pre><code>virtual void robot_dart::sensor::IMU::calculate (\n    double\n) override\n</code></pre> <p>Implements robot_dart::sensor::Sensor::calculate</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#function-init","title":"function init","text":"<pre><code>virtual void robot_dart::sensor::IMU::init () override\n</code></pre> <p>Implements robot_dart::sensor::Sensor::init</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#function-linear_acceleration","title":"function linear_acceleration","text":"<pre><code>const Eigen::Vector3d &amp; robot_dart::sensor::IMU::linear_acceleration () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#function-type","title":"function type","text":"<pre><code>virtual std::string robot_dart::sensor::IMU::type () override const\n</code></pre> <p>Implements robot_dart::sensor::Sensor::type</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#variable-_angular_pos","title":"variable _angular_pos","text":"<pre><code>Eigen::AngleAxisd robot_dart::sensor::IMU::_angular_pos;\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#variable-_angular_vel","title":"variable _angular_vel","text":"<pre><code>Eigen::Vector3d robot_dart::sensor::IMU::_angular_vel;\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#variable-_config","title":"variable _config","text":"<pre><code>IMUConfig robot_dart::sensor::IMU::_config;\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#variable-_linear_accel","title":"variable _linear_accel","text":"<pre><code>Eigen::Vector3d robot_dart::sensor::IMU::_linear_accel;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/sensor/imu.hpp</code></p>"},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/","title":"Struct robot_dart::sensor::IMUConfig","text":"<p>ClassList &gt; robot_dart &gt; sensor &gt; IMUConfig</p>"},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#public-attributes","title":"Public Attributes","text":"Type Name Eigen::Vector3d accel_bias   = = Eigen::Vector3d::Zero() dart::dynamics::BodyNode * body   = = nullptr size_t frequency   = = 200 Eigen::Vector3d gyro_bias   = = Eigen::Vector3d::Zero()"},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#public-functions","title":"Public Functions","text":"Type Name IMUConfig (dart::dynamics::BodyNode * b, size_t f)  IMUConfig (const Eigen::Vector3d &amp; gyro_bias, const Eigen::Vector3d &amp; accel_bias, dart::dynamics::BodyNode * b, size_t f)  IMUConfig ()"},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#variable-accel_bias","title":"variable accel_bias","text":"<pre><code>Eigen::Vector3d robot_dart::sensor::IMUConfig::accel_bias;\n</code></pre>"},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#variable-body","title":"variable body","text":"<pre><code>dart::dynamics::BodyNode* robot_dart::sensor::IMUConfig::body;\n</code></pre>"},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#variable-frequency","title":"variable frequency","text":"<pre><code>size_t robot_dart::sensor::IMUConfig::frequency;\n</code></pre>"},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#variable-gyro_bias","title":"variable gyro_bias","text":"<pre><code>Eigen::Vector3d robot_dart::sensor::IMUConfig::gyro_bias;\n</code></pre>"},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#function-imuconfig-13","title":"function IMUConfig [\u2153]","text":"<pre><code>inline robot_dart::sensor::IMUConfig::IMUConfig (\n    dart::dynamics::BodyNode * b,\n    size_t f\n) \n</code></pre>"},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#function-imuconfig-23","title":"function IMUConfig [\u2154]","text":"<pre><code>inline robot_dart::sensor::IMUConfig::IMUConfig (\n    const Eigen::Vector3d &amp; gyro_bias,\n    const Eigen::Vector3d &amp; accel_bias,\n    dart::dynamics::BodyNode * b,\n    size_t f\n) \n</code></pre>"},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#function-imuconfig-33","title":"function IMUConfig [3/3]","text":"<pre><code>inline robot_dart::sensor::IMUConfig::IMUConfig () \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/sensor/imu.hpp</code></p>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/","title":"Class robot_dart::sensor::Sensor","text":"<p>ClassList &gt; robot_dart &gt; sensor &gt; Sensor</p> <p>Inherited by the following classes: robot_dart::gui::magnum::sensor::Camera,  robot_dart::sensor::ForceTorque,  robot_dart::sensor::IMU,  robot_dart::sensor::Torque</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#public-functions","title":"Public Functions","text":"Type Name Sensor (size_t freq=40)  void activate (bool enable=true)  bool active () const virtual void attach_to_body (dart::dynamics::BodyNode * body, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  void attach_to_body (const std::shared_ptr&lt; Robot &gt; &amp; robot, const std::string &amp; body_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  virtual void attach_to_joint (dart::dynamics::Joint * joint, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  void attach_to_joint (const std::shared_ptr&lt; Robot &gt; &amp; robot, const std::string &amp; joint_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  const std::string &amp; attached_to () const virtual void calculate (double) = 0 void detach ()  size_t frequency () const virtual void init () = 0 const Eigen::Isometry3d &amp; pose () const void refresh (double t)  void set_frequency (size_t freq)  void set_pose (const Eigen::Isometry3d &amp; tf)  void set_simu (RobotDARTSimu * simu)  const RobotDARTSimu * simu () const virtual std::string type () const = 0 virtual ~Sensor ()"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#protected-attributes","title":"Protected Attributes","text":"Type Name bool _active Eigen::Isometry3d _attached_tf bool _attached_to_body   = = false bool _attached_to_joint   = = false bool _attaching_to_body   = = false bool _attaching_to_joint   = = false dart::dynamics::BodyNode * _body_attached size_t _frequency dart::dynamics::Joint * _joint_attached RobotDARTSimu * _simu   = = nullptr Eigen::Isometry3d _world_pose"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-sensor","title":"function Sensor","text":"<pre><code>robot_dart::sensor::Sensor::Sensor (\n    size_t freq=40\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-activate","title":"function activate","text":"<pre><code>void robot_dart::sensor::Sensor::activate (\n    bool enable=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-active","title":"function active","text":"<pre><code>bool robot_dart::sensor::Sensor::active () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-attach_to_body-12","title":"function attach_to_body [\u00bd]","text":"<pre><code>virtual void robot_dart::sensor::Sensor::attach_to_body (\n    dart::dynamics::BodyNode * body,\n    const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-attach_to_body-22","title":"function attach_to_body [2/2]","text":"<pre><code>inline void robot_dart::sensor::Sensor::attach_to_body (\n    const std::shared_ptr&lt; Robot &gt; &amp; robot,\n    const std::string &amp; body_name,\n    const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-attach_to_joint-12","title":"function attach_to_joint [\u00bd]","text":"<pre><code>virtual void robot_dart::sensor::Sensor::attach_to_joint (\n    dart::dynamics::Joint * joint,\n    const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-attach_to_joint-22","title":"function attach_to_joint [2/2]","text":"<pre><code>inline void robot_dart::sensor::Sensor::attach_to_joint (\n    const std::shared_ptr&lt; Robot &gt; &amp; robot,\n    const std::string &amp; joint_name,\n    const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-attached_to","title":"function attached_to","text":"<pre><code>const std::string &amp; robot_dart::sensor::Sensor::attached_to () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-calculate","title":"function calculate","text":"<pre><code>virtual void robot_dart::sensor::Sensor::calculate (\n    double\n) = 0\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-detach","title":"function detach","text":"<pre><code>void robot_dart::sensor::Sensor::detach () \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-frequency","title":"function frequency","text":"<pre><code>size_t robot_dart::sensor::Sensor::frequency () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-init","title":"function init","text":"<pre><code>virtual void robot_dart::sensor::Sensor::init () = 0\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-pose","title":"function pose","text":"<pre><code>const Eigen::Isometry3d &amp; robot_dart::sensor::Sensor::pose () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-refresh","title":"function refresh","text":"<pre><code>void robot_dart::sensor::Sensor::refresh (\n    double t\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-set_frequency","title":"function set_frequency","text":"<pre><code>void robot_dart::sensor::Sensor::set_frequency (\n    size_t freq\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-set_pose","title":"function set_pose","text":"<pre><code>void robot_dart::sensor::Sensor::set_pose (\n    const Eigen::Isometry3d &amp; tf\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-set_simu","title":"function set_simu","text":"<pre><code>void robot_dart::sensor::Sensor::set_simu (\n    RobotDARTSimu * simu\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-simu","title":"function simu","text":"<pre><code>const RobotDARTSimu * robot_dart::sensor::Sensor::simu () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-type","title":"function type","text":"<pre><code>virtual std::string robot_dart::sensor::Sensor::type () const = 0\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-sensor_1","title":"function ~Sensor","text":"<pre><code>inline virtual robot_dart::sensor::Sensor::~Sensor () \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#variable-_active","title":"variable _active","text":"<pre><code>bool robot_dart::sensor::Sensor::_active;\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#variable-_attached_tf","title":"variable _attached_tf","text":"<pre><code>Eigen::Isometry3d robot_dart::sensor::Sensor::_attached_tf;\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#variable-_attached_to_body","title":"variable _attached_to_body","text":"<pre><code>bool robot_dart::sensor::Sensor::_attached_to_body;\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#variable-_attached_to_joint","title":"variable _attached_to_joint","text":"<pre><code>bool robot_dart::sensor::Sensor::_attached_to_joint;\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#variable-_attaching_to_body","title":"variable _attaching_to_body","text":"<pre><code>bool robot_dart::sensor::Sensor::_attaching_to_body;\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#variable-_attaching_to_joint","title":"variable _attaching_to_joint","text":"<pre><code>bool robot_dart::sensor::Sensor::_attaching_to_joint;\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#variable-_body_attached","title":"variable _body_attached","text":"<pre><code>dart::dynamics::BodyNode* robot_dart::sensor::Sensor::_body_attached;\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#variable-_frequency","title":"variable _frequency","text":"<pre><code>size_t robot_dart::sensor::Sensor::_frequency;\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#variable-_joint_attached","title":"variable _joint_attached","text":"<pre><code>dart::dynamics::Joint* robot_dart::sensor::Sensor::_joint_attached;\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#variable-_simu","title":"variable _simu","text":"<pre><code>RobotDARTSimu* robot_dart::sensor::Sensor::_simu;\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#variable-_world_pose","title":"variable _world_pose","text":"<pre><code>Eigen::Isometry3d robot_dart::sensor::Sensor::_world_pose;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/sensor/sensor.hpp</code></p>"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/","title":"Class robot_dart::sensor::Torque","text":"<p>ClassList &gt; robot_dart &gt; sensor &gt; Torque</p> <p>Inherits the following classes: robot_dart::sensor::Sensor</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#public-functions","title":"Public Functions","text":"Type Name Torque (dart::dynamics::Joint * joint, size_t frequency=1000)  Torque (const std::shared_ptr&lt; Robot &gt; &amp; robot, const std::string &amp; joint_name, size_t frequency=1000)  virtual void attach_to_body (dart::dynamics::BodyNode *, const Eigen::Isometry3d &amp;) override virtual void calculate (double) override virtual void init () override const Eigen::VectorXd &amp; torques () const virtual std::string type () override const"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#public-functions-inherited-from-robot_dartsensorsensor","title":"Public Functions inherited from robot_dart::sensor::Sensor","text":"<p>See robot_dart::sensor::Sensor</p> Type Name Sensor (size_t freq=40)  void activate (bool enable=true)  bool active () const virtual void attach_to_body (dart::dynamics::BodyNode * body, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  void attach_to_body (const std::shared_ptr&lt; Robot &gt; &amp; robot, const std::string &amp; body_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  virtual void attach_to_joint (dart::dynamics::Joint * joint, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  void attach_to_joint (const std::shared_ptr&lt; Robot &gt; &amp; robot, const std::string &amp; joint_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  const std::string &amp; attached_to () const virtual void calculate (double) = 0 void detach ()  size_t frequency () const virtual void init () = 0 const Eigen::Isometry3d &amp; pose () const void refresh (double t)  void set_frequency (size_t freq)  void set_pose (const Eigen::Isometry3d &amp; tf)  void set_simu (RobotDARTSimu * simu)  const RobotDARTSimu * simu () const virtual std::string type () const = 0 virtual ~Sensor ()"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#protected-attributes","title":"Protected Attributes","text":"Type Name Eigen::VectorXd _torques"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#protected-attributes-inherited-from-robot_dartsensorsensor","title":"Protected Attributes inherited from robot_dart::sensor::Sensor","text":"<p>See robot_dart::sensor::Sensor</p> Type Name bool _active Eigen::Isometry3d _attached_tf bool _attached_to_body   = = false bool _attached_to_joint   = = false bool _attaching_to_body   = = false bool _attaching_to_joint   = = false dart::dynamics::BodyNode * _body_attached size_t _frequency dart::dynamics::Joint * _joint_attached RobotDARTSimu * _simu   = = nullptr Eigen::Isometry3d _world_pose"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#function-torque-12","title":"function Torque [\u00bd]","text":"<pre><code>robot_dart::sensor::Torque::Torque (\n    dart::dynamics::Joint * joint,\n    size_t frequency=1000\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#function-torque-22","title":"function Torque [2/2]","text":"<pre><code>inline robot_dart::sensor::Torque::Torque (\n    const std::shared_ptr&lt; Robot &gt; &amp; robot,\n    const std::string &amp; joint_name,\n    size_t frequency=1000\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#function-attach_to_body","title":"function attach_to_body","text":"<pre><code>inline virtual void robot_dart::sensor::Torque::attach_to_body (\n    dart::dynamics::BodyNode *,\n    const Eigen::Isometry3d &amp;\n) override\n</code></pre> <p>Implements robot_dart::sensor::Sensor::attach_to_body</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#function-calculate","title":"function calculate","text":"<pre><code>virtual void robot_dart::sensor::Torque::calculate (\n    double\n) override\n</code></pre> <p>Implements robot_dart::sensor::Sensor::calculate</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#function-init","title":"function init","text":"<pre><code>virtual void robot_dart::sensor::Torque::init () override\n</code></pre> <p>Implements robot_dart::sensor::Sensor::init</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#function-torques","title":"function torques","text":"<pre><code>const Eigen::VectorXd &amp; robot_dart::sensor::Torque::torques () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#function-type","title":"function type","text":"<pre><code>virtual std::string robot_dart::sensor::Torque::type () override const\n</code></pre> <p>Implements robot_dart::sensor::Sensor::type</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#variable-_torques","title":"variable _torques","text":"<pre><code>Eigen::VectorXd robot_dart::sensor::Torque::_torques;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/sensor/torque.hpp</code></p>"},{"location":"api/namespacerobot__dart_1_1simu/","title":"Namespace robot_dart::simu","text":"<p>Namespace List &gt; robot_dart &gt; simu</p>"},{"location":"api/namespacerobot__dart_1_1simu/#classes","title":"Classes","text":"Type Name struct GUIData struct TextData <p>The documentation for this class was generated from the following file <code>robot_dart/gui_data.hpp</code></p>"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/","title":"Struct robot_dart::simu::GUIData","text":"<p>ClassList &gt; robot_dart &gt; simu &gt; GUIData</p>"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/#public-functions","title":"Public Functions","text":"Type Name std::shared_ptr&lt; simu::TextData &gt; add_text (const std::string &amp; text, const Eigen::Affine2d &amp; tf=Eigen::Affine2d::Identity(), Eigen::Vector4d color=Eigen::Vector4d(1, 1, 1, 1), std::uint8_t alignment=2&lt;&lt; 2, bool draw_bg=false, Eigen::Vector4d bg_color=Eigen::Vector4d(0, 0, 0, 0.75), double font_size=28)  bool cast_shadows (dart::dynamics::ShapeNode * shape) const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; drawing_axes () const const std::vector&lt; std::shared_ptr&lt; simu::TextData &gt; &gt; &amp; drawing_texts () const bool ghost (dart::dynamics::ShapeNode * shape) const void remove_robot (const std::shared_ptr&lt; Robot &gt; &amp; robot)  void remove_text (const std::shared_ptr&lt; simu::TextData &gt; &amp; data)  void remove_text (size_t index)  void update_robot (const std::shared_ptr&lt; Robot &gt; &amp; robot)"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/#function-add_text","title":"function add_text","text":"<pre><code>inline std::shared_ptr&lt; simu::TextData &gt; robot_dart::simu::GUIData::add_text (\n    const std::string &amp; text,\n    const Eigen::Affine2d &amp; tf=Eigen::Affine2d::Identity(),\n    Eigen::Vector4d color=Eigen::Vector4d(1, 1, 1, 1),\n    std::uint8_t alignment=2&lt;&lt; 2,\n    bool draw_bg=false,\n    Eigen::Vector4d bg_color=Eigen::Vector4d(0, 0, 0, 0.75),\n    double font_size=28\n) \n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/#function-cast_shadows","title":"function cast_shadows","text":"<pre><code>inline bool robot_dart::simu::GUIData::cast_shadows (\n    dart::dynamics::ShapeNode * shape\n) const\n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/#function-drawing_axes","title":"function drawing_axes","text":"<pre><code>inline std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; robot_dart::simu::GUIData::drawing_axes () const\n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/#function-drawing_texts","title":"function drawing_texts","text":"<pre><code>inline const std::vector&lt; std::shared_ptr&lt; simu::TextData &gt; &gt; &amp; robot_dart::simu::GUIData::drawing_texts () const\n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/#function-ghost","title":"function ghost","text":"<pre><code>inline bool robot_dart::simu::GUIData::ghost (\n    dart::dynamics::ShapeNode * shape\n) const\n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/#function-remove_robot","title":"function remove_robot","text":"<pre><code>inline void robot_dart::simu::GUIData::remove_robot (\n    const std::shared_ptr&lt; Robot &gt; &amp; robot\n) \n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/#function-remove_text-12","title":"function remove_text [\u00bd]","text":"<pre><code>inline void robot_dart::simu::GUIData::remove_text (\n    const std::shared_ptr&lt; simu::TextData &gt; &amp; data\n) \n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/#function-remove_text-22","title":"function remove_text [2/2]","text":"<pre><code>inline void robot_dart::simu::GUIData::remove_text (\n    size_t index\n) \n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/#function-update_robot","title":"function update_robot","text":"<pre><code>inline void robot_dart::simu::GUIData::update_robot (\n    const std::shared_ptr&lt; Robot &gt; &amp; robot\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui_data.hpp</code></p>"},{"location":"api/structrobot__dart_1_1simu_1_1TextData/","title":"Struct robot_dart::simu::TextData","text":"<p>ClassList &gt; robot_dart &gt; simu &gt; TextData</p>"},{"location":"api/structrobot__dart_1_1simu_1_1TextData/#public-attributes","title":"Public Attributes","text":"Type Name std::uint8_t alignment Eigen::Vector4d background_color Eigen::Vector4d color bool draw_background double font_size   = = 28. std::string text Eigen::Affine2d transformation"},{"location":"api/structrobot__dart_1_1simu_1_1TextData/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1simu_1_1TextData/#variable-alignment","title":"variable alignment","text":"<pre><code>std::uint8_t robot_dart::simu::TextData::alignment;\n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1TextData/#variable-background_color","title":"variable background_color","text":"<pre><code>Eigen::Vector4d robot_dart::simu::TextData::background_color;\n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1TextData/#variable-color","title":"variable color","text":"<pre><code>Eigen::Vector4d robot_dart::simu::TextData::color;\n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1TextData/#variable-draw_background","title":"variable draw_background","text":"<pre><code>bool robot_dart::simu::TextData::draw_background;\n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1TextData/#variable-font_size","title":"variable font_size","text":"<pre><code>double robot_dart::simu::TextData::font_size;\n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1TextData/#variable-text","title":"variable text","text":"<pre><code>std::string robot_dart::simu::TextData::text;\n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1TextData/#variable-transformation","title":"variable transformation","text":"<pre><code>Eigen::Affine2d robot_dart::simu::TextData::transformation;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/robot_dart_simu.hpp</code></p>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs_1_1_0d21/","title":"Namespace robot_dart::gui::magnum::gs","text":"<p>Namespace List &gt; gs</p>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs_1_1_0d21/#public-types","title":"Public Types","text":"Type Name enum Magnum::Int gs"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs_1_1_0d21/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs_1_1_0d21/#enum-gs","title":"enum gs","text":"<pre><code>enum gs::gs;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/create_compatibility_shader.hpp</code></p>"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData_1_1RobotData/","title":"Struct robot_dart::simu::GUIData::RobotData","text":"<p>ClassList &gt; RobotData</p>"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData_1_1RobotData/#public-attributes","title":"Public Attributes","text":"Type Name bool casting_shadows bool is_ghost"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData_1_1RobotData/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1simu_1_1GUIData_1_1RobotData/#variable-casting_shadows","title":"variable casting_shadows","text":"<pre><code>bool robot_dart::simu::GUIData::RobotData::casting_shadows;\n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData_1_1RobotData/#variable-is_ghost","title":"variable is_ghost","text":"<pre><code>bool robot_dart::simu::GUIData::RobotData::is_ghost;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui_data.hpp</code></p>"},{"location":"api/namespacestd/","title":"Namespace std","text":"<p>Namespace List &gt; std</p> <p>The documentation for this class was generated from the following file <code>[generated]</code></p>"},{"location":"api/dir_166284c5f0440000a6384365f2a45567/","title":"Dir robot_dart","text":"<p>FileList &gt; robot_dart</p>"},{"location":"api/dir_166284c5f0440000a6384365f2a45567/#files","title":"Files","text":"Type Name file gui_data.hpp file robot.cpp file robot.hpp file robot_dart_simu.cpp file robot_dart_simu.hpp file robot_pool.cpp file robot_pool.hpp file scheduler.cpp file scheduler.hpp file utils.hpp file utils_headers_dart_collision.hpp file utils_headers_dart_dynamics.hpp file utils_headers_dart_io.hpp file utils_headers_external.hpp file utils_headers_external_gui.hpp"},{"location":"api/dir_166284c5f0440000a6384365f2a45567/#directories","title":"Directories","text":"Type Name dir control dir gui dir robots dir sensor <p>The documentation for this class was generated from the following file <code>robot_dart/</code></p>"},{"location":"api/gui__data_8hpp/","title":"File gui_data.hpp","text":"<p>FileList &gt; robot_dart &gt; gui_data.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart_simu.hpp\"</code></li> <li><code>#include \"utils_headers_dart_dynamics.hpp\"</code></li> <li><code>#include &lt;unordered_map&gt;</code></li> <li><code>#include &lt;vector&gt;</code></li> </ul>"},{"location":"api/gui__data_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace simu"},{"location":"api/gui__data_8hpp/#classes","title":"Classes","text":"Type Name struct GUIData <p>The documentation for this class was generated from the following file <code>robot_dart/gui_data.hpp</code></p>"},{"location":"api/gui__data_8hpp_source/","title":"File gui_data.hpp","text":"<p>File List &gt; robot_dart &gt; gui_data.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_SIMU_GUI_DATA_HPP\n#define ROBOT_DART_SIMU_GUI_DATA_HPP\n\n#include \"robot_dart_simu.hpp\"\n#include \"utils_headers_dart_dynamics.hpp\"\n\n#include &lt;unordered_map&gt;\n#include &lt;vector&gt;\n\nnamespace robot_dart {\n    namespace simu {\n        struct GUIData {\n        private:\n            struct RobotData {\n                bool casting_shadows;\n                bool is_ghost;\n            };\n\n            std::unordered_map&lt;dart::dynamics::ShapeNode*, RobotData&gt; robot_data;\n            std::unordered_map&lt;Robot*, std::vector&lt;std::pair&lt;dart::dynamics::BodyNode*, double&gt;&gt;&gt; robot_axes;\n            std::vector&lt;std::shared_ptr&lt;simu::TextData&gt;&gt; text_drawings;\n\n        public:\n            std::shared_ptr&lt;simu::TextData&gt; add_text(const std::string&amp; text, const Eigen::Affine2d&amp; tf = Eigen::Affine2d::Identity(), Eigen::Vector4d color = Eigen::Vector4d(1, 1, 1, 1), std::uint8_t alignment = 2 &lt;&lt; 2, bool draw_bg = false, Eigen::Vector4d bg_color = Eigen::Vector4d(0, 0, 0, 0.75), double font_size = 28)\n            {\n                text_drawings.emplace_back(new TextData{text, tf, color, alignment, draw_bg, bg_color, font_size});\n\n                return text_drawings.back();\n            }\n\n            void remove_text(const std::shared_ptr&lt;simu::TextData&gt;&amp; data)\n            {\n                for (size_t i = 0; i &lt; text_drawings.size(); i++) {\n                    if (text_drawings[i] == data) {\n                        text_drawings.erase(text_drawings.begin() + i);\n                        return;\n                    }\n                }\n            }\n\n            void remove_text(size_t index)\n            {\n                if (index &gt;= text_drawings.size())\n                    return;\n                text_drawings.erase(text_drawings.begin() + index);\n            }\n\n            void update_robot(const std::shared_ptr&lt;Robot&gt;&amp; robot)\n            {\n                auto robot_ptr = &amp;*robot;\n                auto skel = robot-&gt;skeleton();\n                bool cast = robot-&gt;cast_shadows();\n                bool ghost = robot-&gt;ghost();\n\n                for (size_t i = 0; i &lt; skel-&gt;getNumBodyNodes(); ++i) {\n                    auto bd = skel-&gt;getBodyNode(i);\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n                    bd-&gt;eachShapeNodeWith&lt;dart::dynamics::VisualAspect&gt;([this, cast, ghost](dart::dynamics::ShapeNode* shapeNode) {\n                        robot_data[shapeNode] = {cast, ghost};\n                    });\n#else\n                    auto&amp; shapes = bd-&gt;getShapeNodesWith&lt;dart::dynamics::VisualAspect&gt;();\n                    for (size_t j = 0; j &lt; shapes.size(); j++) {\n                        robot_data[shapes[j]] = {cast, ghost};\n                    }\n#endif\n                }\n\n                auto&amp; axes = robot-&gt;drawing_axes();\n                if (axes.size() &gt; 0)\n                    robot_axes[robot_ptr] = axes;\n            }\n\n            void remove_robot(const std::shared_ptr&lt;Robot&gt;&amp; robot)\n            {\n                auto robot_ptr = &amp;*robot;\n                auto skel = robot-&gt;skeleton();\n                for (size_t i = 0; i &lt; skel-&gt;getNumShapeNodes(); ++i) {\n                    auto shape = skel-&gt;getShapeNode(i);\n                    auto shape_iter = robot_data.find(shape);\n                    if (shape_iter != robot_data.end())\n                        robot_data.erase(shape_iter);\n                }\n\n                auto iter = robot_axes.find(robot_ptr);\n                if (iter != robot_axes.end())\n                    robot_axes.erase(iter);\n            }\n\n            bool cast_shadows(dart::dynamics::ShapeNode* shape) const\n            {\n                auto shape_iter = robot_data.find(shape);\n                if (shape_iter != robot_data.end())\n                    return robot_data.at(shape).casting_shadows;\n                // if not in the array, cast shadow by default\n                return true;\n            }\n\n            bool ghost(dart::dynamics::ShapeNode* shape) const\n            {\n                auto shape_iter = robot_data.find(shape);\n                if (shape_iter != robot_data.end())\n                    return robot_data.at(shape).is_ghost;\n                // if not in the array, the robot is not ghost by default\n                return false;\n            }\n\n            std::vector&lt;std::pair&lt;dart::dynamics::BodyNode*, double&gt;&gt; drawing_axes() const\n            {\n                std::vector&lt;std::pair&lt;dart::dynamics::BodyNode*, double&gt;&gt; axes;\n                for (std::pair&lt;Robot*, std::vector&lt;std::pair&lt;dart::dynamics::BodyNode*, double&gt;&gt;&gt; elem : robot_axes) {\n                    axes.insert(axes.end(), elem.second.begin(), elem.second.end());\n                }\n\n                return axes;\n            }\n\n            const std::vector&lt;std::shared_ptr&lt;simu::TextData&gt;&gt;&amp; drawing_texts() const { return text_drawings; }\n        };\n    } // namespace simu\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/robot_8cpp/","title":"File robot.cpp","text":"<p>FileList &gt; robot_dart &gt; robot.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;unistd.h&gt;</code></li> <li><code>#include &lt;robot_dart/robot.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/utils.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/utils_headers_dart_dynamics.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/utils_headers_dart_io.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/control/robot_control.hpp&gt;</code></li> <li><code>#include &lt;utheque/utheque.hpp&gt;</code></li> </ul>"},{"location":"api/robot_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace detail <p>The documentation for this class was generated from the following file <code>robot_dart/robot.cpp</code></p>"},{"location":"api/robot_8cpp_source/","title":"File robot.cpp","text":"<p>File List &gt; robot_dart &gt; robot.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include &lt;unistd.h&gt;\n\n#include &lt;robot_dart/robot.hpp&gt;\n#include &lt;robot_dart/utils.hpp&gt;\n#include &lt;robot_dart/utils_headers_dart_dynamics.hpp&gt;\n#include &lt;robot_dart/utils_headers_dart_io.hpp&gt;\n\n#include &lt;robot_dart/control/robot_control.hpp&gt;\n\n#include &lt;utheque/utheque.hpp&gt; // library of URDF\n\nnamespace robot_dart {\n    namespace detail {\n        template &lt;int content&gt;\n        Eigen::VectorXd dof_data(dart::dynamics::SkeletonPtr skeleton, const std::vector&lt;std::string&gt;&amp; dof_names, const std::unordered_map&lt;std::string, size_t&gt;&amp; dof_map)\n        {\n            // Return all values\n            if (dof_names.empty()) {\n                if (content == 0)\n                    return skeleton-&gt;getPositions();\n                else if (content == 1)\n                    return skeleton-&gt;getVelocities();\n                else if (content == 2)\n                    return skeleton-&gt;getAccelerations();\n                else if (content == 3)\n                    return skeleton-&gt;getForces();\n                else if (content == 4)\n                    return skeleton-&gt;getCommands();\n                else if (content == 5)\n                    return skeleton-&gt;getPositionLowerLimits();\n                else if (content == 6)\n                    return skeleton-&gt;getPositionUpperLimits();\n                else if (content == 7)\n                    return skeleton-&gt;getVelocityLowerLimits();\n                else if (content == 8)\n                    return skeleton-&gt;getVelocityUpperLimits();\n                else if (content == 9)\n                    return skeleton-&gt;getAccelerationLowerLimits();\n                else if (content == 10)\n                    return skeleton-&gt;getAccelerationUpperLimits();\n                else if (content == 11)\n                    return skeleton-&gt;getForceLowerLimits();\n                else if (content == 12)\n                    return skeleton-&gt;getForceUpperLimits();\n                else if (content == 13)\n                    return skeleton-&gt;getCoriolisForces();\n                else if (content == 14)\n                    return skeleton-&gt;getGravityForces();\n                else if (content == 15)\n                    return skeleton-&gt;getCoriolisAndGravityForces();\n                else if (content == 16)\n                    return skeleton-&gt;getConstraintForces();\n                ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of data!\");\n            }\n\n            Eigen::VectorXd data(dof_names.size());\n            Eigen::VectorXd tmp;\n\n            if (content == 13)\n                tmp = skeleton-&gt;getCoriolisForces();\n            else if (content == 14)\n                tmp = skeleton-&gt;getGravityForces();\n            else if (content == 15)\n                tmp = skeleton-&gt;getCoriolisAndGravityForces();\n            else if (content == 16)\n                tmp = skeleton-&gt;getConstraintForces();\n\n            for (size_t i = 0; i &lt; dof_names.size(); i++) {\n                auto it = dof_map.find(dof_names[i]);\n                ROBOT_DART_ASSERT(it != dof_map.end(), \"dof_data: \" + dof_names[i] + \" is not in dof_map\", Eigen::VectorXd());\n                auto dof = skeleton-&gt;getDof(it-&gt;second);\n                if (content == 0)\n                    data(i) = dof-&gt;getPosition();\n                else if (content == 1)\n                    data(i) = dof-&gt;getVelocity();\n                else if (content == 2)\n                    data(i) = dof-&gt;getAcceleration();\n                else if (content == 3)\n                    data(i) = dof-&gt;getForce();\n                else if (content == 4)\n                    data(i) = dof-&gt;getCommand();\n                else if (content == 5)\n                    data(i) = dof-&gt;getPositionLowerLimit();\n                else if (content == 6)\n                    data(i) = dof-&gt;getPositionUpperLimit();\n                else if (content == 7)\n                    data(i) = dof-&gt;getVelocityLowerLimit();\n                else if (content == 8)\n                    data(i) = dof-&gt;getVelocityUpperLimit();\n                else if (content == 9)\n                    data(i) = dof-&gt;getAccelerationLowerLimit();\n                else if (content == 10)\n                    data(i) = dof-&gt;getAccelerationUpperLimit();\n                else if (content == 11)\n                    data(i) = dof-&gt;getForceLowerLimit();\n                else if (content == 12)\n                    data(i) = dof-&gt;getForceUpperLimit();\n                else if (content == 13 || content == 14 || content == 15 || content == 16)\n                    data(i) = tmp(it-&gt;second);\n                else\n                    ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of data!\");\n            }\n            return data;\n        }\n\n        template &lt;int content&gt;\n        void set_dof_data(const Eigen::VectorXd&amp; data, dart::dynamics::SkeletonPtr skeleton, const std::vector&lt;std::string&gt;&amp; dof_names, const std::unordered_map&lt;std::string, size_t&gt;&amp; dof_map)\n        {\n            // Set all values\n            if (dof_names.empty()) {\n                ROBOT_DART_ASSERT(static_cast&lt;size_t&gt;(data.size()) == skeleton-&gt;getNumDofs(), \"set_dof_data: size of data is not the same as the DoFs\", );\n                if (content == 0)\n                    return skeleton-&gt;setPositions(data);\n                else if (content == 1)\n                    return skeleton-&gt;setVelocities(data);\n                else if (content == 2)\n                    return skeleton-&gt;setAccelerations(data);\n                else if (content == 3)\n                    return skeleton-&gt;setForces(data);\n                else if (content == 4)\n                    return skeleton-&gt;setCommands(data);\n                else if (content == 5)\n                    return skeleton-&gt;setPositionLowerLimits(data);\n                else if (content == 6)\n                    return skeleton-&gt;setPositionUpperLimits(data);\n                else if (content == 7)\n                    return skeleton-&gt;setVelocityLowerLimits(data);\n                else if (content == 8)\n                    return skeleton-&gt;setVelocityUpperLimits(data);\n                else if (content == 9)\n                    return skeleton-&gt;setAccelerationLowerLimits(data);\n                else if (content == 10)\n                    return skeleton-&gt;setAccelerationUpperLimits(data);\n                else if (content == 11)\n                    return skeleton-&gt;setForceLowerLimits(data);\n                else if (content == 12)\n                    return skeleton-&gt;setForceUpperLimits(data);\n                ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of data!\");\n            }\n\n            ROBOT_DART_ASSERT(static_cast&lt;size_t&gt;(data.size()) == dof_names.size(), \"set_dof_data: size of data is not the same as the dof_names size\", );\n            for (size_t i = 0; i &lt; dof_names.size(); i++) {\n                auto it = dof_map.find(dof_names[i]);\n                ROBOT_DART_ASSERT(it != dof_map.end(), \"dof_data: \" + dof_names[i] + \" is not in dof_map\", );\n                auto dof = skeleton-&gt;getDof(it-&gt;second);\n                if (content == 0)\n                    dof-&gt;setPosition(data(i));\n                else if (content == 1)\n                    dof-&gt;setVelocity(data(i));\n                else if (content == 2)\n                    dof-&gt;setAcceleration(data(i));\n                else if (content == 3)\n                    dof-&gt;setForce(data(i));\n                else if (content == 4)\n                    dof-&gt;setCommand(data(i));\n                else if (content == 5)\n                    dof-&gt;setPositionLowerLimit(data(i));\n                else if (content == 6)\n                    dof-&gt;setPositionUpperLimit(data(i));\n                else if (content == 7)\n                    dof-&gt;setVelocityLowerLimit(data(i));\n                else if (content == 8)\n                    dof-&gt;setVelocityUpperLimit(data(i));\n                else if (content == 9)\n                    dof-&gt;setAccelerationLowerLimit(data(i));\n                else if (content == 10)\n                    dof-&gt;setAccelerationUpperLimit(data(i));\n                else if (content == 11)\n                    dof-&gt;setForceLowerLimit(data(i));\n                else if (content == 12)\n                    dof-&gt;setForceUpperLimit(data(i));\n                else\n                    ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of data!\");\n            }\n        }\n\n        template &lt;int content&gt;\n        void add_dof_data(const Eigen::VectorXd&amp; data, dart::dynamics::SkeletonPtr skeleton, const std::vector&lt;std::string&gt;&amp; dof_names, const std::unordered_map&lt;std::string, size_t&gt;&amp; dof_map)\n        {\n            // Set all values\n            if (dof_names.empty()) {\n                ROBOT_DART_ASSERT(static_cast&lt;size_t&gt;(data.size()) == skeleton-&gt;getNumDofs(), \"set_dof_data: size of data is not the same as the DoFs\", );\n                if (content == 0)\n                    return skeleton-&gt;setPositions(skeleton-&gt;getPositions() + data);\n                else if (content == 1)\n                    return skeleton-&gt;setVelocities(skeleton-&gt;getVelocities() + data);\n                else if (content == 2)\n                    return skeleton-&gt;setAccelerations(skeleton-&gt;getAccelerations() + data);\n                else if (content == 3)\n                    return skeleton-&gt;setForces(skeleton-&gt;getForces() + data);\n                else if (content == 4)\n                    return skeleton-&gt;setCommands(skeleton-&gt;getCommands() + data);\n                else if (content == 5)\n                    return skeleton-&gt;setPositionLowerLimits(skeleton-&gt;getPositionLowerLimits() + data);\n                else if (content == 6)\n                    return skeleton-&gt;setPositionUpperLimits(skeleton-&gt;getPositionUpperLimits() + data);\n                else if (content == 7)\n                    return skeleton-&gt;setVelocityLowerLimits(skeleton-&gt;getVelocityLowerLimits() + data);\n                else if (content == 8)\n                    return skeleton-&gt;setVelocityUpperLimits(skeleton-&gt;getVelocityUpperLimits() + data);\n                else if (content == 9)\n                    return skeleton-&gt;setAccelerationLowerLimits(skeleton-&gt;getAccelerationLowerLimits() + data);\n                else if (content == 10)\n                    return skeleton-&gt;setAccelerationUpperLimits(skeleton-&gt;getAccelerationUpperLimits() + data);\n                else if (content == 11)\n                    return skeleton-&gt;setForceLowerLimits(skeleton-&gt;getForceLowerLimits() + data);\n                else if (content == 12)\n                    return skeleton-&gt;setForceUpperLimits(skeleton-&gt;getForceUpperLimits() + data);\n                ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of data!\");\n            }\n\n            ROBOT_DART_ASSERT(static_cast&lt;size_t&gt;(data.size()) == dof_names.size(), \"add_dof_data: size of data is not the same as the dof_names size\", );\n            for (size_t i = 0; i &lt; dof_names.size(); i++) {\n                auto it = dof_map.find(dof_names[i]);\n                ROBOT_DART_ASSERT(it != dof_map.end(), \"dof_data: \" + dof_names[i] + \" is not in dof_map\", );\n                auto dof = skeleton-&gt;getDof(it-&gt;second);\n                if (content == 0)\n                    dof-&gt;setPosition(dof-&gt;getPosition() + data(i));\n                else if (content == 1)\n                    dof-&gt;setVelocity(dof-&gt;getVelocity() + data(i));\n                else if (content == 2)\n                    dof-&gt;setAcceleration(dof-&gt;getAcceleration() + data(i));\n                else if (content == 3)\n                    dof-&gt;setForce(dof-&gt;getForce() + data(i));\n                else if (content == 4)\n                    dof-&gt;setCommand(dof-&gt;getCommand() + data(i));\n                else if (content == 5)\n                    dof-&gt;setPositionLowerLimit(dof-&gt;getPositionLowerLimit() + data(i));\n                else if (content == 6)\n                    dof-&gt;setPositionUpperLimit(dof-&gt;getPositionUpperLimit() + data(i));\n                else if (content == 7)\n                    dof-&gt;setVelocityLowerLimit(dof-&gt;getVelocityLowerLimit() + data(i));\n                else if (content == 8)\n                    dof-&gt;setVelocityUpperLimit(dof-&gt;getVelocityUpperLimit() + data(i));\n                else if (content == 9)\n                    dof-&gt;setAccelerationLowerLimit(dof-&gt;getAccelerationLowerLimit() + data(i));\n                else if (content == 10)\n                    dof-&gt;setAccelerationUpperLimit(dof-&gt;getAccelerationUpperLimit() + data(i));\n                else if (content == 11)\n                    dof-&gt;setForceLowerLimit(dof-&gt;getForceLowerLimit() + data(i));\n                else if (content == 12)\n                    dof-&gt;setForceUpperLimit(dof-&gt;getForceUpperLimit() + data(i));\n                else\n                    ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of data!\");\n            }\n        }\n    } // namespace detail\n\n    Robot::Robot(const std::string&amp; model_file, const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages, const std::string&amp; robot_name, bool is_urdf_string, bool cast_shadows)\n        : _robot_name(robot_name), _skeleton(_load_model(model_file, packages, is_urdf_string)), _cast_shadows(cast_shadows), _is_ghost(false)\n    {\n        ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(_skeleton != nullptr);\n        update_joint_dof_maps();\n    }\n\n    Robot::Robot(const std::string&amp; model_file, const std::string&amp; robot_name, bool is_urdf_string, bool cast_shadows)\n        : Robot(model_file, std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;(), robot_name, is_urdf_string, cast_shadows)\n    {\n    }\n\n    Robot::Robot(dart::dynamics::SkeletonPtr skeleton, const std::string&amp; robot_name, bool cast_shadows)\n        : _robot_name(robot_name), _skeleton(skeleton), _cast_shadows(cast_shadows), _is_ghost(false)\n    {\n        ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(_skeleton != nullptr);\n        _skeleton-&gt;setName(robot_name);\n        update_joint_dof_maps();\n        reset();\n    }\n\n    std::shared_ptr&lt;Robot&gt; Robot::clone() const\n    {\n        // safely clone the skeleton\n        _skeleton-&gt;getMutex().lock();\n#if DART_VERSION_AT_LEAST(6, 7, 2)\n        auto tmp_skel = _skeleton-&gt;cloneSkeleton();\n#else\n        auto tmp_skel = _skeleton-&gt;clone();\n#endif\n        _skeleton-&gt;getMutex().unlock();\n        auto robot = std::make_shared&lt;Robot&gt;(tmp_skel, _robot_name);\n\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n        // Deep copy everything\n        for (auto&amp; bd : robot-&gt;skeleton()-&gt;getBodyNodes()) {\n            auto&amp; visual_shapes = bd-&gt;getShapeNodesWith&lt;dart::dynamics::VisualAspect&gt;();\n            for (auto&amp; shape : visual_shapes) {\n                if (shape-&gt;getShape()-&gt;getType() != dart::dynamics::SoftMeshShape::getStaticType())\n                    shape-&gt;setShape(shape-&gt;getShape()-&gt;clone());\n            }\n        }\n#endif\n\n        robot-&gt;set_positions(this-&gt;positions());\n\n        robot-&gt;_model_filename = _model_filename;\n        robot-&gt;_controllers.clear();\n        for (auto&amp; ctrl : _controllers) {\n            robot-&gt;add_controller(ctrl-&gt;clone(), ctrl-&gt;weight());\n        }\n        return robot;\n    }\n\n    std::shared_ptr&lt;Robot&gt; Robot::clone_ghost(const std::string&amp; ghost_name, const Eigen::Vector4d&amp; ghost_color) const\n    {\n        // safely clone the skeleton\n        _skeleton-&gt;getMutex().lock();\n#if DART_VERSION_AT_LEAST(6, 7, 2)\n        auto tmp_skel = _skeleton-&gt;cloneSkeleton();\n#else\n        auto tmp_skel = _skeleton-&gt;clone();\n#endif\n        _skeleton-&gt;getMutex().unlock();\n        auto robot = std::make_shared&lt;Robot&gt;(tmp_skel, ghost_name + \"_\" + _robot_name);\n        robot-&gt;_model_filename = _model_filename;\n\n        // ghost robots have no controllers\n        robot-&gt;_controllers.clear();\n        // ghost robots do not do physics updates\n        robot-&gt;skeleton()-&gt;setMobile(false);\n        for (auto&amp; bd : robot-&gt;skeleton()-&gt;getBodyNodes()) {\n            // ghost robots do not have collisions\n            auto&amp; collision_shapes = bd-&gt;getShapeNodesWith&lt;dart::dynamics::CollisionAspect&gt;();\n            for (auto&amp; shape : collision_shapes) {\n                shape-&gt;removeAspect&lt;dart::dynamics::CollisionAspect&gt;();\n            }\n\n            // ghost robots do not have dynamics\n            auto&amp; dyn_shapes = bd-&gt;getShapeNodesWith&lt;dart::dynamics::DynamicsAspect&gt;();\n            for (auto&amp; shape : dyn_shapes) {\n                shape-&gt;removeAspect&lt;dart::dynamics::DynamicsAspect&gt;();\n            }\n\n            // ghost robots have a different color (same for all bodies)\n            auto&amp; visual_shapes = bd-&gt;getShapeNodesWith&lt;dart::dynamics::VisualAspect&gt;();\n            for (auto&amp; shape : visual_shapes) {\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n                if (shape-&gt;getShape()-&gt;getType() != dart::dynamics::SoftMeshShape::getStaticType())\n                    shape-&gt;setShape(shape-&gt;getShape()-&gt;clone());\n#endif\n                shape-&gt;getVisualAspect()-&gt;setRGBA(ghost_color);\n            }\n        }\n\n        // set positions\n        robot-&gt;set_positions(this-&gt;positions());\n\n        // ghost robots, by default, use the color from the VisualAspect\n        robot-&gt;set_color_mode(\"aspect\");\n\n        // ghost robots do not cast shadows\n        robot-&gt;set_cast_shadows(false);\n        // set the ghost flag\n        robot-&gt;set_ghost(true);\n\n        return robot;\n    }\n\n    dart::dynamics::SkeletonPtr Robot::skeleton() { return _skeleton; }\n\n    dart::dynamics::BodyNode* Robot::body_node(const std::string&amp; body_name) { return _skeleton-&gt;getBodyNode(body_name); }\n\n    dart::dynamics::BodyNode* Robot::body_node(size_t body_index)\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", nullptr);\n        return _skeleton-&gt;getBodyNode(body_index);\n    }\n\n    dart::dynamics::Joint* Robot::joint(const std::string&amp; joint_name) { return _skeleton-&gt;getJoint(joint_name); }\n\n    dart::dynamics::Joint* Robot::joint(size_t joint_index)\n    {\n        ROBOT_DART_ASSERT(joint_index &lt; _skeleton-&gt;getNumJoints(), \"Joint index out of bounds\", nullptr);\n        return _skeleton-&gt;getJoint(joint_index);\n    }\n\n    dart::dynamics::DegreeOfFreedom* Robot::dof(const std::string&amp; dof_name) { return _skeleton-&gt;getDof(dof_name); }\n\n    dart::dynamics::DegreeOfFreedom* Robot::dof(size_t dof_index)\n    {\n        ROBOT_DART_ASSERT(dof_index &lt; _skeleton-&gt;getNumDofs(), \"Dof index out of bounds\", nullptr);\n        return _skeleton-&gt;getDof(dof_index);\n    }\n\n    const std::string&amp; Robot::name() const { return _robot_name; }\n\n    void Robot::update(double t)\n    {\n        _skeleton-&gt;setCommands(Eigen::VectorXd::Zero(_skeleton-&gt;getNumDofs()));\n\n        for (auto&amp; ctrl : _controllers) {\n            if (ctrl-&gt;active())\n                detail::add_dof_data&lt;4&gt;(ctrl-&gt;weight() * ctrl-&gt;calculate(t), _skeleton,\n                    ctrl-&gt;controllable_dofs(), _dof_map);\n        }\n    }\n\n    void Robot::reinit_controllers()\n    {\n        for (auto&amp; ctrl : _controllers)\n            ctrl-&gt;init();\n    }\n\n    size_t Robot::num_controllers() const { return _controllers.size(); }\n\n    std::vector&lt;std::shared_ptr&lt;control::RobotControl&gt;&gt; Robot::controllers() const\n    {\n        return _controllers;\n    }\n\n    std::vector&lt;std::shared_ptr&lt;control::RobotControl&gt;&gt; Robot::active_controllers() const\n    {\n        std::vector&lt;std::shared_ptr&lt;control::RobotControl&gt;&gt; ctrls;\n        for (auto&amp; ctrl : _controllers) {\n            if (ctrl-&gt;active())\n                ctrls.push_back(ctrl);\n        }\n\n        return ctrls;\n    }\n\n    std::shared_ptr&lt;control::RobotControl&gt; Robot::controller(size_t index) const\n    {\n        ROBOT_DART_ASSERT(index &lt; _controllers.size(), \"Controller index out of bounds\", nullptr);\n        return _controllers[index];\n    }\n\n    void Robot::add_controller(\n        const std::shared_ptr&lt;control::RobotControl&gt;&amp; controller, double weight)\n    {\n        _controllers.push_back(controller);\n        controller-&gt;set_robot(this-&gt;shared_from_this());\n        controller-&gt;set_weight(weight);\n        controller-&gt;init();\n    }\n\n    void Robot::remove_controller(const std::shared_ptr&lt;control::RobotControl&gt;&amp; controller)\n    {\n        auto it = std::find(_controllers.begin(), _controllers.end(), controller);\n        if (it != _controllers.end())\n            _controllers.erase(it);\n    }\n\n    void Robot::remove_controller(size_t index)\n    {\n        ROBOT_DART_ASSERT(index &lt; _controllers.size(), \"Controller index out of bounds\", );\n        _controllers.erase(_controllers.begin() + index);\n    }\n\n    void Robot::clear_controllers() { _controllers.clear(); }\n\n    void Robot::fix_to_world()\n    {\n        auto parent_jt = _skeleton-&gt;getRootBodyNode()-&gt;getParentJoint();\n        ROBOT_DART_ASSERT(parent_jt != nullptr, \"RootBodyNode does not have a parent joint!\", );\n\n        if (fixed())\n            return;\n\n        Eigen::Isometry3d tf(dart::math::expAngular(_skeleton-&gt;getPositions().head(3)));\n        tf.translation() = _skeleton-&gt;getPositions().segment(3, 3);\n        dart::dynamics::WeldJoint::Properties properties;\n        properties.mName = parent_jt-&gt;getName();\n        _skeleton-&gt;getRootBodyNode()-&gt;changeParentJointType&lt;dart::dynamics::WeldJoint&gt;(properties);\n        _skeleton-&gt;getRootBodyNode()-&gt;getParentJoint()-&gt;setTransformFromParentBodyNode(tf);\n\n        reinit_controllers();\n        update_joint_dof_maps();\n    }\n\n    // pose: Orientation-Position\n    void Robot::free_from_world(const Eigen::Vector6d&amp; pose)\n    {\n        auto parent_jt = _skeleton-&gt;getRootBodyNode()-&gt;getParentJoint();\n        ROBOT_DART_ASSERT(parent_jt != nullptr, \"RootBodyNode does not have a parent joint!\", );\n\n        Eigen::Isometry3d tf(dart::math::expAngular(pose.head(3)));\n        tf.translation() = pose.segment(3, 3);\n\n        // if already free, we only change the transformation\n        if (free()) {\n            parent_jt-&gt;setTransformFromParentBodyNode(tf);\n            return;\n        }\n\n        dart::dynamics::FreeJoint::Properties properties;\n        properties.mName = parent_jt-&gt;getName();\n        _skeleton-&gt;getRootBodyNode()-&gt;changeParentJointType&lt;dart::dynamics::FreeJoint&gt;(properties);\n        _skeleton-&gt;getRootBodyNode()-&gt;getParentJoint()-&gt;setTransformFromParentBodyNode(tf);\n\n        reinit_controllers();\n        update_joint_dof_maps();\n    }\n\n    bool Robot::fixed() const\n    {\n        auto parent_jt = _skeleton-&gt;getRootBodyNode()-&gt;getParentJoint();\n        ROBOT_DART_ASSERT(parent_jt != nullptr, \"RootBodyNode does not have a parent joint!\", false);\n        return parent_jt-&gt;getType() == dart::dynamics::WeldJoint::getStaticType();\n    }\n\n    bool Robot::free() const\n    {\n        auto parent_jt = _skeleton-&gt;getRootBodyNode()-&gt;getParentJoint();\n        ROBOT_DART_ASSERT(parent_jt != nullptr, \"RootBodyNode does not have a parent joint!\", false);\n        return parent_jt-&gt;getType() == dart::dynamics::FreeJoint::getStaticType();\n    }\n\n    void Robot::reset()\n    {\n        _skeleton-&gt;resetPositions();\n        _skeleton-&gt;resetVelocities();\n        _skeleton-&gt;resetAccelerations();\n\n        clear_internal_forces();\n        reset_commands();\n        clear_external_forces();\n    }\n\n    void Robot::clear_external_forces() { _skeleton-&gt;clearExternalForces(); }\n\n    void Robot::clear_internal_forces()\n    {\n        _skeleton-&gt;clearInternalForces();\n        _skeleton-&gt;clearConstraintImpulses();\n    }\n\n    void Robot::reset_commands() { _skeleton-&gt;resetCommands(); }\n\n    void Robot::set_actuator_types(const std::string&amp; type, const std::vector&lt;std::string&gt;&amp; joint_names, bool override_mimic, bool override_base)\n    {\n        // Set all dofs to same actuator type\n        if (joint_names.empty()) {\n            if (type == \"torque\") {\n                return _set_actuator_types(dart::dynamics::Joint::FORCE, override_mimic, override_base);\n            }\n            else if (type == \"servo\") {\n                return _set_actuator_types(dart::dynamics::Joint::SERVO, override_mimic, override_base);\n            }\n            else if (type == \"velocity\") {\n                return _set_actuator_types(dart::dynamics::Joint::VELOCITY, override_mimic, override_base);\n            }\n            else if (type == \"passive\") {\n                return _set_actuator_types(dart::dynamics::Joint::PASSIVE, override_mimic, override_base);\n            }\n            else if (type == \"locked\") {\n                return _set_actuator_types(dart::dynamics::Joint::LOCKED, override_mimic, override_base);\n            }\n            else if (type == \"mimic\") {\n                ROBOT_DART_WARNING(true, \"Use this only if you know what you are doing. Use set_mimic otherwise.\");\n                return _set_actuator_types(dart::dynamics::Joint::MIMIC, override_mimic, override_base);\n            }\n            ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of actuator type. Valid values: torque, servo, velocity, passive, locked, mimic\");\n        }\n\n        for (size_t i = 0; i &lt; joint_names.size(); i++) {\n            auto it = _joint_map.find(joint_names[i]);\n            ROBOT_DART_ASSERT(it != _joint_map.end(), \"set_actuator_type: \" + joint_names[i] + \" is not in joint_map\", );\n            if (type == \"torque\") {\n                _set_actuator_type(it-&gt;second, dart::dynamics::Joint::FORCE, override_mimic, override_base);\n            }\n            else if (type == \"servo\") {\n                _set_actuator_type(it-&gt;second, dart::dynamics::Joint::SERVO, override_mimic, override_base);\n            }\n            else if (type == \"velocity\") {\n                _set_actuator_type(it-&gt;second, dart::dynamics::Joint::VELOCITY, override_mimic, override_base);\n            }\n            else if (type == \"passive\") {\n                _set_actuator_type(it-&gt;second, dart::dynamics::Joint::PASSIVE, override_mimic, override_base);\n            }\n            else if (type == \"locked\") {\n                _set_actuator_type(it-&gt;second, dart::dynamics::Joint::LOCKED, override_mimic, override_base);\n            }\n            else if (type == \"mimic\") {\n                ROBOT_DART_WARNING(true, \"Use this only if you know what you are doing. Use set_mimic otherwise.\");\n                _set_actuator_type(it-&gt;second, dart::dynamics::Joint::MIMIC, override_mimic, override_base);\n            }\n            else\n                ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of actuator type. Valid values: torque, servo, velocity, passive, locked, mimic\");\n        }\n    }\n\n    void Robot::set_actuator_type(const std::string&amp; type, const std::string&amp; joint_name, bool override_mimic, bool override_base)\n    {\n        set_actuator_types(type, {joint_name}, override_mimic, override_base);\n    }\n\n    void Robot::set_mimic(const std::string&amp; joint_name, const std::string&amp; mimic_joint_name, double multiplier, double offset)\n    {\n        dart::dynamics::Joint* jnt = _skeleton-&gt;getJoint(joint_name);\n        const dart::dynamics::Joint* mimic_jnt = _skeleton-&gt;getJoint(mimic_joint_name);\n\n        ROBOT_DART_ASSERT((jnt &amp;&amp; mimic_jnt), \"set_mimic: joint names do not exist\", );\n\n        jnt-&gt;setActuatorType(dart::dynamics::Joint::MIMIC);\n        jnt-&gt;setMimicJoint(mimic_jnt, multiplier, offset);\n    }\n\n    std::string Robot::actuator_type(const std::string&amp; joint_name) const\n    {\n        auto it = _joint_map.find(joint_name);\n        ROBOT_DART_ASSERT(it != _joint_map.end(), \"actuator_type: \" + joint_name + \" is not in joint_map\", \"invalid\");\n\n        auto type = _actuator_type(it-&gt;second);\n        if (type == dart::dynamics::Joint::FORCE)\n            return \"torque\";\n        else if (type == dart::dynamics::Joint::SERVO)\n            return \"servo\";\n        else if (type == dart::dynamics::Joint::VELOCITY)\n            return \"velocity\";\n        else if (type == dart::dynamics::Joint::PASSIVE)\n            return \"passive\";\n        else if (type == dart::dynamics::Joint::LOCKED)\n            return \"locked\";\n        else if (type == dart::dynamics::Joint::MIMIC)\n            return \"mimic\";\n\n        ROBOT_DART_ASSERT(false, \"actuator_type: we should not reach here\", \"invalid\");\n    }\n\n    std::vector&lt;std::string&gt; Robot::actuator_types(const std::vector&lt;std::string&gt;&amp; joint_names) const\n    {\n        std::vector&lt;std::string&gt; str_types;\n        // Get all dofs\n        if (joint_names.empty()) {\n            auto types = _actuator_types();\n\n            for (size_t i = 0; i &lt; types.size(); i++) {\n                auto type = types[i];\n                if (type == dart::dynamics::Joint::FORCE)\n                    str_types.push_back(\"torque\");\n                else if (type == dart::dynamics::Joint::SERVO)\n                    str_types.push_back(\"servo\");\n                else if (type == dart::dynamics::Joint::VELOCITY)\n                    str_types.push_back(\"velocity\");\n                else if (type == dart::dynamics::Joint::PASSIVE)\n                    str_types.push_back(\"passive\");\n                else if (type == dart::dynamics::Joint::LOCKED)\n                    str_types.push_back(\"locked\");\n                else if (type == dart::dynamics::Joint::MIMIC)\n                    str_types.push_back(\"mimic\");\n            }\n\n            ROBOT_DART_ASSERT(str_types.size() == types.size(), \"actuator_types: sizes of retrieved modes do not match\", {});\n\n            return str_types;\n        }\n\n        for (size_t i = 0; i &lt; joint_names.size(); i++) {\n            str_types.push_back(actuator_type(joint_names[i]));\n        }\n\n        ROBOT_DART_ASSERT(str_types.size() == joint_names.size(), \"actuator_types: sizes of retrieved modes do not match\", {});\n\n        return str_types;\n    }\n\n    void Robot::set_position_enforced(const std::vector&lt;bool&gt;&amp; enforced, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        size_t n_dofs = dof_names.size();\n        if (n_dofs == 0) {\n            ROBOT_DART_ASSERT(enforced.size() == _skeleton-&gt;getNumDofs(),\n                \"Position enforced vector size is not the same as the DOFs of the robot\", );\n            for (size_t i = 0; i &lt; _skeleton-&gt;getNumDofs(); ++i) {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n                _skeleton-&gt;getDof(i)-&gt;getJoint()-&gt;setLimitEnforcement(enforced[i]);\n#else\n                _skeleton-&gt;getDof(i)-&gt;getJoint()-&gt;setPositionLimitEnforced(enforced[i]);\n#endif\n            }\n        }\n        else {\n            ROBOT_DART_ASSERT(enforced.size() == dof_names.size(),\n                \"Position enforced vector size is not the same as the dof_names size\", );\n            for (size_t i = 0; i &lt; dof_names.size(); i++) {\n                auto it = _dof_map.find(dof_names[i]);\n                ROBOT_DART_ASSERT(it != _dof_map.end(), \"set_position_enforced: \" + dof_names[i] + \" is not in dof_map\", );\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n                _skeleton-&gt;getDof(it-&gt;second)-&gt;getJoint()-&gt;setLimitEnforcement(enforced[i]);\n#else\n                _skeleton-&gt;getDof(it-&gt;second)-&gt;getJoint()-&gt;setPositionLimitEnforced(enforced[i]);\n#endif\n            }\n        }\n    }\n\n    void Robot::set_position_enforced(bool enforced, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        size_t n_dofs = dof_names.size();\n        if (n_dofs == 0)\n            n_dofs = _skeleton-&gt;getNumDofs();\n        std::vector&lt;bool&gt; enforced_all(n_dofs, enforced);\n\n        set_position_enforced(enforced_all, dof_names);\n    }\n\n    std::vector&lt;bool&gt; Robot::position_enforced(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        std::vector&lt;bool&gt; pos;\n        if (dof_names.size() == 0) {\n            for (size_t i = 0; i &lt; _skeleton-&gt;getNumDofs(); ++i) {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n                pos.push_back(_skeleton-&gt;getDof(i)-&gt;getJoint()-&gt;areLimitsEnforced());\n#else\n                pos.push_back(_skeleton-&gt;getDof(i)-&gt;getJoint()-&gt;isPositionLimitEnforced());\n#endif\n            }\n        }\n        else {\n            for (size_t i = 0; i &lt; dof_names.size(); i++) {\n                auto it = _dof_map.find(dof_names[i]);\n                ROBOT_DART_ASSERT(it != _dof_map.end(), \"position_enforced: \" + dof_names[i] + \" is not in dof_map\", std::vector&lt;bool&gt;());\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n                pos.push_back(_skeleton-&gt;getDof(it-&gt;second)-&gt;getJoint()-&gt;areLimitsEnforced());\n#else\n                pos.push_back(_skeleton-&gt;getDof(it-&gt;second)-&gt;getJoint()-&gt;isPositionLimitEnforced());\n#endif\n            }\n        }\n\n        return pos;\n    }\n\n    void Robot::force_position_bounds()\n    {\n        for (size_t i = 0; i &lt; _skeleton-&gt;getNumDofs(); ++i) {\n            auto dof = _skeleton-&gt;getDof(i);\n            auto jt = dof-&gt;getJoint();\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n            bool force = jt-&gt;areLimitsEnforced();\n#else\n            bool force = jt-&gt;isPositionLimitEnforced();\n#endif\n            auto type = jt-&gt;getActuatorType();\n            force = force || type == dart::dynamics::Joint::SERVO || type == dart::dynamics::Joint::MIMIC;\n\n            if (force) {\n                double epsilon = 1e-5;\n                if (dof-&gt;getPosition() &gt; dof-&gt;getPositionUpperLimit()) {\n                    dof-&gt;setPosition(dof-&gt;getPositionUpperLimit() - epsilon);\n                }\n                else if (dof-&gt;getPosition() &lt; dof-&gt;getPositionLowerLimit()) {\n                    dof-&gt;setPosition(dof-&gt;getPositionLowerLimit() + epsilon);\n                }\n            }\n        }\n    }\n\n    void Robot::set_damping_coeffs(const std::vector&lt;double&gt;&amp; damps, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        size_t n_dofs = dof_names.size();\n        if (n_dofs == 0) {\n            ROBOT_DART_ASSERT(damps.size() == _skeleton-&gt;getNumDofs(),\n                \"Damping coefficient vector size is not the same as the DOFs of the robot\", );\n            for (size_t i = 0; i &lt; _skeleton-&gt;getNumDofs(); ++i) {\n                _skeleton-&gt;getDof(i)-&gt;setDampingCoefficient(damps[i]);\n            }\n        }\n        else {\n            ROBOT_DART_ASSERT(damps.size() == dof_names.size(),\n                \"Damping coefficient vector size is not the same as the dof_names size\", );\n            for (size_t i = 0; i &lt; dof_names.size(); i++) {\n                auto it = _dof_map.find(dof_names[i]);\n                ROBOT_DART_ASSERT(it != _dof_map.end(), \"set_damping_coeffs: \" + dof_names[i] + \" is not in dof_map\", );\n                _skeleton-&gt;getDof(it-&gt;second)-&gt;setDampingCoefficient(damps[i]);\n            }\n        }\n    }\n\n    void Robot::set_damping_coeffs(double damp, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        size_t n_dofs = dof_names.size();\n        if (n_dofs == 0)\n            n_dofs = _skeleton-&gt;getNumDofs();\n        std::vector&lt;double&gt; damps_all(n_dofs, damp);\n\n        set_damping_coeffs(damps_all, dof_names);\n    }\n\n    std::vector&lt;double&gt; Robot::damping_coeffs(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        std::vector&lt;double&gt; dampings;\n        if (dof_names.size() == 0) {\n            for (size_t i = 0; i &lt; _skeleton-&gt;getNumDofs(); ++i) {\n                dampings.push_back(_skeleton-&gt;getDof(i)-&gt;getDampingCoefficient());\n            }\n        }\n        else {\n            for (size_t i = 0; i &lt; dof_names.size(); i++) {\n                auto it = _dof_map.find(dof_names[i]);\n                ROBOT_DART_ASSERT(it != _dof_map.end(), \"damping_coeffs: \" + dof_names[i] + \" is not in dof_map\", std::vector&lt;double&gt;());\n                dampings.push_back(_skeleton-&gt;getDof(it-&gt;second)-&gt;getDampingCoefficient());\n            }\n        }\n\n        return dampings;\n    }\n\n    void Robot::set_coulomb_coeffs(const std::vector&lt;double&gt;&amp; cfrictions, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        size_t n_dofs = dof_names.size();\n        if (n_dofs == 0) {\n            ROBOT_DART_ASSERT(cfrictions.size() == _skeleton-&gt;getNumDofs(),\n                \"Coulomb friction coefficient vector size is not the same as the DOFs of the robot\", );\n            for (size_t i = 0; i &lt; _skeleton-&gt;getNumDofs(); ++i) {\n                _skeleton-&gt;getDof(i)-&gt;setCoulombFriction(cfrictions[i]);\n            }\n        }\n        else {\n            ROBOT_DART_ASSERT(cfrictions.size() == dof_names.size(),\n                \"Coulomb friction coefficient vector size is not the same as the dof_names size\", );\n            for (size_t i = 0; i &lt; dof_names.size(); i++) {\n                auto it = _dof_map.find(dof_names[i]);\n                ROBOT_DART_ASSERT(it != _dof_map.end(), \"set_coulomb_coeffs: \" + dof_names[i] + \" is not in dof_map\", );\n                _skeleton-&gt;getDof(it-&gt;second)-&gt;setCoulombFriction(cfrictions[i]);\n            }\n        }\n    }\n\n    void Robot::set_coulomb_coeffs(double cfriction, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        size_t n_dofs = dof_names.size();\n        if (n_dofs == 0)\n            n_dofs = _skeleton-&gt;getNumDofs();\n        std::vector&lt;double&gt; cfrictions(n_dofs, cfriction);\n\n        set_coulomb_coeffs(cfrictions, dof_names);\n    }\n\n    std::vector&lt;double&gt; Robot::coulomb_coeffs(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        std::vector&lt;double&gt; cfrictions;\n        if (dof_names.size() == 0) {\n            for (size_t i = 0; i &lt; _skeleton-&gt;getNumDofs(); ++i) {\n                cfrictions.push_back(_skeleton-&gt;getDof(i)-&gt;getCoulombFriction());\n            }\n        }\n        else {\n            for (size_t i = 0; i &lt; dof_names.size(); i++) {\n                auto it = _dof_map.find(dof_names[i]);\n                ROBOT_DART_ASSERT(it != _dof_map.end(), \"coulomb_coeffs: \" + dof_names[i] + \" is not in dof_map\", std::vector&lt;double&gt;());\n                cfrictions.push_back(_skeleton-&gt;getDof(it-&gt;second)-&gt;getCoulombFriction());\n            }\n        }\n\n        return cfrictions;\n    }\n\n    void Robot::set_spring_stiffnesses(const std::vector&lt;double&gt;&amp; stiffnesses, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        size_t n_dofs = dof_names.size();\n        if (n_dofs == 0) {\n            ROBOT_DART_ASSERT(stiffnesses.size() == _skeleton-&gt;getNumDofs(),\n                \"Spring stiffnesses vector size is not the same as the DOFs of the robot\", );\n            for (size_t i = 0; i &lt; _skeleton-&gt;getNumDofs(); ++i) {\n                _skeleton-&gt;getDof(i)-&gt;setSpringStiffness(stiffnesses[i]);\n            }\n        }\n        else {\n            ROBOT_DART_ASSERT(stiffnesses.size() == dof_names.size(),\n                \"Spring stiffnesses vector size is not the same as the dof_names size\", );\n            for (size_t i = 0; i &lt; dof_names.size(); i++) {\n                auto it = _dof_map.find(dof_names[i]);\n                ROBOT_DART_ASSERT(it != _dof_map.end(), \"set_spring_stiffnesses: \" + dof_names[i] + \" is not in dof_map\", );\n                _skeleton-&gt;getDof(it-&gt;second)-&gt;setSpringStiffness(stiffnesses[i]);\n            }\n        }\n    }\n\n    void Robot::set_spring_stiffnesses(double stiffness, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        size_t n_dofs = dof_names.size();\n        if (n_dofs == 0)\n            n_dofs = _skeleton-&gt;getNumDofs();\n        std::vector&lt;double&gt; stiffnesses(n_dofs, stiffness);\n\n        set_spring_stiffnesses(stiffnesses, dof_names);\n    }\n\n    std::vector&lt;double&gt; Robot::spring_stiffnesses(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        std::vector&lt;double&gt; stiffnesses;\n        if (dof_names.size() == 0) {\n            for (size_t i = 0; i &lt; _skeleton-&gt;getNumDofs(); ++i) {\n                stiffnesses.push_back(_skeleton-&gt;getDof(i)-&gt;getSpringStiffness());\n            }\n        }\n        else {\n            for (size_t i = 0; i &lt; dof_names.size(); i++) {\n                auto it = _dof_map.find(dof_names[i]);\n                ROBOT_DART_ASSERT(it != _dof_map.end(), \"spring_stiffnesses: \" + dof_names[i] + \" is not in dof_map\", std::vector&lt;double&gt;());\n                stiffnesses.push_back(_skeleton-&gt;getDof(it-&gt;second)-&gt;getSpringStiffness());\n            }\n        }\n\n        return stiffnesses;\n    }\n\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n    auto body_node_set_friction_dir = [](dart::dynamics::BodyNode* body, const Eigen::Vector3d&amp; direction) {\n        auto&amp; dyn_shapes = body-&gt;getShapeNodesWith&lt;dart::dynamics::DynamicsAspect&gt;();\n        for (auto&amp; shape : dyn_shapes) {\n            const auto&amp; dyn = shape-&gt;getDynamicsAspect();\n            dyn-&gt;setFirstFrictionDirection(direction);\n            dyn-&gt;setFirstFrictionDirectionFrame(body);\n        }\n    };\n#endif\n\n    void Robot::set_friction_dir(const std::string&amp; body_name, const Eigen::Vector3d&amp; direction)\n    {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n        body_node_set_friction_dir(bd, direction);\n#else\n        ROBOT_DART_WARNING(true, \"DART supports the frictional direction from v.6.10 onwards!\");\n#endif\n    }\n\n    void Robot::set_friction_dir(size_t body_index, const Eigen::Vector3d&amp; direction)\n    {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", );\n\n        body_node_set_friction_dir(_skeleton-&gt;getBodyNode(body_index), direction);\n#else\n        ROBOT_DART_WARNING(true, \"DART supports the frictional direction from v.6.10 onwards!\");\n#endif\n    }\n\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n    auto body_node_get_friction_dir = [](dart::dynamics::BodyNode* body) {\n        auto&amp; dyn_shapes = body-&gt;getShapeNodesWith&lt;dart::dynamics::DynamicsAspect&gt;();\n        for (auto&amp; shape : dyn_shapes) {\n            const auto&amp; dyn = shape-&gt;getDynamicsAspect();\n            return dyn-&gt;getFirstFrictionDirection(); // assume all shape nodes have the same friction direction\n        }\n\n        return Eigen::Vector3d(Eigen::Vector3d::Zero());\n    };\n#endif\n\n    Eigen::Vector3d Robot::friction_dir(const std::string&amp; body_name)\n    {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::Vector3d::Zero());\n\n        return body_node_get_friction_dir(bd);\n#else\n        ROBOT_DART_WARNING(true, \"DART supports the frictional direction from v.6.10 onwards!\");\n        return Eigen::Vector3d::Zero();\n#endif\n    }\n\n    Eigen::Vector3d Robot::friction_dir(size_t body_index)\n    {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", Eigen::Vector3d::Zero());\n\n        return body_node_get_friction_dir(_skeleton-&gt;getBodyNode(body_index));\n#else\n        ROBOT_DART_WARNING(true, \"DART supports the frictional direction from v.6.10 onwards!\");\n        return Eigen::Vector3d::Zero();\n#endif\n    }\n\n    auto body_node_set_friction_coeff = [](dart::dynamics::BodyNode* body, double value) {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n        auto&amp; dyn_shapes = body-&gt;getShapeNodesWith&lt;dart::dynamics::DynamicsAspect&gt;();\n        for (auto&amp; shape : dyn_shapes) {\n            shape-&gt;getDynamicsAspect()-&gt;setFrictionCoeff(value);\n        }\n#else\n        body-&gt;setFrictionCoeff(value);\n#endif\n    };\n\n    void Robot::set_friction_coeff(const std::string&amp; body_name, double value)\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n        body_node_set_friction_coeff(bd, value);\n    }\n\n    void Robot::set_friction_coeff(size_t body_index, double value)\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", );\n\n        body_node_set_friction_coeff(_skeleton-&gt;getBodyNode(body_index), value);\n    }\n\n    void Robot::set_friction_coeffs(double value)\n    {\n        for (auto bd : _skeleton-&gt;getBodyNodes())\n            body_node_set_friction_coeff(bd, value);\n    }\n\n    auto body_node_get_friction_coeff = [](dart::dynamics::BodyNode* body) {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n        auto&amp; dyn_shapes = body-&gt;getShapeNodesWith&lt;dart::dynamics::DynamicsAspect&gt;();\n        for (auto&amp; shape : dyn_shapes) {\n            return shape-&gt;getDynamicsAspect()-&gt;getFrictionCoeff(); // assume all shape nodes have the same friction\n        }\n\n        return 0.;\n#else\n        return body-&gt;getFrictionCoeff();\n#endif\n    };\n\n    double Robot::friction_coeff(const std::string&amp; body_name)\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", 0.);\n\n        return body_node_get_friction_coeff(bd);\n    }\n\n    double Robot::friction_coeff(size_t body_index)\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", 0.);\n        return body_node_get_friction_coeff(_skeleton-&gt;getBodyNode(body_index));\n    }\n\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n    auto body_node_set_secondary_friction_coeff = [](dart::dynamics::BodyNode* body, double value) {\n        auto&amp; dyn_shapes = body-&gt;getShapeNodesWith&lt;dart::dynamics::DynamicsAspect&gt;();\n        for (auto&amp; shape : dyn_shapes) {\n            shape-&gt;getDynamicsAspect()-&gt;setSecondaryFrictionCoeff(value);\n        }\n    };\n#endif\n\n    void Robot::set_secondary_friction_coeff(const std::string&amp; body_name, double value)\n    {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n        body_node_set_secondary_friction_coeff(bd, value);\n#else\n        ROBOT_DART_WARNING(true, \"DART supports the secondary friction coefficient from v.6.10 onwards!\");\n#endif\n    }\n\n    void Robot::set_secondary_friction_coeff(size_t body_index, double value)\n    {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", );\n\n        body_node_set_secondary_friction_coeff(_skeleton-&gt;getBodyNode(body_index), value);\n#else\n        ROBOT_DART_WARNING(true, \"DART supports the secondary friction coefficient from v.6.10 onwards!\");\n#endif\n    }\n\n    void Robot::set_secondary_friction_coeffs(double value)\n    {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n        for (auto bd : _skeleton-&gt;getBodyNodes())\n            body_node_set_secondary_friction_coeff(bd, value);\n#else\n        ROBOT_DART_WARNING(true, \"DART supports the secondary friction coefficient from v.6.10 onwards!\");\n#endif\n    }\n\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n    auto body_node_get_secondary_friction_coeff = [](dart::dynamics::BodyNode* body) {\n        auto&amp; dyn_shapes = body-&gt;getShapeNodesWith&lt;dart::dynamics::DynamicsAspect&gt;();\n        for (auto&amp; shape : dyn_shapes) {\n            return shape-&gt;getDynamicsAspect()-&gt;getSecondaryFrictionCoeff(); // assume all shape nodes have the same friction\n        }\n\n        return 0.;\n    };\n#endif\n\n    double Robot::secondary_friction_coeff(const std::string&amp; body_name)\n    {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", 0.);\n\n        return body_node_get_secondary_friction_coeff(bd);\n#else\n        ROBOT_DART_WARNING(true, \"DART supports the secondary friction coefficient from v.6.10 onwards!\");\n        return 0.;\n#endif\n    }\n\n    double Robot::secondary_friction_coeff(size_t body_index)\n    {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", 0.);\n        return body_node_get_secondary_friction_coeff(_skeleton-&gt;getBodyNode(body_index));\n#else\n        ROBOT_DART_WARNING(true, \"DART supports the secondary friction coefficient from v.6.10 onwards!\");\n        return 0.;\n#endif\n    }\n\n    auto body_node_set_restitution_coeff = [](dart::dynamics::BodyNode* body, double value) {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n        auto&amp; dyn_shapes = body-&gt;getShapeNodesWith&lt;dart::dynamics::DynamicsAspect&gt;();\n        for (auto&amp; shape : dyn_shapes) {\n            shape-&gt;getDynamicsAspect()-&gt;setRestitutionCoeff(value);\n        }\n#else\n        body-&gt;setRestitutionCoeff(value);\n#endif\n    };\n\n    void Robot::set_restitution_coeff(const std::string&amp; body_name, double value)\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n        body_node_set_restitution_coeff(bd, value);\n    }\n\n    void Robot::set_restitution_coeff(size_t body_index, double value)\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", );\n\n        body_node_set_restitution_coeff(_skeleton-&gt;getBodyNode(body_index), value);\n    }\n\n    void Robot::set_restitution_coeffs(double value)\n    {\n        for (auto bd : _skeleton-&gt;getBodyNodes())\n            body_node_set_restitution_coeff(bd, value);\n    }\n\n    auto body_node_get_restitution_coeff = [](dart::dynamics::BodyNode* body) {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n        auto&amp; dyn_shapes = body-&gt;getShapeNodesWith&lt;dart::dynamics::DynamicsAspect&gt;();\n        for (auto&amp; shape : dyn_shapes) {\n            return shape-&gt;getDynamicsAspect()-&gt;getRestitutionCoeff(); // assume all shape nodes have the same restitution\n        }\n\n        return 0.;\n#else\n        return body-&gt;getRestitutionCoeff();\n#endif\n    };\n\n    double Robot::restitution_coeff(const std::string&amp; body_name)\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", 0.);\n\n        return body_node_get_restitution_coeff(bd);\n    }\n\n    double Robot::restitution_coeff(size_t body_index)\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", 0.);\n\n        return body_node_get_restitution_coeff(_skeleton-&gt;getBodyNode(body_index));\n    }\n\n    Eigen::Isometry3d Robot::base_pose() const\n    {\n        if (free()) {\n            Eigen::Isometry3d tf(Eigen::Isometry3d::Identity());\n            tf.linear() = dart::math::expMapRot(_skeleton-&gt;getPositions().head&lt;6&gt;().head&lt;3&gt;());\n            tf.translation() = _skeleton-&gt;getPositions().head&lt;6&gt;().tail&lt;3&gt;();\n            return tf;\n        }\n        auto jt = _skeleton-&gt;getRootBodyNode()-&gt;getParentJoint();\n        ROBOT_DART_ASSERT(jt != nullptr, \"Skeleton does not have a proper root BodyNode!\",\n            Eigen::Isometry3d::Identity());\n        return jt-&gt;getTransformFromParentBodyNode();\n    }\n\n    Eigen::Vector6d Robot::base_pose_vec() const\n    {\n        if (free())\n            return _skeleton-&gt;getPositions().head(6);\n        auto jt = _skeleton-&gt;getRootBodyNode()-&gt;getParentJoint();\n        ROBOT_DART_ASSERT(jt != nullptr, \"Skeleton does not have a proper root BodyNode!\",\n            Eigen::Vector6d::Zero());\n        Eigen::Isometry3d tf = jt-&gt;getTransformFromParentBodyNode();\n        Eigen::Vector6d x;\n        x.head&lt;3&gt;() = dart::math::logMap(tf.linear());\n        x.tail&lt;3&gt;() = tf.translation();\n        return x;\n    }\n\n    void Robot::set_base_pose(const Eigen::Isometry3d&amp; tf)\n    {\n        auto jt = _skeleton-&gt;getRootBodyNode()-&gt;getParentJoint();\n        if (jt) {\n            if (free()) {\n                Eigen::Vector6d x;\n                x.head&lt;3&gt;() = dart::math::logMap(tf.linear());\n                x.tail&lt;3&gt;() = tf.translation();\n                jt-&gt;setPositions(x);\n            }\n            else\n                jt-&gt;setTransformFromParentBodyNode(tf);\n        }\n    }\n\n    void Robot::set_base_pose(const Eigen::Vector6d&amp; pose)\n    {\n        auto jt = _skeleton-&gt;getRootBodyNode()-&gt;getParentJoint();\n        if (jt) {\n            if (free())\n                jt-&gt;setPositions(pose);\n            else {\n                Eigen::Isometry3d tf(Eigen::Isometry3d::Identity());\n                tf.linear() = dart::math::expMapRot(pose.head&lt;3&gt;());\n                tf.translation() = pose.tail&lt;3&gt;();\n                jt-&gt;setTransformFromParentBodyNode(tf);\n            }\n        }\n    }\n\n    size_t Robot::num_dofs() const { return _skeleton-&gt;getNumDofs(); }\n\n    size_t Robot::num_joints() const { return _skeleton-&gt;getNumJoints(); }\n\n    size_t Robot::num_bodies() const { return _skeleton-&gt;getNumBodyNodes(); }\n\n    Eigen::Vector3d Robot::com() const { return _skeleton-&gt;getCOM(); }\n\n    Eigen::Vector6d Robot::com_velocity() const { return _skeleton-&gt;getCOMSpatialVelocity(); }\n\n    Eigen::Vector6d Robot::com_acceleration() const { return _skeleton-&gt;getCOMSpatialAcceleration(); }\n\n    Eigen::VectorXd Robot::positions(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;0&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    void Robot::set_positions(const Eigen::VectorXd&amp; positions, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        detail::set_dof_data&lt;0&gt;(positions, _skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::position_lower_limits(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;5&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    void Robot::set_position_lower_limits(const Eigen::VectorXd&amp; positions, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        detail::set_dof_data&lt;5&gt;(positions, _skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::position_upper_limits(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;6&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    void Robot::set_position_upper_limits(const Eigen::VectorXd&amp; positions, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        detail::set_dof_data&lt;6&gt;(positions, _skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::velocities(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;1&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    void Robot::set_velocities(const Eigen::VectorXd&amp; velocities, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        detail::set_dof_data&lt;1&gt;(velocities, _skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::velocity_lower_limits(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;7&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    void Robot::set_velocity_lower_limits(const Eigen::VectorXd&amp; velocities, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        detail::set_dof_data&lt;7&gt;(velocities, _skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::velocity_upper_limits(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;8&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    void Robot::set_velocity_upper_limits(const Eigen::VectorXd&amp; velocities, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        detail::set_dof_data&lt;8&gt;(velocities, _skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::accelerations(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;2&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    void Robot::set_accelerations(const Eigen::VectorXd&amp; accelerations, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        detail::set_dof_data&lt;2&gt;(accelerations, _skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::acceleration_lower_limits(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;9&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    void Robot::set_acceleration_lower_limits(const Eigen::VectorXd&amp; accelerations, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        detail::set_dof_data&lt;9&gt;(accelerations, _skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::acceleration_upper_limits(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;10&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    void Robot::set_acceleration_upper_limits(const Eigen::VectorXd&amp; accelerations, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        detail::set_dof_data&lt;10&gt;(accelerations, _skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::forces(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;3&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    void Robot::set_forces(const Eigen::VectorXd&amp; forces, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        detail::set_dof_data&lt;3&gt;(forces, _skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::force_lower_limits(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;11&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    void Robot::set_force_lower_limits(const Eigen::VectorXd&amp; forces, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        detail::set_dof_data&lt;11&gt;(forces, _skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::force_upper_limits(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;12&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    void Robot::set_force_upper_limits(const Eigen::VectorXd&amp; forces, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        detail::set_dof_data&lt;12&gt;(forces, _skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::commands(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;4&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    void Robot::set_commands(const Eigen::VectorXd&amp; commands, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        detail::set_dof_data&lt;4&gt;(commands, _skeleton, dof_names, _dof_map);\n    }\n\n    std::pair&lt;Eigen::Vector6d, Eigen::Vector6d&gt; Robot::force_torque(size_t joint_index) const\n    {\n        ROBOT_DART_ASSERT(joint_index &lt; _skeleton-&gt;getNumJoints(), \"Joint index out of bounds\", {});\n        auto jt = _skeleton-&gt;getJoint(joint_index);\n\n        Eigen::Vector6d F1 = Eigen::Vector6d::Zero();\n        Eigen::Vector6d F2 = Eigen::Vector6d::Zero();\n        Eigen::Isometry3d T12 = jt-&gt;getRelativeTransform();\n\n        auto child_body = jt-&gt;getChildBodyNode();\n        // ROBOT_DART_ASSERT(child_body != nullptr, \"Child BodyNode is nullptr\", {});\n        if (child_body)\n            F2 = -dart::math::dAdT(jt-&gt;getTransformFromChildBodyNode(), child_body-&gt;getBodyForce());\n\n        F1 = -dart::math::dAdInvR(T12, F2);\n\n        // F1 contains the force applied by the parent Link on the Joint specified in the parent\n        // Link frame, F2 contains the force applied by the child Link on the Joint specified in\n        // the child Link frame\n        return {F1, F2};\n    }\n\n    void Robot::set_external_force(const std::string&amp; body_name, const Eigen::Vector3d&amp; force, const Eigen::Vector3d&amp; offset, bool force_local, bool offset_local)\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n        bd-&gt;setExtForce(force, offset, force_local, offset_local);\n    }\n\n    void Robot::set_external_force(size_t body_index, const Eigen::Vector3d&amp; force, const Eigen::Vector3d&amp; offset, bool force_local, bool offset_local)\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", );\n        auto bd = _skeleton-&gt;getBodyNode(body_index);\n\n        bd-&gt;setExtForce(force, offset, force_local, offset_local);\n    }\n\n    void Robot::add_external_force(const std::string&amp; body_name, const Eigen::Vector3d&amp; force, const Eigen::Vector3d&amp; offset, bool force_local, bool offset_local)\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n        bd-&gt;addExtForce(force, offset, force_local, offset_local);\n    }\n\n    void Robot::add_external_force(size_t body_index, const Eigen::Vector3d&amp; force, const Eigen::Vector3d&amp; offset, bool force_local, bool offset_local)\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", );\n        auto bd = _skeleton-&gt;getBodyNode(body_index);\n\n        bd-&gt;addExtForce(force, offset, force_local, offset_local);\n    }\n\n    void Robot::set_external_torque(const std::string&amp; body_name, const Eigen::Vector3d&amp; torque, bool local)\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n        bd-&gt;setExtTorque(torque, local);\n    }\n\n    void Robot::set_external_torque(size_t body_index, const Eigen::Vector3d&amp; torque, bool local)\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", );\n        auto bd = _skeleton-&gt;getBodyNode(body_index);\n\n        bd-&gt;setExtTorque(torque, local);\n    }\n\n    void Robot::add_external_torque(const std::string&amp; body_name, const Eigen::Vector3d&amp; torque, bool local)\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n        bd-&gt;addExtTorque(torque, local);\n    }\n\n    void Robot::add_external_torque(size_t body_index, const Eigen::Vector3d&amp; torque, bool local)\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", );\n        auto bd = _skeleton-&gt;getBodyNode(body_index);\n\n        bd-&gt;addExtTorque(torque, local);\n    }\n\n    Eigen::Vector6d Robot::external_forces(const std::string&amp; body_name) const\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::Vector6d::Zero());\n\n        return bd-&gt;getExternalForceGlobal();\n    }\n\n    Eigen::Vector6d Robot::external_forces(size_t body_index) const\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\",\n            Eigen::Vector6d::Zero());\n        auto bd = _skeleton-&gt;getBodyNode(body_index);\n\n        return bd-&gt;getExternalForceGlobal();\n    }\n\n    Eigen::Isometry3d Robot::body_pose(const std::string&amp; body_name) const\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::Isometry3d::Identity());\n        return bd-&gt;getWorldTransform();\n    }\n\n    Eigen::Isometry3d Robot::body_pose(size_t body_index) const\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", Eigen::Isometry3d::Identity());\n        return _skeleton-&gt;getBodyNode(body_index)-&gt;getWorldTransform();\n    }\n\n    Eigen::Vector6d Robot::body_pose_vec(const std::string&amp; body_name) const\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::Vector6d::Zero());\n\n        Eigen::Isometry3d tf = bd-&gt;getWorldTransform();\n        Eigen::Vector6d x;\n        x.head&lt;3&gt;() = dart::math::logMap(tf.linear());\n        x.tail&lt;3&gt;() = tf.translation();\n\n        return x;\n    }\n\n    Eigen::Vector6d Robot::body_pose_vec(size_t body_index) const\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", Eigen::Vector6d::Zero());\n\n        Eigen::Isometry3d tf = _skeleton-&gt;getBodyNode(body_index)-&gt;getWorldTransform();\n\n        Eigen::Vector6d x;\n        x.head&lt;3&gt;() = dart::math::logMap(tf.linear());\n        x.tail&lt;3&gt;() = tf.translation();\n\n        return x;\n    }\n\n    Eigen::Vector6d Robot::body_velocity(const std::string&amp; body_name) const\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::Vector6d::Zero());\n        return bd-&gt;getSpatialVelocity(dart::dynamics::Frame::World(), dart::dynamics::Frame::World());\n    }\n\n    Eigen::Vector6d Robot::body_velocity(size_t body_index) const\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", Eigen::Vector6d::Zero());\n        return _skeleton-&gt;getBodyNode(body_index)-&gt;getSpatialVelocity(dart::dynamics::Frame::World(), dart::dynamics::Frame::World());\n    }\n\n    Eigen::Vector6d Robot::body_acceleration(const std::string&amp; body_name) const\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::Vector6d::Zero());\n        return bd-&gt;getSpatialAcceleration(dart::dynamics::Frame::World(), dart::dynamics::Frame::World());\n    }\n\n    Eigen::Vector6d Robot::body_acceleration(size_t body_index) const\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", Eigen::Vector6d::Zero());\n        return _skeleton-&gt;getBodyNode(body_index)-&gt;getSpatialAcceleration(dart::dynamics::Frame::World(), dart::dynamics::Frame::World());\n    }\n\n    std::vector&lt;std::string&gt; Robot::body_names() const\n    {\n        std::vector&lt;std::string&gt; names;\n        for (auto&amp; bd : _skeleton-&gt;getBodyNodes())\n            names.push_back(bd-&gt;getName());\n        return names;\n    }\n\n    std::string Robot::body_name(size_t body_index) const\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", \"\");\n        return _skeleton-&gt;getBodyNode(body_index)-&gt;getName();\n    }\n\n    void Robot::set_body_name(size_t body_index, const std::string&amp; body_name)\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", );\n        _skeleton-&gt;getBodyNode(body_index)-&gt;setName(body_name);\n    }\n\n    size_t Robot::body_index(const std::string&amp; body_name) const\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd, \"body_index : \" + body_name + \" is not in the skeleton\", 0);\n        return bd-&gt;getIndexInSkeleton();\n    }\n\n    double Robot::body_mass(const std::string&amp; body_name) const\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", 0.);\n        return bd-&gt;getMass();\n    }\n\n    double Robot::body_mass(size_t body_index) const\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", 0.);\n        return _skeleton-&gt;getBodyNode(body_index)-&gt;getMass();\n    }\n\n    void Robot::set_body_mass(const std::string&amp; body_name, double mass)\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n        bd-&gt;setMass(mass); // TO-DO: Recompute inertia?\n    }\n\n    void Robot::set_body_mass(size_t body_index, double mass)\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", );\n        _skeleton-&gt;getBodyNode(body_index)-&gt;setMass(mass); // TO-DO: Recompute inertia?\n    }\n\n    void Robot::add_body_mass(const std::string&amp; body_name, double mass)\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n        bd-&gt;setMass(mass + bd-&gt;getMass()); // TO-DO: Recompute inertia?\n    }\n\n    void Robot::add_body_mass(size_t body_index, double mass)\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", );\n        auto bd = _skeleton-&gt;getBodyNode(body_index);\n        bd-&gt;setMass(mass + bd-&gt;getMass()); // TO-DO: Recompute inertia?\n    }\n\n    Eigen::MatrixXd Robot::jacobian(const std::string&amp; body_name, const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::MatrixXd());\n\n        Eigen::MatrixXd jac = _skeleton-&gt;getWorldJacobian(bd);\n\n        return _jacobian(jac, dof_names);\n    }\n\n    Eigen::MatrixXd Robot::jacobian_deriv(const std::string&amp; body_name, const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::MatrixXd());\n\n        Eigen::MatrixXd jac = _skeleton-&gt;getJacobianSpatialDeriv(bd, dart::dynamics::Frame::World());\n\n        return _jacobian(jac, dof_names);\n    }\n\n    Eigen::MatrixXd Robot::com_jacobian(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        Eigen::MatrixXd jac = _skeleton-&gt;getCOMJacobian();\n\n        return _jacobian(jac, dof_names);\n    }\n\n    Eigen::MatrixXd Robot::com_jacobian_deriv(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        Eigen::MatrixXd jac = _skeleton-&gt;getCOMJacobianSpatialDeriv();\n\n        return _jacobian(jac, dof_names);\n    }\n\n    Eigen::MatrixXd Robot::mass_matrix(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        Eigen::MatrixXd M = _skeleton-&gt;getMassMatrix();\n\n        return _mass_matrix(M, dof_names);\n    }\n\n    Eigen::MatrixXd Robot::aug_mass_matrix(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        Eigen::MatrixXd M = _skeleton-&gt;getAugMassMatrix();\n\n        return _mass_matrix(M, dof_names);\n    }\n\n    Eigen::MatrixXd Robot::inv_mass_matrix(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        Eigen::MatrixXd M = _skeleton-&gt;getInvMassMatrix();\n\n        return _mass_matrix(M, dof_names);\n    }\n\n    Eigen::MatrixXd Robot::inv_aug_mass_matrix(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        Eigen::MatrixXd M = _skeleton-&gt;getInvAugMassMatrix();\n\n        return _mass_matrix(M, dof_names);\n    }\n\n    Eigen::VectorXd Robot::coriolis_forces(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;13&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::gravity_forces(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;14&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::coriolis_gravity_forces(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;15&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::constraint_forces(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;16&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::vec_dof(const Eigen::VectorXd&amp; vec, const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        assert(vec.size() == static_cast&lt;int&gt;(_skeleton-&gt;getNumDofs()));\n\n        Eigen::VectorXd ret(dof_names.size());\n        for (size_t i = 0; i &lt; dof_names.size(); i++) {\n            auto it = _dof_map.find(dof_names[i]);\n            ROBOT_DART_ASSERT(it != _dof_map.end(), \"vec_dof: \" + dof_names[i] + \" is not in dof_map\", Eigen::VectorXd());\n\n            ret(i) = vec[it-&gt;second];\n        }\n\n        return ret;\n    }\n\n    void Robot::update_joint_dof_maps()\n    {\n        // DoFs\n        _dof_map.clear();\n        for (size_t i = 0; i &lt; _skeleton-&gt;getNumDofs(); ++i)\n            _dof_map[_skeleton-&gt;getDof(i)-&gt;getName()] = i;\n\n        // Joints\n        _joint_map.clear();\n        for (size_t i = 0; i &lt; _skeleton-&gt;getNumJoints(); ++i)\n            _joint_map[_skeleton-&gt;getJoint(i)-&gt;getName()] = i;\n    }\n\n    const std::unordered_map&lt;std::string, size_t&gt;&amp; Robot::dof_map() const { return _dof_map; }\n\n    const std::unordered_map&lt;std::string, size_t&gt;&amp; Robot::joint_map() const { return _joint_map; }\n\n    std::vector&lt;std::string&gt; Robot::dof_names(bool filter_mimics, bool filter_locked, bool filter_passive) const\n    {\n        std::vector&lt;std::string&gt; names;\n        for (auto&amp; dof : _skeleton-&gt;getDofs()) {\n            auto jt = dof-&gt;getJoint();\n            if ((!filter_mimics\n#if DART_VERSION_AT_LEAST(6, 7, 0)\n                    || jt-&gt;getActuatorType() != dart::dynamics::Joint::MIMIC\n#else\n                    || true\n#endif\n                    )\n                &amp;&amp; (!filter_locked || jt-&gt;getActuatorType() != dart::dynamics::Joint::LOCKED)\n                &amp;&amp; (!filter_passive || jt-&gt;getActuatorType() != dart::dynamics::Joint::PASSIVE))\n                names.push_back(dof-&gt;getName());\n        }\n        return names;\n    }\n\n    std::vector&lt;std::string&gt; Robot::mimic_dof_names() const\n    {\n        std::vector&lt;std::string&gt; names;\n#if DART_VERSION_AT_LEAST(6, 7, 0)\n        for (auto&amp; dof : _skeleton-&gt;getDofs()) {\n            auto jt = dof-&gt;getJoint();\n            if (jt-&gt;getActuatorType() == dart::dynamics::Joint::MIMIC)\n                names.push_back(dof-&gt;getName());\n        }\n#endif\n        return names;\n    }\n\n    std::vector&lt;std::string&gt; Robot::locked_dof_names() const\n    {\n        std::vector&lt;std::string&gt; names;\n        for (auto&amp; dof : _skeleton-&gt;getDofs()) {\n            auto jt = dof-&gt;getJoint();\n            if (jt-&gt;getActuatorType() == dart::dynamics::Joint::LOCKED)\n                names.push_back(dof-&gt;getName());\n        }\n        return names;\n    }\n\n    std::vector&lt;std::string&gt; Robot::passive_dof_names() const\n    {\n        std::vector&lt;std::string&gt; names;\n        for (auto&amp; dof : _skeleton-&gt;getDofs()) {\n            auto jt = dof-&gt;getJoint();\n            if (jt-&gt;getActuatorType() == dart::dynamics::Joint::PASSIVE)\n                names.push_back(dof-&gt;getName());\n        }\n        return names;\n    }\n\n    std::string Robot::dof_name(size_t dof_index) const\n    {\n        ROBOT_DART_ASSERT(dof_index &lt; _skeleton-&gt;getNumDofs(), \"Dof index out of bounds\", \"\");\n        return _skeleton-&gt;getDof(dof_index)-&gt;getName();\n    }\n\n    size_t Robot::dof_index(const std::string&amp; dof_name) const\n    {\n        if (_dof_map.empty()) {\n            ROBOT_DART_WARNING(true,\n                \"DoF map is empty. Iterating over all skeleton DoFs to get the index. Consider \"\n                \"calling update_joint_dof_maps() before using dof_index()\");\n            for (size_t i = 0; i &lt; _skeleton-&gt;getNumDofs(); i++)\n                if (_skeleton-&gt;getDof(i)-&gt;getName() == dof_name)\n                    return i;\n            ROBOT_DART_ASSERT(false, \"dof_index : \" + dof_name + \" is not in the skeleton\", 0);\n        }\n        auto it = _dof_map.find(dof_name);\n        ROBOT_DART_ASSERT(it != _dof_map.end(), \"dof_index : \" + dof_name + \" is not in DoF map\", 0);\n        return it-&gt;second;\n    }\n\n    std::vector&lt;std::string&gt; Robot::joint_names() const\n    {\n        std::vector&lt;std::string&gt; names;\n        for (auto&amp; jt : _skeleton-&gt;getJoints())\n            names.push_back(jt-&gt;getName());\n        return names;\n    }\n\n    std::string Robot::joint_name(size_t joint_index) const\n    {\n        ROBOT_DART_ASSERT(joint_index &lt; _skeleton-&gt;getNumJoints(), \"Joint index out of bounds\", \"\");\n        return _skeleton-&gt;getJoint(joint_index)-&gt;getName();\n    }\n\n    void Robot::set_joint_name(size_t joint_index, const std::string&amp; joint_name)\n    {\n        ROBOT_DART_ASSERT(joint_index &lt; _skeleton-&gt;getNumJoints(), \"Joint index out of bounds\", );\n        _skeleton-&gt;getJoint(joint_index)-&gt;setName(joint_name);\n\n        update_joint_dof_maps();\n    }\n\n    size_t Robot::joint_index(const std::string&amp; joint_name) const\n    {\n        if (_joint_map.empty()) {\n            ROBOT_DART_WARNING(true,\n                \"Joint map is empty. Iterating over all skeleton joints to get the index. \"\n                \"Consider calling update_joint_dof_maps() before using joint_index()\");\n            for (size_t i = 0; i &lt; _skeleton-&gt;getNumJoints(); i++)\n                if (_skeleton-&gt;getJoint(i)-&gt;getName() == joint_name)\n                    return i;\n            ROBOT_DART_ASSERT(false, \"joint_index : \" + joint_name + \" is not in the skeleton\", 0);\n        }\n        auto it = _joint_map.find(joint_name);\n        ROBOT_DART_ASSERT(it != _joint_map.end(), \"joint_index : \" + joint_name + \" is not in Joint map\", 0);\n        return it-&gt;second;\n    }\n\n    void Robot::set_color_mode(const std::string&amp; color_mode)\n    {\n        if (color_mode == \"material\")\n            _set_color_mode(dart::dynamics::MeshShape::ColorMode::MATERIAL_COLOR, _skeleton);\n        else if (color_mode == \"assimp\")\n            _set_color_mode(dart::dynamics::MeshShape::ColorMode::COLOR_INDEX, _skeleton);\n        else if (color_mode == \"aspect\")\n            _set_color_mode(dart::dynamics::MeshShape::ColorMode::SHAPE_COLOR, _skeleton);\n        else\n            ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown color mode. Valid values: material, assimp and aspect.\");\n    }\n\n    void Robot::set_color_mode(const std::string&amp; color_mode, const std::string&amp; body_name)\n    {\n        dart::dynamics::MeshShape::ColorMode cmode;\n        if (color_mode == \"material\")\n            cmode = dart::dynamics::MeshShape::ColorMode::MATERIAL_COLOR;\n        else if (color_mode == \"assimp\")\n            cmode = dart::dynamics::MeshShape::ColorMode::COLOR_INDEX;\n        else if (color_mode == \"aspect\")\n            cmode = dart::dynamics::MeshShape::ColorMode::SHAPE_COLOR;\n        else\n            ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown color mode. Valid values: material, assimp and aspect.\");\n\n        auto bn = _skeleton-&gt;getBodyNode(body_name);\n        if (bn) {\n            for (size_t j = 0; j &lt; bn-&gt;getNumShapeNodes(); ++j) {\n                dart::dynamics::ShapeNode* sn = bn-&gt;getShapeNode(j);\n                _set_color_mode(cmode, sn);\n            }\n        }\n    }\n\n    void Robot::set_self_collision(bool enable_self_collisions, bool enable_adjacent_collisions)\n    {\n        _skeleton-&gt;setSelfCollisionCheck(enable_self_collisions);\n        _skeleton-&gt;setAdjacentBodyCheck(enable_adjacent_collisions);\n    }\n\n    bool Robot::self_colliding() const\n    {\n        return _skeleton-&gt;getSelfCollisionCheck();\n    }\n\n    bool Robot::adjacent_colliding() const\n    {\n        return _skeleton-&gt;getAdjacentBodyCheck() &amp;&amp; self_colliding();\n    }\n\n    void Robot::set_cast_shadows(bool cast_shadows) { _cast_shadows = cast_shadows; }\n\n    bool Robot::cast_shadows() const { return _cast_shadows; }\n\n    void Robot::set_ghost(bool ghost) { _is_ghost = ghost; }\n\n    bool Robot::ghost() const { return _is_ghost; }\n\n    void Robot::set_draw_axis(const std::string&amp; body_name, double size)\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd, \"Body name does not exist in skeleton\", );\n        std::pair&lt;dart::dynamics::BodyNode*, double&gt; p = {bd, size};\n        auto iter = std::find(_axis_shapes.begin(), _axis_shapes.end(), p);\n        if (iter == _axis_shapes.end())\n            _axis_shapes.push_back(p);\n    }\n\n    void Robot::remove_all_drawing_axis()\n    {\n        _axis_shapes.clear();\n    }\n\n    const std::vector&lt;std::pair&lt;dart::dynamics::BodyNode*, double&gt;&gt;&amp; Robot::drawing_axes() const { return _axis_shapes; }\n\n    dart::dynamics::SkeletonPtr Robot::_load_model(const std::string&amp; filename, const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages, bool is_urdf_string)\n    {\n        ROBOT_DART_EXCEPTION_ASSERT(!filename.empty(), \"Empty URDF filename\");\n\n        dart::dynamics::SkeletonPtr tmp_skel;\n        if (!is_urdf_string) {\n            // search for the right directory for our files\n            std::string model_file = utheque::path(filename, false, std::string(ROBOT_DART_PREFIX));\n            // store the name for future use\n            _model_filename = model_file;\n            _packages = packages;\n            // std::cout &lt;&lt; \"RobotDART:: using: \" &lt;&lt; model_file &lt;&lt; std::endl;\n\n            fs::path path(model_file);\n            std::string extension = path.extension().string();\n            if (extension == \".urdf\") {\n#if DART_VERSION_AT_LEAST(6, 12, 0)\n                dart::io::DartLoader::Options options;\n                // if links have no inertia, we put ~zero mass and very very small inertia\n                options.mDefaultInertia = dart::dynamics::Inertia(1e-10, Eigen::Vector3d::Zero(), Eigen::Matrix3d::Identity() * 1e-6);\n                dart::io::DartLoader loader(options);\n#else\n                dart::io::DartLoader loader;\n#endif\n                for (size_t i = 0; i &lt; packages.size(); i++) {\n                    std::string package = std::get&lt;1&gt;(packages[i]);\n                    std::string package_path = utheque::directory(package, false, std::string(ROBOT_DART_PREFIX));\n                    loader.addPackageDirectory(\n                        std::get&lt;0&gt;(packages[i]), package_path + \"/\" + package);\n                }\n                tmp_skel = loader.parseSkeleton(model_file);\n            }\n            else if (extension == \".sdf\")\n                tmp_skel = dart::io::SdfParser::readSkeleton(model_file);\n            else if (extension == \".skel\") {\n                tmp_skel = dart::io::SkelParser::readSkeleton(model_file);\n                // if the skel file contains a world\n                // try to read the skeleton with name 'robot_name'\n                if (!tmp_skel) {\n                    dart::simulation::WorldPtr world = dart::io::SkelParser::readWorld(model_file);\n                    tmp_skel = world-&gt;getSkeleton(_robot_name);\n                }\n            }\n            else\n                return nullptr;\n        }\n        else {\n            // Load from URDF string\n            dart::io::DartLoader loader;\n            for (size_t i = 0; i &lt; packages.size(); i++) {\n                std::string package = std::get&lt;1&gt;(packages[i]);\n                std::string package_path = utheque::directory(package, false, std::string(ROBOT_DART_PREFIX));\n                loader.addPackageDirectory(std::get&lt;0&gt;(packages[i]), package_path + \"/\" + package);\n            }\n            tmp_skel = loader.parseSkeletonString(filename, \"\");\n        }\n\n        if (tmp_skel == nullptr)\n            return nullptr;\n\n        tmp_skel-&gt;setName(_robot_name);\n        // Set joint limits\n        for (size_t i = 0; i &lt; tmp_skel-&gt;getNumJoints(); ++i) {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n            tmp_skel-&gt;getJoint(i)-&gt;setLimitEnforcement(true);\n#else\n            tmp_skel-&gt;getJoint(i)-&gt;setPositionLimitEnforced(true);\n#endif\n        }\n\n        _set_color_mode(dart::dynamics::MeshShape::ColorMode::SHAPE_COLOR, tmp_skel);\n\n        return tmp_skel;\n    }\n\n    void Robot::_set_color_mode(dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)\n    {\n        for (size_t i = 0; i &lt; skel-&gt;getNumBodyNodes(); ++i) {\n            dart::dynamics::BodyNode* bn = skel-&gt;getBodyNode(i);\n            for (size_t j = 0; j &lt; bn-&gt;getNumShapeNodes(); ++j) {\n                dart::dynamics::ShapeNode* sn = bn-&gt;getShapeNode(j);\n                _set_color_mode(color_mode, sn);\n            }\n        }\n    }\n\n    void Robot::_set_color_mode(dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode* sn)\n    {\n        if (sn-&gt;getVisualAspect()) {\n            dart::dynamics::MeshShape* ms\n                = dynamic_cast&lt;dart::dynamics::MeshShape*&gt;(sn-&gt;getShape().get());\n            if (ms)\n                ms-&gt;setColorMode(color_mode);\n        }\n    }\n\n    void Robot::_set_actuator_type(size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic, bool override_base)\n    {\n        ROBOT_DART_ASSERT(joint_index &lt; _skeleton-&gt;getNumJoints(), \"joint_index index out of bounds\", );\n        auto jt = _skeleton-&gt;getJoint(joint_index);\n        // Do not override 6D base if robot is free and override_base is false\n        if (free() &amp;&amp; (!override_base &amp;&amp; _skeleton-&gt;getRootJoint() == jt))\n            return;\n#if DART_VERSION_AT_LEAST(6, 7, 0)\n        if (override_mimic || jt-&gt;getActuatorType() != dart::dynamics::Joint::MIMIC)\n#endif\n            jt-&gt;setActuatorType(type);\n    }\n\n    void Robot::_set_actuator_types(const std::vector&lt;dart::dynamics::Joint::ActuatorType&gt;&amp; types, bool override_mimic, bool override_base)\n    {\n        ROBOT_DART_ASSERT(types.size() == _skeleton-&gt;getNumJoints(), \"Actuator types vector size is not the same as the joints of the robot\", );\n        // Ignore first root joint if robot is free, and override_base is false\n        bool ignore_base = free() &amp;&amp; !override_base;\n        auto root_jt = _skeleton-&gt;getRootJoint();\n        for (size_t i = 0; i &lt; _skeleton-&gt;getNumJoints(); ++i) {\n            auto jt = _skeleton-&gt;getJoint(i);\n            if (jt-&gt;getNumDofs() == 0 || (ignore_base &amp;&amp; jt == root_jt))\n                continue;\n#if DART_VERSION_AT_LEAST(6, 7, 0)\n            if (override_mimic || jt-&gt;getActuatorType() != dart::dynamics::Joint::MIMIC)\n#endif\n                jt-&gt;setActuatorType(types[i]);\n        }\n    }\n\n    void Robot::_set_actuator_types(dart::dynamics::Joint::ActuatorType type, bool override_mimic, bool override_base)\n    {\n        // Ignore first root joint if robot is free, and override_base is false\n        bool ignore_base = free() &amp;&amp; !override_base;\n        auto root_jt = _skeleton-&gt;getRootJoint();\n        for (size_t i = 0; i &lt; _skeleton-&gt;getNumJoints(); ++i) {\n            auto jt = _skeleton-&gt;getJoint(i);\n            if (jt-&gt;getNumDofs() == 0 || (ignore_base &amp;&amp; jt == root_jt))\n                continue;\n#if DART_VERSION_AT_LEAST(6, 7, 0)\n            if (override_mimic || jt-&gt;getActuatorType() != dart::dynamics::Joint::MIMIC)\n#endif\n                jt-&gt;setActuatorType(type);\n        }\n    }\n\n    dart::dynamics::Joint::ActuatorType Robot::_actuator_type(size_t joint_index) const\n    {\n        ROBOT_DART_ASSERT(joint_index &lt; _skeleton-&gt;getNumJoints(), \"joint_index out of bounds\", dart::dynamics::Joint::ActuatorType::FORCE);\n        return _skeleton-&gt;getJoint(joint_index)-&gt;getActuatorType();\n    }\n\n    std::vector&lt;dart::dynamics::Joint::ActuatorType&gt; Robot::_actuator_types() const\n    {\n        std::vector&lt;dart::dynamics::Joint::ActuatorType&gt; types;\n        for (size_t i = 0; i &lt; _skeleton-&gt;getNumJoints(); ++i) {\n            types.push_back(_skeleton-&gt;getJoint(i)-&gt;getActuatorType());\n        }\n\n        return types;\n    }\n\n    Eigen::MatrixXd Robot::_jacobian(const Eigen::MatrixXd&amp; full_jacobian, const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        if (dof_names.empty())\n            return full_jacobian;\n\n        Eigen::MatrixXd jac_ret(6, dof_names.size());\n\n        for (size_t i = 0; i &lt; dof_names.size(); i++) {\n            auto it = _dof_map.find(dof_names[i]);\n            ROBOT_DART_ASSERT(it != _dof_map.end(), \"_jacobian: \" + dof_names[i] + \" is not in dof_map\", Eigen::MatrixXd());\n\n            jac_ret.col(i) = full_jacobian.col(it-&gt;second);\n        }\n\n        return jac_ret;\n    }\n\n    Eigen::MatrixXd Robot::_mass_matrix(const Eigen::MatrixXd&amp; full_mass_matrix, const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        if (dof_names.empty())\n            return full_mass_matrix;\n\n        Eigen::MatrixXd M_ret(dof_names.size(), dof_names.size());\n\n        for (size_t i = 0; i &lt; dof_names.size(); i++) {\n            auto it = _dof_map.find(dof_names[i]);\n            ROBOT_DART_ASSERT(it != _dof_map.end(), \"mass_matrix: \" + dof_names[i] + \" is not in dof_map\", Eigen::MatrixXd());\n\n            M_ret(i, i) = full_mass_matrix(it-&gt;second, it-&gt;second);\n\n            for (size_t j = i + 1; j &lt; dof_names.size(); j++) {\n                auto it2 = _dof_map.find(dof_names[j]);\n                ROBOT_DART_ASSERT(it2 != _dof_map.end(), \"mass_matrix: \" + dof_names[j] + \" is not in dof_map\", Eigen::MatrixXd());\n\n                M_ret(i, j) = full_mass_matrix(it-&gt;second, it2-&gt;second);\n                M_ret(j, i) = full_mass_matrix(it2-&gt;second, it-&gt;second);\n            }\n        }\n\n        return M_ret;\n    }\n\n    std::shared_ptr&lt;Robot&gt; Robot::create_box(const Eigen::Vector3d&amp; dims, const Eigen::Isometry3d&amp; tf, const std::string&amp; type, double mass, const Eigen::Vector4d&amp; color, const std::string&amp; box_name)\n    {\n        Eigen::Vector6d x;\n        x.head&lt;3&gt;() = dart::math::logMap(tf.linear());\n        x.tail&lt;3&gt;() = tf.translation();\n\n        return create_box(dims, x, type, mass, color, box_name);\n    }\n\n    std::shared_ptr&lt;Robot&gt; Robot::create_box(const Eigen::Vector3d&amp; dims, const Eigen::Vector6d&amp; pose, const std::string&amp; type, double mass, const Eigen::Vector4d&amp; color, const std::string&amp; box_name)\n    {\n        ROBOT_DART_ASSERT((dims.array() &gt; 0.).all(), \"Dimensions should be bigger than zero!\", nullptr);\n        ROBOT_DART_ASSERT(mass &gt; 0., \"Box mass should be bigger than zero!\", nullptr);\n\n        dart::dynamics::SkeletonPtr box_skel = dart::dynamics::Skeleton::create(box_name);\n\n        // Give the box a body\n        dart::dynamics::BodyNodePtr body;\n        if (type == \"free\")\n            body = box_skel-&gt;createJointAndBodyNodePair&lt;dart::dynamics::FreeJoint&gt;(nullptr).second;\n        else\n            body = box_skel-&gt;createJointAndBodyNodePair&lt;dart::dynamics::WeldJoint&gt;(nullptr).second;\n        body-&gt;setName(box_name);\n\n        // Give the body a shape\n        auto box = std::make_shared&lt;dart::dynamics::BoxShape&gt;(dims);\n        auto box_node = body-&gt;createShapeNodeWith&lt;dart::dynamics::VisualAspect,\n            dart::dynamics::CollisionAspect, dart::dynamics::DynamicsAspect&gt;(box);\n        box_node-&gt;getVisualAspect()-&gt;setColor(color);\n        // Set up inertia\n        dart::dynamics::Inertia inertia;\n        inertia.setMass(mass);\n        inertia.setMoment(box-&gt;computeInertia(mass));\n        body-&gt;setInertia(inertia);\n\n        // Put the body into position\n        auto robot = std::make_shared&lt;Robot&gt;(box_skel, box_name);\n\n        if (type == \"free\") // free floating\n            robot-&gt;set_positions(pose);\n        else // fixed\n        {\n            Eigen::Isometry3d T;\n            T.linear() = dart::math::expMapRot(pose.head&lt;3&gt;());\n            T.translation() = pose.tail&lt;3&gt;();\n            body-&gt;getParentJoint()-&gt;setTransformFromParentBodyNode(T);\n        }\n\n        return robot;\n    }\n\n    std::shared_ptr&lt;Robot&gt; Robot::create_ellipsoid(const Eigen::Vector3d&amp; dims, const Eigen::Isometry3d&amp; tf, const std::string&amp; type, double mass, const Eigen::Vector4d&amp; color, const std::string&amp; ellipsoid_name)\n    {\n        Eigen::Vector6d x;\n        x.head&lt;3&gt;() = dart::math::logMap(tf.linear());\n        x.tail&lt;3&gt;() = tf.translation();\n\n        return create_ellipsoid(dims, x, type, mass, color, ellipsoid_name);\n    }\n\n    std::shared_ptr&lt;Robot&gt; Robot::create_ellipsoid(const Eigen::Vector3d&amp; dims, const Eigen::Vector6d&amp; pose, const std::string&amp; type, double mass, const Eigen::Vector4d&amp; color, const std::string&amp; ellipsoid_name)\n    {\n        ROBOT_DART_ASSERT((dims.array() &gt; 0.).all(), \"Dimensions should be bigger than zero!\", nullptr);\n        ROBOT_DART_ASSERT(mass &gt; 0., \"Box mass should be bigger than zero!\", nullptr);\n\n        dart::dynamics::SkeletonPtr ellipsoid_skel = dart::dynamics::Skeleton::create(ellipsoid_name);\n\n        // Give the ellipsoid a body\n        dart::dynamics::BodyNodePtr body;\n        if (type == \"free\")\n            body = ellipsoid_skel-&gt;createJointAndBodyNodePair&lt;dart::dynamics::FreeJoint&gt;(nullptr).second;\n        else\n            body = ellipsoid_skel-&gt;createJointAndBodyNodePair&lt;dart::dynamics::WeldJoint&gt;(nullptr).second;\n        body-&gt;setName(ellipsoid_name);\n\n        // Give the body a shape\n        auto ellipsoid = std::make_shared&lt;dart::dynamics::EllipsoidShape&gt;(dims);\n        auto ellipsoid_node = body-&gt;createShapeNodeWith&lt;dart::dynamics::VisualAspect,\n            dart::dynamics::CollisionAspect, dart::dynamics::DynamicsAspect&gt;(ellipsoid);\n        ellipsoid_node-&gt;getVisualAspect()-&gt;setColor(color);\n        // Set up inertia\n        dart::dynamics::Inertia inertia;\n        inertia.setMass(mass);\n        inertia.setMoment(ellipsoid-&gt;computeInertia(mass));\n        body-&gt;setInertia(inertia);\n\n        auto robot = std::make_shared&lt;Robot&gt;(ellipsoid_skel, ellipsoid_name);\n\n        // Put the body into position\n        if (type == \"free\") // free floating\n            robot-&gt;set_positions(pose);\n        else // fixed\n        {\n            Eigen::Isometry3d T;\n            T.linear() = dart::math::expMapRot(pose.head&lt;3&gt;());\n            T.translation() = pose.tail&lt;3&gt;();\n            body-&gt;getParentJoint()-&gt;setTransformFromParentBodyNode(T);\n        }\n\n        return robot;\n    }\n} // namespace robot_dart\n</code></pre>"},{"location":"api/robot_8hpp/","title":"File robot.hpp","text":"<p>FileList &gt; robot_dart &gt; robot.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;unordered_map&gt;</code></li> <li><code>#include &lt;robot_dart/utils.hpp&gt;</code></li> </ul>"},{"location":"api/robot_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace control"},{"location":"api/robot_8hpp/#classes","title":"Classes","text":"Type Name class Robot <p>The documentation for this class was generated from the following file <code>robot_dart/robot.hpp</code></p>"},{"location":"api/robot_8hpp_source/","title":"File robot.hpp","text":"<p>File List &gt; robot_dart &gt; robot.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_ROBOT_HPP\n#define ROBOT_DART_ROBOT_HPP\n\n#include &lt;unordered_map&gt;\n\n#include &lt;robot_dart/utils.hpp&gt;\n\nnamespace robot_dart {\n    class RobotDARTSimu;\n    namespace control {\n        class RobotControl;\n    }\n\n    class Robot : public std::enable_shared_from_this&lt;Robot&gt; {\n    public:\n        Robot(const std::string&amp; model_file, const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages, const std::string&amp; robot_name = \"robot\", bool is_urdf_string = false, bool cast_shadows = true);\n        Robot(const std::string&amp; model_file, const std::string&amp; robot_name = \"robot\", bool is_urdf_string = false, bool cast_shadows = true);\n        Robot(dart::dynamics::SkeletonPtr skeleton, const std::string&amp; robot_name = \"robot\", bool cast_shadows = true);\n        virtual ~Robot() {}\n\n        std::shared_ptr&lt;Robot&gt; clone() const;\n        std::shared_ptr&lt;Robot&gt; clone_ghost(const std::string&amp; ghost_name = \"ghost\", const Eigen::Vector4d&amp; ghost_color = {0.3, 0.3, 0.3, 0.7}) const;\n\n        dart::dynamics::SkeletonPtr skeleton();\n        dart::dynamics::BodyNode* body_node(const std::string&amp; body_name);\n        dart::dynamics::BodyNode* body_node(size_t body_index);\n\n        dart::dynamics::Joint* joint(const std::string&amp; joint_name);\n        dart::dynamics::Joint* joint(size_t joint_index);\n\n        dart::dynamics::DegreeOfFreedom* dof(const std::string&amp; dof_name);\n        dart::dynamics::DegreeOfFreedom* dof(size_t dof_index);\n\n        const std::string&amp; name() const;\n        // to use the same urdf somewhere else\n        const std::string&amp; model_filename() const { return _model_filename; }\n        const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; model_packages() const { return _packages; }\n\n        void update(double t);\n\n        void reinit_controllers();\n\n        size_t num_controllers() const;\n        std::vector&lt;std::shared_ptr&lt;control::RobotControl&gt;&gt; controllers() const;\n        std::vector&lt;std::shared_ptr&lt;control::RobotControl&gt;&gt; active_controllers() const;\n\n        std::shared_ptr&lt;control::RobotControl&gt; controller(size_t index) const;\n\n        void add_controller(\n            const std::shared_ptr&lt;control::RobotControl&gt;&amp; controller, double weight = 1.0);\n        void remove_controller(const std::shared_ptr&lt;control::RobotControl&gt;&amp; controller);\n        void remove_controller(size_t index);\n        void clear_controllers();\n\n        void fix_to_world();\n        // pose: Orientation-Position\n        void free_from_world(const Eigen::Vector6d&amp; pose = Eigen::Vector6d::Zero());\n\n        bool fixed() const;\n        bool free() const;\n\n        virtual void reset();\n\n        void clear_external_forces();\n        void clear_internal_forces();\n        void reset_commands();\n\n        // actuator type can be: torque, servo, velocity, passive, locked, mimic (only for completeness, use set_mimic to use this)\n        // Be careful that actuator types are per joint and not per DoF\n        void set_actuator_types(const std::string&amp; type, const std::vector&lt;std::string&gt;&amp; joint_names = {}, bool override_mimic = false, bool override_base = false);\n        void set_actuator_type(const std::string&amp; type, const std::string&amp; joint_name, bool override_mimic = false, bool override_base = false);\n        void set_mimic(const std::string&amp; joint_name, const std::string&amp; mimic_joint_name, double multiplier = 1., double offset = 0.);\n\n        std::string actuator_type(const std::string&amp; joint_name) const;\n        std::vector&lt;std::string&gt; actuator_types(const std::vector&lt;std::string&gt;&amp; joint_names = {}) const;\n\n        void set_position_enforced(const std::vector&lt;bool&gt;&amp; enforced, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n        void set_position_enforced(bool enforced, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n\n        std::vector&lt;bool&gt; position_enforced(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n\n        void force_position_bounds();\n\n        void set_damping_coeffs(const std::vector&lt;double&gt;&amp; damps, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n        void set_damping_coeffs(double damp, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n\n        std::vector&lt;double&gt; damping_coeffs(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n\n        void set_coulomb_coeffs(const std::vector&lt;double&gt;&amp; cfrictions, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n        void set_coulomb_coeffs(double cfriction, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n\n        std::vector&lt;double&gt; coulomb_coeffs(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n\n        void set_spring_stiffnesses(const std::vector&lt;double&gt;&amp; stiffnesses, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n        void set_spring_stiffnesses(double stiffness, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n\n        std::vector&lt;double&gt; spring_stiffnesses(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n\n        // the friction direction is in local frame\n        void set_friction_dir(const std::string&amp; body_name, const Eigen::Vector3d&amp; direction);\n        void set_friction_dir(size_t body_index, const Eigen::Vector3d&amp; direction);\n        Eigen::Vector3d friction_dir(const std::string&amp; body_name);\n        Eigen::Vector3d friction_dir(size_t body_index);\n\n        void set_friction_coeff(const std::string&amp; body_name, double value);\n        void set_friction_coeff(size_t body_index, double value);\n        void set_friction_coeffs(double value);\n        double friction_coeff(const std::string&amp; body_name);\n        double friction_coeff(size_t body_index);\n\n        void set_secondary_friction_coeff(const std::string&amp; body_name, double value);\n        void set_secondary_friction_coeff(size_t body_index, double value);\n        void set_secondary_friction_coeffs(double value);\n        double secondary_friction_coeff(const std::string&amp; body_name);\n        double secondary_friction_coeff(size_t body_index);\n\n        void set_restitution_coeff(const std::string&amp; body_name, double value);\n        void set_restitution_coeff(size_t body_index, double value);\n        void set_restitution_coeffs(double value);\n        double restitution_coeff(const std::string&amp; body_name);\n        double restitution_coeff(size_t body_index);\n\n        Eigen::Isometry3d base_pose() const;\n        Eigen::Vector6d base_pose_vec() const;\n        void set_base_pose(const Eigen::Isometry3d&amp; tf);\n        void set_base_pose(const Eigen::Vector6d&amp; pose);\n\n        size_t num_dofs() const;\n        size_t num_joints() const;\n        size_t num_bodies() const;\n\n        Eigen::Vector3d com() const;\n        Eigen::Vector6d com_velocity() const;\n        Eigen::Vector6d com_acceleration() const;\n\n        Eigen::VectorXd positions(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        void set_positions(const Eigen::VectorXd&amp; positions, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n\n        Eigen::VectorXd position_lower_limits(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        void set_position_lower_limits(const Eigen::VectorXd&amp; positions, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n        Eigen::VectorXd position_upper_limits(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        void set_position_upper_limits(const Eigen::VectorXd&amp; positions, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n\n        Eigen::VectorXd velocities(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        void set_velocities(const Eigen::VectorXd&amp; velocities, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n\n        Eigen::VectorXd velocity_lower_limits(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        void set_velocity_lower_limits(const Eigen::VectorXd&amp; velocities, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n        Eigen::VectorXd velocity_upper_limits(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        void set_velocity_upper_limits(const Eigen::VectorXd&amp; velocities, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n\n        Eigen::VectorXd accelerations(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        void set_accelerations(const Eigen::VectorXd&amp; accelerations, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n\n        Eigen::VectorXd acceleration_lower_limits(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        void set_acceleration_lower_limits(const Eigen::VectorXd&amp; accelerations, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n        Eigen::VectorXd acceleration_upper_limits(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        void set_acceleration_upper_limits(const Eigen::VectorXd&amp; accelerations, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n\n        Eigen::VectorXd forces(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        void set_forces(const Eigen::VectorXd&amp; forces, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n\n        Eigen::VectorXd force_lower_limits(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        void set_force_lower_limits(const Eigen::VectorXd&amp; forces, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n        Eigen::VectorXd force_upper_limits(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        void set_force_upper_limits(const Eigen::VectorXd&amp; forces, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n\n        Eigen::VectorXd commands(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        void set_commands(const Eigen::VectorXd&amp; commands, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n\n        std::pair&lt;Eigen::Vector6d, Eigen::Vector6d&gt; force_torque(size_t joint_index) const;\n\n        void set_external_force(const std::string&amp; body_name, const Eigen::Vector3d&amp; force, const Eigen::Vector3d&amp; offset = Eigen::Vector3d::Zero(), bool force_local = false, bool offset_local = true);\n        void set_external_force(size_t body_index, const Eigen::Vector3d&amp; force, const Eigen::Vector3d&amp; offset = Eigen::Vector3d::Zero(), bool force_local = false, bool offset_local = true);\n        void add_external_force(const std::string&amp; body_name, const Eigen::Vector3d&amp; force, const Eigen::Vector3d&amp; offset = Eigen::Vector3d::Zero(), bool force_local = false, bool offset_local = true);\n        void add_external_force(size_t body_index, const Eigen::Vector3d&amp; force, const Eigen::Vector3d&amp; offset = Eigen::Vector3d::Zero(), bool force_local = false, bool offset_local = true);\n\n        void set_external_torque(const std::string&amp; body_name, const Eigen::Vector3d&amp; torque, bool local = false);\n        void set_external_torque(size_t body_index, const Eigen::Vector3d&amp; torque, bool local = false);\n        void add_external_torque(const std::string&amp; body_name, const Eigen::Vector3d&amp; torque, bool local = false);\n        void add_external_torque(size_t body_index, const Eigen::Vector3d&amp; torque, bool local = false);\n\n        Eigen::Vector6d external_forces(const std::string&amp; body_name) const;\n        Eigen::Vector6d external_forces(size_t body_index) const;\n\n        Eigen::Isometry3d body_pose(const std::string&amp; body_name) const;\n        Eigen::Isometry3d body_pose(size_t body_index) const;\n\n        Eigen::Vector6d body_pose_vec(const std::string&amp; body_name) const;\n        Eigen::Vector6d body_pose_vec(size_t body_index) const;\n\n        Eigen::Vector6d body_velocity(const std::string&amp; body_name) const;\n        Eigen::Vector6d body_velocity(size_t body_index) const;\n\n        Eigen::Vector6d body_acceleration(const std::string&amp; body_name) const;\n        Eigen::Vector6d body_acceleration(size_t body_index) const;\n\n        std::vector&lt;std::string&gt; body_names() const;\n        std::string body_name(size_t body_index) const;\n        void set_body_name(size_t body_index, const std::string&amp; body_name);\n        size_t body_index(const std::string&amp; body_name) const;\n\n        double body_mass(const std::string&amp; body_name) const;\n        double body_mass(size_t body_index) const;\n        void set_body_mass(const std::string&amp; body_name, double mass);\n        void set_body_mass(size_t body_index, double mass);\n        void add_body_mass(const std::string&amp; body_name, double mass);\n        void add_body_mass(size_t body_index, double mass);\n\n        Eigen::MatrixXd jacobian(const std::string&amp; body_name, const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        Eigen::MatrixXd jacobian_deriv(const std::string&amp; body_name, const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n\n        Eigen::MatrixXd com_jacobian(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        Eigen::MatrixXd com_jacobian_deriv(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n\n        Eigen::MatrixXd mass_matrix(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        Eigen::MatrixXd aug_mass_matrix(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        Eigen::MatrixXd inv_mass_matrix(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        Eigen::MatrixXd inv_aug_mass_matrix(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n\n        Eigen::VectorXd coriolis_forces(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        Eigen::VectorXd gravity_forces(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        Eigen::VectorXd coriolis_gravity_forces(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        Eigen::VectorXd constraint_forces(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n\n        // Get only the part of vector for DOFs in dof_names\n        Eigen::VectorXd vec_dof(const Eigen::VectorXd&amp; vec, const std::vector&lt;std::string&gt;&amp; dof_names) const;\n\n        void update_joint_dof_maps();\n        const std::unordered_map&lt;std::string, size_t&gt;&amp; dof_map() const;\n        const std::unordered_map&lt;std::string, size_t&gt;&amp; joint_map() const;\n\n        std::vector&lt;std::string&gt; dof_names(bool filter_mimics = false, bool filter_locked = false, bool filter_passive = false) const;\n        std::vector&lt;std::string&gt; mimic_dof_names() const;\n        std::vector&lt;std::string&gt; locked_dof_names() const;\n        std::vector&lt;std::string&gt; passive_dof_names() const;\n        std::string dof_name(size_t dof_index) const;\n        size_t dof_index(const std::string&amp; dof_name) const;\n\n        std::vector&lt;std::string&gt; joint_names() const;\n        std::string joint_name(size_t joint_index) const;\n        void set_joint_name(size_t joint_index, const std::string&amp; joint_name);\n        size_t joint_index(const std::string&amp; joint_name) const;\n\n        // MATERIAL_COLOR, COLOR_INDEX, SHAPE_COLOR\n        // This applies only to MeshShapes. Color mode can be: \"material\", \"assimp\", or \"aspect\"\n        // \"material\" -&gt; uses the color of the material in the mesh file\n        // \"assimp\" -&gt; uses the color specified by aiMesh::mColor\n        // \"aspect\" -&gt; uses the color defined in the VisualAspect (if not changed, this is what read from the URDF)\n        void set_color_mode(const std::string&amp; color_mode);\n        void set_color_mode(const std::string&amp; color_mode, const std::string&amp; body_name);\n\n        void set_self_collision(bool enable_self_collisions = true, bool enable_adjacent_collisions = false);\n        bool self_colliding() const;\n        // This returns true if self colliding AND adjacent checks are on\n        bool adjacent_colliding() const;\n\n        // GUI options\n        void set_cast_shadows(bool cast_shadows = true);\n        bool cast_shadows() const;\n\n        void set_ghost(bool ghost = true);\n        bool ghost() const;\n\n        void set_draw_axis(const std::string&amp; body_name, double size = 0.25);\n        void remove_all_drawing_axis();\n        const std::vector&lt;std::pair&lt;dart::dynamics::BodyNode*, double&gt;&gt;&amp; drawing_axes() const;\n\n        // helper functions\n        static std::shared_ptr&lt;Robot&gt; create_box(const Eigen::Vector3d&amp; dims,\n            const Eigen::Isometry3d&amp; tf, const std::string&amp; type = \"free\",\n            double mass = 1.0, const Eigen::Vector4d&amp; color = dart::Color::Red(1.0),\n            const std::string&amp; box_name = \"box\");\n        // pose: 6D log_map\n        static std::shared_ptr&lt;Robot&gt; create_box(const Eigen::Vector3d&amp; dims,\n            const Eigen::Vector6d&amp; pose = Eigen::Vector6d::Zero(), const std::string&amp; type = \"free\",\n            double mass = 1.0, const Eigen::Vector4d&amp; color = dart::Color::Red(1.0),\n            const std::string&amp; box_name = \"box\");\n\n        static std::shared_ptr&lt;Robot&gt; create_ellipsoid(const Eigen::Vector3d&amp; dims,\n            const Eigen::Isometry3d&amp; tf, const std::string&amp; type = \"free\",\n            double mass = 1.0, const Eigen::Vector4d&amp; color = dart::Color::Red(1.0),\n            const std::string&amp; ellipsoid_name = \"ellipsoid\");\n        // pose: 6D log_map\n        static std::shared_ptr&lt;Robot&gt; create_ellipsoid(const Eigen::Vector3d&amp; dims,\n            const Eigen::Vector6d&amp; pose = Eigen::Vector6d::Zero(), const std::string&amp; type = \"free\",\n            double mass = 1.0, const Eigen::Vector4d&amp; color = dart::Color::Red(1.0),\n            const std::string&amp; ellipsoid_name = \"ellipsoid\");\n\n    protected:\n        std::string _get_path(const std::string&amp; filename) const;\n        dart::dynamics::SkeletonPtr _load_model(const std::string&amp; filename, const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages = std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;(), bool is_urdf_string = false);\n\n        void _set_color_mode(dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel);\n        void _set_color_mode(dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode* sn);\n        void _set_actuator_type(size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic = false, bool override_base = false);\n        void _set_actuator_types(const std::vector&lt;dart::dynamics::Joint::ActuatorType&gt;&amp; types, bool override_mimic = false, bool override_base = false);\n        void _set_actuator_types(dart::dynamics::Joint::ActuatorType type, bool override_mimic = false, bool override_base = false);\n\n        dart::dynamics::Joint::ActuatorType _actuator_type(size_t joint_index) const;\n        std::vector&lt;dart::dynamics::Joint::ActuatorType&gt; _actuator_types() const;\n\n        Eigen::MatrixXd _jacobian(const Eigen::MatrixXd&amp; full_jacobian, const std::vector&lt;std::string&gt;&amp; dof_names) const;\n        Eigen::MatrixXd _mass_matrix(const Eigen::MatrixXd&amp; full_mass_matrix, const std::vector&lt;std::string&gt;&amp; dof_names) const;\n\n        virtual void _post_addition(RobotDARTSimu*) {}\n        virtual void _post_removal(RobotDARTSimu*) {}\n\n        friend class RobotDARTSimu;\n\n        std::string _robot_name;\n        std::string _model_filename;\n        std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt; _packages;\n        dart::dynamics::SkeletonPtr _skeleton;\n        std::vector&lt;std::shared_ptr&lt;control::RobotControl&gt;&gt; _controllers;\n        std::unordered_map&lt;std::string, size_t&gt; _dof_map, _joint_map;\n        bool _cast_shadows;\n        bool _is_ghost;\n        std::vector&lt;std::pair&lt;dart::dynamics::BodyNode*, double&gt;&gt; _axis_shapes;\n    };\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/dir_1a1ccbdd0954eb7721b1a771872472c9/","title":"Dir robot_dart/control","text":"<p>FileList &gt; control</p>"},{"location":"api/dir_1a1ccbdd0954eb7721b1a771872472c9/#files","title":"Files","text":"Type Name file pd_control.cpp file pd_control.hpp file policy_control.hpp file robot_control.cpp file robot_control.hpp file simple_control.cpp file simple_control.hpp <p>The documentation for this class was generated from the following file <code>robot_dart/control/</code></p>"},{"location":"api/pd__control_8cpp/","title":"File pd_control.cpp","text":"<p>FileList &gt; control &gt; pd_control.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"pd_control.hpp\"</code></li> <li><code>#include \"robot_dart/robot.hpp\"</code></li> <li><code>#include \"robot_dart/utils.hpp\"</code></li> <li><code>#include \"robot_dart/utils_headers_dart_dynamics.hpp\"</code></li> </ul>"},{"location":"api/pd__control_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace control <p>The documentation for this class was generated from the following file <code>robot_dart/control/pd_control.cpp</code></p>"},{"location":"api/pd__control_8cpp_source/","title":"File pd_control.cpp","text":"<p>File List &gt; control &gt; pd_control.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"pd_control.hpp\"\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/utils.hpp\"\n#include \"robot_dart/utils_headers_dart_dynamics.hpp\"\n\nnamespace robot_dart {\n    namespace control {\n        PDControl::PDControl() : RobotControl() {}\n        PDControl::PDControl(const Eigen::VectorXd&amp; ctrl, bool full_control, bool use_angular_errors) : RobotControl(ctrl, full_control), _use_angular_errors(use_angular_errors) {}\n        PDControl::PDControl(const Eigen::VectorXd&amp; ctrl, const std::vector&lt;std::string&gt;&amp; controllable_dofs, bool use_angular_errors) : RobotControl(ctrl, controllable_dofs), _use_angular_errors(use_angular_errors) {}\n\n        void PDControl::configure()\n        {\n            if (_ctrl.size() == _control_dof)\n                _active = true;\n\n            if (_Kp.size() == 0)\n                set_pd(10., 0.1);\n        }\n\n        Eigen::VectorXd PDControl::calculate(double)\n        {\n            ROBOT_DART_ASSERT(_control_dof == _ctrl.size(), \"PDControl: Controller parameters size is not the same as DOFs of the robot\", Eigen::VectorXd::Zero(_control_dof));\n            auto robot = _robot.lock();\n\n            Eigen::VectorXd dq = robot-&gt;velocities(_controllable_dofs);\n\n            Eigen::VectorXd error;\n            if (!_use_angular_errors) {\n                Eigen::VectorXd q = robot-&gt;positions(_controllable_dofs);\n                error = _ctrl - q;\n            }\n            else {\n                error = Eigen::VectorXd::Zero(_control_dof);\n\n                std::unordered_map&lt;size_t, Eigen::VectorXd&gt; joint_vals, joint_desired, errors;\n\n                for (int i = 0; i &lt; _control_dof; ++i) {\n                    auto dof = robot-&gt;dof(_controllable_dofs[i]);\n                    size_t joint_index = dof-&gt;getJoint()-&gt;getJointIndexInSkeleton();\n                    if (joint_vals.find(joint_index) == joint_vals.end()) {\n                        joint_vals[joint_index] = dof-&gt;getJoint()-&gt;getPositions();\n                        joint_desired[joint_index] = dof-&gt;getJoint()-&gt;getPositions();\n                    }\n\n                    joint_desired[joint_index][dof-&gt;getIndexInJoint()] = _ctrl[i];\n                }\n\n                for (int i = 0; i &lt; _control_dof; ++i) {\n                    auto dof = robot-&gt;dof(_controllable_dofs[i]);\n                    size_t joint_index = dof-&gt;getJoint()-&gt;getJointIndexInSkeleton();\n                    size_t dof_index_in_joint = dof-&gt;getIndexInJoint();\n\n                    Eigen::VectorXd val;\n                    if (errors.find(joint_index) == errors.end()) {\n                        val = Eigen::VectorXd(dof-&gt;getJoint()-&gt;getNumDofs());\n\n                        std::string joint_type = robot-&gt;dof(_controllable_dofs[i])-&gt;getJoint()-&gt;getType();\n                        if (joint_type == dart::dynamics::RevoluteJoint::getStaticType()) {\n                            val[dof_index_in_joint] = _angle_dist(_ctrl[i], joint_vals[joint_index][dof_index_in_joint]);\n                        }\n                        else if (joint_type == dart::dynamics::BallJoint::getStaticType()) {\n                            Eigen::Matrix3d R_desired = dart::math::expMapRot(joint_desired[joint_index]);\n                            Eigen::Matrix3d R_current = dart::math::expMapRot(joint_vals[joint_index]);\n                            val = dart::math::logMap(R_desired * R_current.transpose());\n                        }\n                        else if (joint_type == dart::dynamics::EulerJoint::getStaticType()) {\n                            // TO-DO: Check if this is 100% correct\n                            for (size_t d = 0; d &lt; dof-&gt;getJoint()-&gt;getNumDofs(); d++)\n                                val[d] = _angle_dist(joint_desired[joint_index][d], joint_vals[joint_index][d]);\n                        }\n                        else if (joint_type == dart::dynamics::FreeJoint::getStaticType()) {\n                            auto free_joint = static_cast&lt;dart::dynamics::FreeJoint*&gt;(dof-&gt;getJoint());\n\n                            Eigen::Isometry3d tf_desired = free_joint-&gt;convertToTransform(joint_desired[joint_index]);\n                            Eigen::Isometry3d tf_current = free_joint-&gt;convertToTransform(joint_vals[joint_index]);\n\n                            val.tail(3) = tf_desired.translation() - tf_current.translation();\n                            val.head(3) = dart::math::logMap(tf_desired.linear().matrix() * tf_current.linear().matrix().transpose());\n                        }\n                        else {\n                            val[dof_index_in_joint] = _ctrl[i] - joint_vals[joint_index][dof_index_in_joint];\n                        }\n\n                        errors[joint_index] = val;\n                    }\n                    else\n                        val = errors[joint_index];\n                    error(i) = val[dof_index_in_joint];\n                }\n            }\n\n            Eigen::VectorXd commands = _Kp.array() * error.array() - _Kd.array() * dq.array();\n\n            return commands;\n        }\n\n        void PDControl::set_pd(double Kp, double Kd)\n        {\n            _Kp = Eigen::VectorXd::Constant(_control_dof, Kp);\n            _Kd = Eigen::VectorXd::Constant(_control_dof, Kd);\n        }\n\n        void PDControl::set_pd(const Eigen::VectorXd&amp; Kp, const Eigen::VectorXd&amp; Kd)\n        {\n            ROBOT_DART_ASSERT(Kp.size() == _control_dof, \"PDControl: The Kp size is not the same as the DOFs!\", );\n            ROBOT_DART_ASSERT(Kd.size() == _control_dof, \"PDControl: The Kd size is not the same as the DOFs!\", );\n            _Kp = Kp;\n            _Kd = Kd;\n        }\n\n        std::pair&lt;Eigen::VectorXd, Eigen::VectorXd&gt; PDControl::pd() const\n        {\n            return std::make_pair(_Kp, _Kd);\n        }\n\n        bool PDControl::using_angular_errors() const { return _use_angular_errors; }\n\n        void PDControl::set_use_angular_errors(bool enable) { _use_angular_errors = enable; }\n\n        std::shared_ptr&lt;RobotControl&gt; PDControl::clone() const\n        {\n            return std::make_shared&lt;PDControl&gt;(*this);\n        }\n\n        double PDControl::_angle_dist(double target, double current)\n        {\n            double theta = target - current;\n            while (theta &lt; -M_PI)\n                theta += 2 * M_PI;\n            while (theta &gt; M_PI)\n                theta -= 2 * M_PI;\n            return theta;\n        }\n    } // namespace control\n} // namespace robot_dart\n</code></pre>"},{"location":"api/pd__control_8hpp/","title":"File pd_control.hpp","text":"<p>FileList &gt; control &gt; pd_control.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;utility&gt;</code></li> <li><code>#include &lt;robot_dart/control/robot_control.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/robot.hpp&gt;</code></li> </ul>"},{"location":"api/pd__control_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace control"},{"location":"api/pd__control_8hpp/#classes","title":"Classes","text":"Type Name class PDControl <p>The documentation for this class was generated from the following file <code>robot_dart/control/pd_control.hpp</code></p>"},{"location":"api/pd__control_8hpp_source/","title":"File pd_control.hpp","text":"<p>File List &gt; control &gt; pd_control.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_CONTROL_PD_CONTROL\n#define ROBOT_DART_CONTROL_PD_CONTROL\n\n#include &lt;utility&gt;\n\n#include &lt;robot_dart/control/robot_control.hpp&gt;\n#include &lt;robot_dart/robot.hpp&gt;\n\nnamespace robot_dart {\n    namespace control {\n\n        class PDControl : public RobotControl {\n        public:\n            PDControl();\n            PDControl(const Eigen::VectorXd&amp; ctrl, bool full_control = false, bool use_angular_errors = true);\n            PDControl(const Eigen::VectorXd&amp; ctrl, const std::vector&lt;std::string&gt;&amp; controllable_dofs, bool use_angular_errors = true);\n\n            void configure() override;\n            Eigen::VectorXd calculate(double) override;\n\n            void set_pd(double p, double d);\n            void set_pd(const Eigen::VectorXd&amp; p, const Eigen::VectorXd&amp; d);\n\n            std::pair&lt;Eigen::VectorXd, Eigen::VectorXd&gt; pd() const;\n\n            bool using_angular_errors() const;\n            void set_use_angular_errors(bool enable = true);\n\n            std::shared_ptr&lt;RobotControl&gt; clone() const override;\n\n        protected:\n            Eigen::VectorXd _Kp;\n            Eigen::VectorXd _Kd;\n            bool _use_angular_errors;\n\n            static double _angle_dist(double target, double current);\n        };\n    } // namespace control\n} // namespace robot_dart\n#endif\n</code></pre>"},{"location":"api/policy__control_8hpp/","title":"File policy_control.hpp","text":"<p>FileList &gt; control &gt; policy_control.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/control/robot_control.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/robot.hpp&gt;</code></li> </ul>"},{"location":"api/policy__control_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace control"},{"location":"api/policy__control_8hpp/#classes","title":"Classes","text":"Type Name class PolicyControl &lt;typename Policy&gt; <p>The documentation for this class was generated from the following file <code>robot_dart/control/policy_control.hpp</code></p>"},{"location":"api/policy__control_8hpp_source/","title":"File policy_control.hpp","text":"<p>File List &gt; control &gt; policy_control.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_CONTROL_POLICY_CONTROL\n#define ROBOT_DART_CONTROL_POLICY_CONTROL\n\n#include &lt;robot_dart/control/robot_control.hpp&gt;\n#include &lt;robot_dart/robot.hpp&gt;\n\nnamespace robot_dart {\n    namespace control {\n\n        template &lt;typename Policy&gt;\n        class PolicyControl : public RobotControl {\n        public:\n            PolicyControl() : RobotControl() {}\n            PolicyControl(double dt, const Eigen::VectorXd&amp; ctrl, bool full_control = false) : RobotControl(ctrl, full_control), _dt(dt), _first(true), _full_dt(false) {}\n            PolicyControl(const Eigen::VectorXd&amp; ctrl, bool full_control = false) : RobotControl(ctrl, full_control), _dt(0.), _first(true), _full_dt(true) {}\n            PolicyControl(double dt, const Eigen::VectorXd&amp; ctrl, const std::vector&lt;std::string&gt;&amp; controllable_dofs) : RobotControl(ctrl, controllable_dofs), _dt(dt), _first(true), _full_dt(false) {}\n            PolicyControl(const Eigen::VectorXd&amp; ctrl, const std::vector&lt;std::string&gt;&amp; controllable_dofs) : RobotControl(ctrl, controllable_dofs), _dt(0.), _first(true), _full_dt(true) {}\n\n            void configure() override\n            {\n                _policy.set_params(_ctrl);\n                if (_policy.output_size() == _control_dof)\n                    _active = true;\n                else\n                    ROBOT_DART_WARNING(_policy.output_size() != _control_dof, \"Control DoF != Policy output size. Policy is not active.\");\n                auto robot = _robot.lock();\n                if (_full_dt)\n                    _dt = robot-&gt;skeleton()-&gt;getTimeStep();\n                _first = true;\n                _i = 0;\n                _threshold = -robot-&gt;skeleton()-&gt;getTimeStep() * 0.5;\n            }\n\n            void set_h_params(const Eigen::VectorXd&amp; h_params)\n            {\n                _policy.set_h_params(h_params);\n            }\n\n            Eigen::VectorXd h_params() const\n            {\n                return _policy.h_params();\n            }\n\n            Eigen::VectorXd calculate(double t) override\n            {\n                ROBOT_DART_ASSERT(_control_dof == _policy.output_size(), \"PolicyControl: Policy output size is not the same as DOFs of the robot\", Eigen::VectorXd::Zero(_control_dof));\n                if (_first || _full_dt || (t - _prev_time - _dt) &gt;= _threshold) {\n                    _prev_commands = _policy.query(_robot.lock(), t);\n\n                    _first = false;\n                    _prev_time = t;\n                    _i++;\n                }\n\n                return _prev_commands;\n            }\n\n            std::shared_ptr&lt;RobotControl&gt; clone() const override\n            {\n                return std::make_shared&lt;PolicyControl&gt;(*this);\n            }\n\n        protected:\n            int _i;\n            Policy _policy;\n            double _dt, _prev_time, _threshold;\n            Eigen::VectorXd _prev_commands;\n            bool _first, _full_dt;\n        };\n    } // namespace control\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/robot__control_8cpp/","title":"File robot_control.cpp","text":"<p>FileList &gt; control &gt; robot_control.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_control.hpp\"</code></li> <li><code>#include \"robot_dart/robot.hpp\"</code></li> <li><code>#include \"robot_dart/utils.hpp\"</code></li> <li><code>#include \"robot_dart/utils_headers_dart_dynamics.hpp\"</code></li> </ul>"},{"location":"api/robot__control_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace control <p>The documentation for this class was generated from the following file <code>robot_dart/control/robot_control.cpp</code></p>"},{"location":"api/robot__control_8cpp_source/","title":"File robot_control.cpp","text":"<p>File List &gt; control &gt; robot_control.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"robot_control.hpp\"\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/utils.hpp\"\n#include \"robot_dart/utils_headers_dart_dynamics.hpp\"\n\nnamespace robot_dart {\n    namespace control {\n        RobotControl::RobotControl() : _weight(1.), _active(false), _check_free(true) {}\n        RobotControl::RobotControl(const Eigen::VectorXd&amp; ctrl, const std::vector&lt;std::string&gt;&amp; controllable_dofs) : _ctrl(ctrl), _weight(1.), _active(false), _check_free(false), _controllable_dofs(controllable_dofs) {}\n        RobotControl::RobotControl(const Eigen::VectorXd&amp; ctrl, bool full_control) : _ctrl(ctrl), _weight(1.), _active(false), _check_free(!full_control) {}\n\n        void RobotControl::set_parameters(const Eigen::VectorXd&amp; ctrl)\n        {\n            _ctrl = ctrl;\n            _active = false;\n            init();\n        }\n\n        const Eigen::VectorXd&amp; RobotControl::parameters() const\n        {\n            return _ctrl;\n        }\n\n        void RobotControl::init()\n        {\n            ROBOT_DART_ASSERT(_robot.use_count() &gt; 0, \"RobotControl: parent robot should be initialized; use set_robot()\", );\n            auto robot = _robot.lock();\n            _dof = robot-&gt;skeleton()-&gt;getNumDofs();\n\n            if (_check_free &amp;&amp; robot-&gt;free()) {\n                auto names = robot-&gt;dof_names(true, true, true);\n                _controllable_dofs = std::vector&lt;std::string&gt;(names.begin() + 6, names.end());\n            }\n            else if (_controllable_dofs.empty()) {\n                // we cannot control mimic, locked and passive joints\n                _controllable_dofs = robot-&gt;dof_names(true, true, true);\n            }\n\n            _control_dof = _controllable_dofs.size();\n\n            configure();\n        }\n\n        void RobotControl::set_robot(const std::shared_ptr&lt;Robot&gt;&amp; robot)\n        {\n            _robot = robot;\n        }\n\n        std::shared_ptr&lt;Robot&gt; RobotControl::robot() const\n        {\n            return _robot.lock();\n        }\n\n        void RobotControl::activate(bool enable)\n        {\n            _active = false;\n            if (enable) {\n                init();\n            }\n        }\n\n        bool RobotControl::active() const\n        {\n            return _active;\n        }\n\n        const std::vector&lt;std::string&gt;&amp; RobotControl::controllable_dofs() const { return _controllable_dofs; }\n\n        double RobotControl::weight() const\n        {\n            return _weight;\n        }\n\n        void RobotControl::set_weight(double weight)\n        {\n            _weight = weight;\n        }\n    } // namespace control\n} // namespace robot_dart\n</code></pre>"},{"location":"api/robot__control_8hpp/","title":"File robot_control.hpp","text":"<p>FileList &gt; control &gt; robot_control.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/utils.hpp&gt;</code></li> <li><code>#include &lt;memory&gt;</code></li> <li><code>#include &lt;vector&gt;</code></li> </ul>"},{"location":"api/robot__control_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace control"},{"location":"api/robot__control_8hpp/#classes","title":"Classes","text":"Type Name class RobotControl <p>The documentation for this class was generated from the following file <code>robot_dart/control/robot_control.hpp</code></p>"},{"location":"api/robot__control_8hpp_source/","title":"File robot_control.hpp","text":"<p>File List &gt; control &gt; robot_control.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_CONTROL_ROBOT_CONTROL\n#define ROBOT_DART_CONTROL_ROBOT_CONTROL\n\n#include &lt;robot_dart/utils.hpp&gt;\n\n#include &lt;memory&gt;\n#include &lt;vector&gt;\n\nnamespace robot_dart {\n    class Robot;\n\n    namespace control {\n\n        class RobotControl {\n        public:\n            RobotControl();\n            RobotControl(const Eigen::VectorXd&amp; ctrl, bool full_control = false);\n            RobotControl(const Eigen::VectorXd&amp; ctrl, const std::vector&lt;std::string&gt;&amp; controllable_dofs);\n            virtual ~RobotControl() {}\n\n            void set_parameters(const Eigen::VectorXd&amp; ctrl);\n            const Eigen::VectorXd&amp; parameters() const;\n\n            void init();\n\n            void set_robot(const std::shared_ptr&lt;Robot&gt;&amp; robot);\n            std::shared_ptr&lt;Robot&gt; robot() const;\n\n            void activate(bool enable = true);\n            bool active() const;\n\n            const std::vector&lt;std::string&gt;&amp; controllable_dofs() const;\n\n            double weight() const;\n            void set_weight(double weight);\n\n            virtual void configure() = 0;\n            // TO-DO: Maybe make this const?\n            virtual Eigen::VectorXd calculate(double t) = 0;\n            virtual std::shared_ptr&lt;RobotControl&gt; clone() const = 0;\n\n        protected:\n            std::weak_ptr&lt;Robot&gt; _robot;\n            Eigen::VectorXd _ctrl;\n            double _weight;\n            bool _active, _check_free = false;\n            int _dof, _control_dof;\n            std::vector&lt;std::string&gt; _controllable_dofs;\n        };\n    } // namespace control\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/simple__control_8cpp/","title":"File simple_control.cpp","text":"<p>FileList &gt; control &gt; simple_control.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"simple_control.hpp\"</code></li> <li><code>#include \"robot_dart/robot.hpp\"</code></li> <li><code>#include \"robot_dart/utils.hpp\"</code></li> </ul>"},{"location":"api/simple__control_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace control <p>The documentation for this class was generated from the following file <code>robot_dart/control/simple_control.cpp</code></p>"},{"location":"api/simple__control_8cpp_source/","title":"File simple_control.cpp","text":"<p>File List &gt; control &gt; simple_control.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"simple_control.hpp\"\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/utils.hpp\"\n\nnamespace robot_dart {\n    namespace control {\n        SimpleControl::SimpleControl() : RobotControl() {}\n        SimpleControl::SimpleControl(const Eigen::VectorXd&amp; ctrl, bool full_control) : RobotControl(ctrl, full_control) {}\n        SimpleControl::SimpleControl(const Eigen::VectorXd&amp; ctrl, const std::vector&lt;std::string&gt;&amp; controllable_dofs) : RobotControl(ctrl, controllable_dofs) {}\n\n        void SimpleControl::configure()\n        {\n            if (_ctrl.size() == _control_dof)\n                _active = true;\n        }\n\n        Eigen::VectorXd SimpleControl::calculate(double)\n        {\n            ROBOT_DART_ASSERT(_control_dof == _ctrl.size(), \"SimpleControl: Controller parameters size is not the same as DOFs of the robot\", Eigen::VectorXd::Zero(_control_dof));\n            return _ctrl;\n        }\n\n        std::shared_ptr&lt;RobotControl&gt; SimpleControl::clone() const\n        {\n            return std::make_shared&lt;SimpleControl&gt;(*this);\n        }\n    } // namespace control\n} // namespace robot_dart\n</code></pre>"},{"location":"api/simple__control_8hpp/","title":"File simple_control.hpp","text":"<p>FileList &gt; control &gt; simple_control.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/control/robot_control.hpp&gt;</code></li> </ul>"},{"location":"api/simple__control_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace control"},{"location":"api/simple__control_8hpp/#classes","title":"Classes","text":"Type Name class SimpleControl <p>The documentation for this class was generated from the following file <code>robot_dart/control/simple_control.hpp</code></p>"},{"location":"api/simple__control_8hpp_source/","title":"File simple_control.hpp","text":"<p>File List &gt; control &gt; simple_control.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_CONTROL_SIMPLE_CONTROL\n#define ROBOT_DART_CONTROL_SIMPLE_CONTROL\n\n#include &lt;robot_dart/control/robot_control.hpp&gt;\n\nnamespace robot_dart {\n    namespace control {\n\n        class SimpleControl : public RobotControl {\n        public:\n            SimpleControl();\n            SimpleControl(const Eigen::VectorXd&amp; ctrl, bool full_control = false);\n            SimpleControl(const Eigen::VectorXd&amp; ctrl, const std::vector&lt;std::string&gt;&amp; controllable_dofs);\n\n            void configure() override;\n            Eigen::VectorXd calculate(double) override;\n            std::shared_ptr&lt;RobotControl&gt; clone() const override;\n        };\n    } // namespace control\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/dir_6a9d4b7ec29c938d1d9a486c655cfc8a/","title":"Dir robot_dart/gui","text":"<p>FileList &gt; gui</p>"},{"location":"api/dir_6a9d4b7ec29c938d1d9a486c655cfc8a/#files","title":"Files","text":"Type Name file base.hpp file helper.cpp file helper.hpp file stb_image_write.h"},{"location":"api/dir_6a9d4b7ec29c938d1d9a486c655cfc8a/#directories","title":"Directories","text":"Type Name dir magnum <p>The documentation for this class was generated from the following file <code>robot_dart/gui/</code></p>"},{"location":"api/base_8hpp/","title":"File base.hpp","text":"<p>FileList &gt; gui &gt; base.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/helper.hpp&gt;</code></li> </ul>"},{"location":"api/base_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui"},{"location":"api/base_8hpp/#classes","title":"Classes","text":"Type Name class Base <p>The documentation for this class was generated from the following file <code>robot_dart/gui/base.hpp</code></p>"},{"location":"api/base_8hpp_source/","title":"File base.hpp","text":"<p>File List &gt; gui &gt; base.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_BASE_HPP\n#define ROBOT_DART_GUI_BASE_HPP\n\n#include &lt;robot_dart/gui/helper.hpp&gt;\n\nnamespace robot_dart {\n    class RobotDARTSimu;\n\n    namespace gui {\n        class Base {\n        public:\n            Base() {}\n\n            virtual ~Base() {}\n\n            virtual void set_simu(RobotDARTSimu* simu) { _simu = simu; }\n            const RobotDARTSimu* simu() const { return _simu; }\n\n            virtual bool done() const { return false; }\n\n            virtual void refresh() {}\n\n            virtual void set_render_period(double) {}\n\n            virtual void set_enable(bool) {}\n            virtual void set_fps(int) {}\n\n            virtual Image image() { return Image(); }\n            virtual GrayscaleImage depth_image() { return GrayscaleImage(); }\n            virtual GrayscaleImage raw_depth_image() { return GrayscaleImage(); }\n            virtual DepthImage depth_array() { return DepthImage(); }\n\n            virtual size_t width() const { return 0; }\n            virtual size_t height() const { return 0; }\n\n        protected:\n            RobotDARTSimu* _simu = nullptr;\n        };\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/helper_8cpp/","title":"File helper.cpp","text":"<p>FileList &gt; gui &gt; helper.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"helper.hpp\"</code></li> <li><code>#include \"stb_image_write.h\"</code></li> </ul>"},{"location":"api/helper_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui"},{"location":"api/helper_8cpp/#macros","title":"Macros","text":"Type Name define STB_IMAGE_WRITE_IMPLEMENTATION"},{"location":"api/helper_8cpp/#macro-definition-documentation","title":"Macro Definition Documentation","text":""},{"location":"api/helper_8cpp/#define-stb_image_write_implementation","title":"define STB_IMAGE_WRITE_IMPLEMENTATION","text":"<pre><code>#define STB_IMAGE_WRITE_IMPLEMENTATION \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/helper.cpp</code></p>"},{"location":"api/helper_8cpp_source/","title":"File helper.cpp","text":"<p>File List &gt; gui &gt; helper.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"helper.hpp\"\n\n#define STB_IMAGE_WRITE_IMPLEMENTATION\n#include \"stb_image_write.h\"\n\nnamespace robot_dart {\n    namespace gui {\n        void save_png_image(const std::string&amp; filename, const Image&amp; rgb)\n        {\n            auto ends_with = [](const std::string&amp; value, const std::string&amp; ending) {\n                if (ending.size() &gt; value.size())\n                    return false;\n                return std::equal(ending.rbegin(), ending.rend(), value.rbegin());\n            };\n\n            std::string png = \".png\";\n            if (ends_with(filename, png))\n                png = \"\";\n\n            stbi_write_png((filename + png).c_str(), rgb.width, rgb.height, rgb.channels, rgb.data.data(), rgb.width * rgb.channels);\n        }\n\n        void save_png_image(const std::string&amp; filename, const GrayscaleImage&amp; gray)\n        {\n            auto ends_with = [](const std::string&amp; value, const std::string&amp; ending) {\n                if (ending.size() &gt; value.size())\n                    return false;\n                return std::equal(ending.rbegin(), ending.rend(), value.rbegin());\n            };\n\n            std::string png = \".png\";\n            if (ends_with(filename, png))\n                png = \"\";\n\n            stbi_write_png((filename + png).c_str(), gray.width, gray.height, 1, gray.data.data(), gray.width);\n        }\n\n        GrayscaleImage convert_rgb_to_grayscale(const Image&amp; rgb)\n        {\n            assert(rgb.channels == 3);\n            size_t width = rgb.width;\n            size_t height = rgb.height;\n\n            GrayscaleImage gray;\n            gray.width = width;\n            gray.height = height;\n            gray.data.resize(width * height);\n\n            for (size_t h = 0; h &lt; height; h++) {\n                for (size_t w = 0; w &lt; width; w++) {\n                    int id = w + h * width;\n                    int id_rgb = w * rgb.channels + h * (width * rgb.channels);\n                    uint8_t color = 0.3 * rgb.data[id_rgb + 0] + 0.59 * rgb.data[id_rgb + 1] + 0.11 * rgb.data[id_rgb + 2];\n                    gray.data[id] = color;\n                }\n            }\n\n            return gray;\n        }\n\n        std::vector&lt;Eigen::Vector3d&gt; point_cloud_from_depth_array(const DepthImage&amp; depth_image, const Eigen::Matrix3d&amp; intrinsic_matrix, const Eigen::Matrix4d&amp; tf, double far_plane)\n        {\n            // This is assuming that K is normal intrisinc matrix (i.e., camera pointing to +Z),\n            // but an OpenGL camera (i.e., pointing to -Z). Thus it transforms the points accordingly\n            // TO-DO: Format the intrinsic matrix correctly, and take as an argument the camera orientation\n            // with respect to the normal cameras. See http://ksimek.github.io/2013/06/03/calibrated_cameras_in_opengl/.\n            auto point_3d = [](const Eigen::Matrix3d&amp; K, size_t u, size_t v, double depth) {\n                double fx = K(0, 0);\n                double fy = K(1, 1);\n                double cx = K(0, 2);\n                double cy = K(1, 2);\n                double gamma = K(0, 1);\n\n                Eigen::Vector3d p;\n                p &lt;&lt; 0., 0., -depth;\n\n                p(1) = (cy - v) * depth / fy;\n                p(0) = -((cx - u) * depth - gamma * p(1)) / fx;\n\n                return p;\n            };\n\n            std::vector&lt;Eigen::Vector3d&gt; point_cloud;\n\n            size_t height = depth_image.height;\n            size_t width = depth_image.width;\n            for (size_t h = 0; h &lt; height; h++) {\n                for (size_t w = 0; w &lt; width; w++) {\n                    int id = w + h * width;\n                    if (depth_image.data[id] &gt;= 0.99 * far_plane) // close to far plane\n                        continue;\n                    Eigen::Vector4d pp;\n                    pp.head(3) = point_3d(intrinsic_matrix, w, h, depth_image.data[id]);\n                    pp.tail(1) &lt;&lt; 1.;\n                    pp = tf.inverse() * pp;\n\n                    point_cloud.push_back(pp.head(3));\n                }\n            }\n\n            return point_cloud;\n        }\n    } // namespace gui\n} // namespace robot_dart\n</code></pre>"},{"location":"api/helper_8hpp/","title":"File helper.hpp","text":"<p>FileList &gt; gui &gt; helper.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;string&gt;</code></li> <li><code>#include &lt;vector&gt;</code></li> <li><code>#include &lt;robot_dart/utils.hpp&gt;</code></li> </ul>"},{"location":"api/helper_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui"},{"location":"api/helper_8hpp/#classes","title":"Classes","text":"Type Name struct DepthImage struct GrayscaleImage struct Image <p>The documentation for this class was generated from the following file <code>robot_dart/gui/helper.hpp</code></p>"},{"location":"api/helper_8hpp_source/","title":"File helper.hpp","text":"<p>File List &gt; gui &gt; helper.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_HELPER_HPP\n#define ROBOT_DART_GUI_HELPER_HPP\n\n#include &lt;string&gt;\n#include &lt;vector&gt;\n\n#include &lt;robot_dart/utils.hpp&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        struct Image {\n            size_t width = 0, height = 0;\n            size_t channels = 3;\n            std::vector&lt;uint8_t&gt; data;\n        };\n\n        struct GrayscaleImage {\n            size_t width = 0, height = 0;\n            std::vector&lt;uint8_t&gt; data;\n        };\n\n        struct DepthImage {\n            size_t width = 0, height = 0;\n            std::vector&lt;double&gt; data;\n        };\n\n        void save_png_image(const std::string&amp; filename, const Image&amp; rgb);\n        void save_png_image(const std::string&amp; filename, const GrayscaleImage&amp; gray);\n\n        GrayscaleImage convert_rgb_to_grayscale(const Image&amp; rgb);\n\n        std::vector&lt;Eigen::Vector3d&gt; point_cloud_from_depth_array(const DepthImage&amp; depth_image, const Eigen::Matrix3d&amp; intrinsic_matrix, const Eigen::Matrix4d&amp; tf, double far_plane = 1000.);\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/dir_5d18adecbc10cabf3ca51da31f2acdd1/","title":"Dir robot_dart/gui/magnum","text":"<p>FileList &gt; gui &gt; magnum</p>"},{"location":"api/dir_5d18adecbc10cabf3ca51da31f2acdd1/#files","title":"Files","text":"Type Name file base_application.cpp file base_application.hpp file base_graphics.hpp file drawables.cpp file drawables.hpp file glfw_application.cpp file glfw_application.hpp file graphics.cpp file graphics.hpp file types.hpp file utils_headers_eigen.hpp file windowless_gl_application.cpp file windowless_gl_application.hpp file windowless_graphics.cpp file windowless_graphics.hpp"},{"location":"api/dir_5d18adecbc10cabf3ca51da31f2acdd1/#directories","title":"Directories","text":"Type Name dir gs dir sensor <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/</code></p>"},{"location":"api/base__application_8cpp/","title":"File base_application.cpp","text":"<p>FileList &gt; gui &gt; magnum &gt; base_application.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"base_application.hpp\"</code></li> <li><code>#include &lt;robot_dart/gui/magnum/gs/helper.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/robot_dart_simu.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/utils.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/utils_headers_dart_dynamics.hpp&gt;</code></li> <li><code>#include &lt;Corrade/Containers/StridedArrayView.h&gt;</code></li> <li><code>#include &lt;Corrade/Utility/Resource.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/CubeMapTexture.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/DefaultFramebuffer.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Renderer.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Texture.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/TextureFormat.h&gt;</code></li> <li><code>#include &lt;Magnum/MeshTools/Compile.h&gt;</code></li> <li><code>#include &lt;Magnum/MeshTools/CompressIndices.h&gt;</code></li> <li><code>#include &lt;Magnum/MeshTools/Interleave.h&gt;</code></li> <li><code>#include &lt;Magnum/Primitives/Axis.h&gt;</code></li> <li><code>#include &lt;Magnum/Primitives/Square.h&gt;</code></li> <li><code>#include &lt;Magnum/Trade/MeshData.h&gt;</code></li> <li><code>#include &lt;Magnum/Trade/PhongMaterialData.h&gt;</code></li> </ul>"},{"location":"api/base__application_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/base_application.cpp</code></p>"},{"location":"api/base__application_8cpp_source/","title":"Macro Syntax Error","text":"<p>File: <code>api/base__application_8cpp_source.md</code></p> <p>Line 88 in Markdown file: Expected an expression, got 'end of print statement' <pre><code>                    _gl_contexts.emplace_back(Magnum::Platform::WindowlessGLContext{{}});\n</code></pre></p>"},{"location":"api/base__application_8hpp/","title":"File base_application.hpp","text":"<p>FileList &gt; gui &gt; magnum &gt; base_application.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;mutex&gt;</code></li> <li><code>#include &lt;unistd.h&gt;</code></li> <li><code>#include &lt;unordered_map&gt;</code></li> <li><code>#include &lt;robot_dart/gui/helper.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/drawables.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/gs/camera.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/gs/cube_map.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/gs/cube_map_color.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/gs/phong_multi_light.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/gs/shadow_map.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/gs/shadow_map_color.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/types.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/utils_headers_external_gui.hpp&gt;</code></li> <li><code>#include &lt;Magnum/GL/CubeMapTextureArray.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Framebuffer.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Mesh.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/TextureArray.h&gt;</code></li> <li><code>#include &lt;Magnum/Platform/GLContext.h&gt;</code></li> <li><code>#include &lt;Magnum/Platform/WindowlessEglApplication.h&gt;</code></li> <li><code>#include &lt;Magnum/Shaders/DistanceFieldVector.h&gt;</code></li> <li><code>#include &lt;Magnum/Shaders/Flat.h&gt;</code></li> <li><code>#include &lt;Magnum/Shaders/VertexColor.h&gt;</code></li> <li><code>#include &lt;Magnum/Text/AbstractFont.h&gt;</code></li> <li><code>#include &lt;Magnum/Text/DistanceFieldGlyphCache.h&gt;</code></li> <li><code>#include &lt;Magnum/Text/Renderer.h&gt;</code></li> </ul>"},{"location":"api/base__application_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum"},{"location":"api/base__application_8hpp/#classes","title":"Classes","text":"Type Name class BaseApplication struct DebugDrawData struct GlobalData struct GraphicsConfiguration"},{"location":"api/base__application_8hpp/#macros","title":"Macros","text":"Type Name define get_gl_context (name) get_gl_context_with_sleep(name, 0) define get_gl_context_with_sleep (name, ms_sleep)  define release_gl_context (name) robot_dart::gui::magnum::GlobalData::instance()-&gt;free_gl_context(name);"},{"location":"api/base__application_8hpp/#macro-definition-documentation","title":"Macro Definition Documentation","text":""},{"location":"api/base__application_8hpp/#define-get_gl_context","title":"define get_gl_context","text":"<pre><code>#define get_gl_context (\n    name\n) get_gl_context_with_sleep(name, 0)\n</code></pre>"},{"location":"api/base__application_8hpp/#define-get_gl_context_with_sleep","title":"define get_gl_context_with_sleep","text":"<pre><code>#define get_gl_context_with_sleep (\n    name,\n    ms_sleep\n) /* Create/Get GLContext */                                                \\\n    Corrade::Utility::Debug name##_magnum_silence_output{nullptr};            \\\n    Magnum::Platform::WindowlessGLContext* name = nullptr;                    \\\n    while (name == nullptr) {                                                 \\\n        name = robot_dart::gui::magnum::GlobalData::instance()-&gt;gl_context(); \\\n        /* Sleep for some ms */                                               \\\n        usleep(ms_sleep * 1000);                                              \\\n    }                                                                         \\\n    while (!name-&gt;makeCurrent()) {                                            \\\n        /* Sleep for some ms */                                               \\\n        usleep(ms_sleep * 1000);                                              \\\n    }                                                                         \\\n                                                                              \\\n    Magnum::Platform::GLContext name##_magnum_context;\n</code></pre>"},{"location":"api/base__application_8hpp/#define-release_gl_context","title":"define release_gl_context","text":"<pre><code>#define release_gl_context (\n    name\n) robot_dart::gui::magnum::GlobalData::instance()-&gt;free_gl_context(name);\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/base_application.hpp</code></p>"},{"location":"api/base__application_8hpp_source/","title":"File base_application.hpp","text":"<p>File List &gt; gui &gt; magnum &gt; base_application.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_BASE_APPLICATION_HPP\n#define ROBOT_DART_GUI_MAGNUM_BASE_APPLICATION_HPP\n\n#include &lt;mutex&gt;\n#include &lt;unistd.h&gt;\n#include &lt;unordered_map&gt;\n\n#include &lt;robot_dart/gui/helper.hpp&gt;\n#include &lt;robot_dart/gui/magnum/drawables.hpp&gt;\n#include &lt;robot_dart/gui/magnum/gs/camera.hpp&gt;\n#include &lt;robot_dart/gui/magnum/gs/cube_map.hpp&gt;\n#include &lt;robot_dart/gui/magnum/gs/cube_map_color.hpp&gt;\n#include &lt;robot_dart/gui/magnum/gs/phong_multi_light.hpp&gt;\n#include &lt;robot_dart/gui/magnum/gs/shadow_map.hpp&gt;\n#include &lt;robot_dart/gui/magnum/gs/shadow_map_color.hpp&gt;\n#include &lt;robot_dart/gui/magnum/types.hpp&gt;\n\n#include &lt;robot_dart/utils_headers_external_gui.hpp&gt;\n\n#include &lt;Magnum/GL/CubeMapTextureArray.h&gt;\n#include &lt;Magnum/GL/Framebuffer.h&gt;\n#include &lt;Magnum/GL/Mesh.h&gt;\n#include &lt;Magnum/GL/TextureArray.h&gt;\n#include &lt;Magnum/Platform/GLContext.h&gt;\n#ifndef MAGNUM_MAC_OSX\n#include &lt;Magnum/Platform/WindowlessEglApplication.h&gt;\n#else\n#include &lt;Magnum/Platform/WindowlessCglApplication.h&gt;\n#endif\n#include &lt;Magnum/Shaders/DistanceFieldVector.h&gt;\n#include &lt;Magnum/Shaders/Flat.h&gt;\n#include &lt;Magnum/Shaders/VertexColor.h&gt;\n\n#include &lt;Magnum/Text/AbstractFont.h&gt;\n#include &lt;Magnum/Text/DistanceFieldGlyphCache.h&gt;\n#include &lt;Magnum/Text/Renderer.h&gt;\n\n#define get_gl_context_with_sleep(name, ms_sleep)                             \\\n    /* Create/Get GLContext */                                                \\\n    Corrade::Utility::Debug name##_magnum_silence_output{nullptr};            \\\n    Magnum::Platform::WindowlessGLContext* name = nullptr;                    \\\n    while (name == nullptr) {                                                 \\\n        name = robot_dart::gui::magnum::GlobalData::instance()-&gt;gl_context(); \\\n        /* Sleep for some ms */                                               \\\n        usleep(ms_sleep * 1000);                                              \\\n    }                                                                         \\\n    while (!name-&gt;makeCurrent()) {                                            \\\n        /* Sleep for some ms */                                               \\\n        usleep(ms_sleep * 1000);                                              \\\n    }                                                                         \\\n                                                                              \\\n    Magnum::Platform::GLContext name##_magnum_context;\n\n#define get_gl_context(name) get_gl_context_with_sleep(name, 0)\n\n#define release_gl_context(name) robot_dart::gui::magnum::GlobalData::instance()-&gt;free_gl_context(name);\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            struct GlobalData {\n            public:\n                static GlobalData* instance()\n                {\n                    static GlobalData gdata;\n                    return &amp;gdata;\n                }\n\n                GlobalData(const GlobalData&amp;) = delete;\n                void operator=(const GlobalData&amp;) = delete;\n\n                Magnum::Platform::WindowlessGLContext* gl_context();\n                void free_gl_context(Magnum::Platform::WindowlessGLContext* context);\n\n                /* You should call this before starting to draw or after finished */\n                void set_max_contexts(size_t N);\n\n            private:\n                GlobalData() = default;\n                ~GlobalData() = default;\n\n                void _create_contexts();\n\n                std::vector&lt;Magnum::Platform::WindowlessGLContext&gt; _gl_contexts;\n                std::vector&lt;bool&gt; _used;\n                std::mutex _context_mutex;\n                size_t _max_contexts = 4;\n            };\n\n            struct GraphicsConfiguration {\n                // General\n                size_t width = 640;\n                size_t height = 480;\n                std::string title = \"DART\";\n\n                // Shadows\n                bool shadowed = true;\n                bool transparent_shadows = true;\n                size_t shadow_map_size = 1024;\n\n                // Lights\n                size_t max_lights = 3;\n                double specular_strength = 0.25; // strength of the specular component\n\n                // These options are only for the main camera\n                bool draw_main_camera = true;\n                bool draw_debug = true;\n                bool draw_text = true;\n\n                // Background (default = black)\n                Eigen::Vector4d bg_color{0.0, 0.0, 0.0, 1.0};\n            };\n\n            struct DebugDrawData {\n                Magnum::Shaders::VertexColorGL3D* axes_shader;\n                Magnum::GL::Mesh* axes_mesh;\n                Magnum::Shaders::FlatGL2D* background_shader;\n                Magnum::GL::Mesh* background_mesh;\n\n                Magnum::Shaders::DistanceFieldVectorGL2D* text_shader;\n                Magnum::GL::Buffer* text_vertices;\n                Magnum::GL::Buffer* text_indices;\n                Magnum::Text::AbstractFont* font;\n                Magnum::Text::DistanceFieldGlyphCache* cache;\n            };\n\n            class BaseApplication {\n            public:\n                BaseApplication(const GraphicsConfiguration&amp; configuration = GraphicsConfiguration());\n                virtual ~BaseApplication() {}\n\n                void init(RobotDARTSimu* simu, const GraphicsConfiguration&amp; configuration);\n\n                void clear_lights();\n                void add_light(const gs::Light&amp; light);\n                gs::Light&amp; light(size_t i);\n                std::vector&lt;gs::Light&gt;&amp; lights();\n                size_t num_lights() const;\n\n                Magnum::SceneGraph::DrawableGroup3D&amp; drawables() { return _drawables; }\n                Scene3D&amp; scene() { return _scene; }\n                gs::Camera&amp; camera() { return *_camera; }\n                const gs::Camera&amp; camera() const { return *_camera; }\n\n                bool done() const;\n\n                void look_at(const Eigen::Vector3d&amp; camera_pos,\n                    const Eigen::Vector3d&amp; look_at,\n                    const Eigen::Vector3d&amp; up);\n\n                virtual void render() {}\n\n                void update_lights(const gs::Camera&amp; camera);\n                void update_graphics();\n                void render_shadows();\n\n                bool attach_camera(gs::Camera&amp; camera, dart::dynamics::BodyNode* body);\n\n                // video (FPS is mandatory here, see the Graphics class for automatic computation)\n                void record_video(const std::string&amp; video_fname, int fps) { _camera-&gt;record_video(video_fname, fps); }\n\n                bool shadowed() const { return _shadowed; }\n                bool transparent_shadows() const { return _transparent_shadows; }\n                void enable_shadows(bool enable = true, bool drawTransparentShadows = false);\n\n                Corrade::Containers::Optional&lt;Magnum::Image2D&gt;&amp; image() { return _camera-&gt;image(); }\n\n                // This is for visualization purposes\n                GrayscaleImage depth_image();\n\n                // Image filled with depth buffer values\n                GrayscaleImage raw_depth_image();\n\n                // \"Image\" filled with depth buffer values (this returns an array of doubles)\n                DepthImage depth_array();\n\n                // Access to debug data\n                DebugDrawData debug_draw_data()\n                {\n                    DebugDrawData data;\n                    data.axes_shader = _3D_axis_shader.get();\n                    data.background_shader = _background_shader.get();\n                    data.axes_mesh = _3D_axis_mesh.get();\n                    data.background_mesh = _background_mesh.get();\n                    data.text_shader = _text_shader.get();\n                    data.text_vertices = _text_vertices.get();\n                    data.text_indices = _text_indices.get();\n                    data.font = _font.get();\n                    data.cache = _glyph_cache.get();\n\n                    return data;\n                }\n\n            protected:\n                /* Magnum */\n                Scene3D _scene;\n                Magnum::SceneGraph::DrawableGroup3D _drawables, _shadowed_drawables, _shadowed_color_drawables, _cubemap_drawables, _cubemap_color_drawables;\n                std::unique_ptr&lt;gs::PhongMultiLight&gt; _color_shader, _texture_shader;\n\n                std::unique_ptr&lt;gs::Camera&gt; _camera;\n\n                bool _done = false;\n\n                /* GUI Config */\n                GraphicsConfiguration _configuration;\n\n                /* DART */\n                RobotDARTSimu* _simu;\n                std::unique_ptr&lt;Magnum::DartIntegration::World&gt; _dart_world;\n                std::unordered_map&lt;Magnum::DartIntegration::Object*, ObjectStruct*&gt; _drawable_objects;\n                std::vector&lt;gs::Light&gt; _lights;\n\n                /* Shadows */\n                bool _shadowed = true, _transparent_shadows = false;\n                int _transparentSize = 0;\n                std::unique_ptr&lt;gs::ShadowMap&gt; _shadow_shader, _shadow_texture_shader;\n                std::unique_ptr&lt;gs::ShadowMapColor&gt; _shadow_color_shader, _shadow_texture_color_shader;\n                std::unique_ptr&lt;gs::CubeMap&gt; _cubemap_shader, _cubemap_texture_shader;\n                std::unique_ptr&lt;gs::CubeMapColor&gt; _cubemap_color_shader, _cubemap_texture_color_shader;\n                std::vector&lt;ShadowData&gt; _shadow_data;\n                std::unique_ptr&lt;Magnum::GL::Texture2DArray&gt; _shadow_texture, _shadow_color_texture;\n                std::unique_ptr&lt;Magnum::GL::CubeMapTextureArray&gt; _shadow_cube_map, _shadow_color_cube_map;\n                int _max_lights = 5;\n                int _shadow_map_size = 512;\n                std::unique_ptr&lt;Camera3D&gt; _shadow_camera;\n                Object3D* _shadow_camera_object;\n\n                /* Debug visualization */\n                std::unique_ptr&lt;Magnum::GL::Mesh&gt; _3D_axis_mesh;\n                std::unique_ptr&lt;Magnum::Shaders::VertexColorGL3D&gt; _3D_axis_shader;\n                std::unique_ptr&lt;Magnum::GL::Mesh&gt; _background_mesh;\n                std::unique_ptr&lt;Magnum::Shaders::FlatGL2D&gt; _background_shader;\n\n                /* Text visualization */\n                std::unique_ptr&lt;Magnum::Shaders::DistanceFieldVectorGL2D&gt; _text_shader;\n                Corrade::PluginManager::Manager&lt;Magnum::Text::AbstractFont&gt; _font_manager;\n                Corrade::Containers::Pointer&lt;Magnum::Text::DistanceFieldGlyphCache&gt; _glyph_cache;\n                Corrade::Containers::Pointer&lt;Magnum::Text::AbstractFont&gt; _font;\n                Corrade::Containers::Pointer&lt;Magnum::GL::Buffer&gt; _text_vertices;\n                Corrade::Containers::Pointer&lt;Magnum::GL::Buffer&gt; _text_indices;\n\n                /* Importer */\n                Corrade::PluginManager::Manager&lt;Magnum::Trade::AbstractImporter&gt; _importer_manager;\n\n                void _gl_clean_up();\n                void _prepare_shadows();\n            };\n\n            template &lt;typename T&gt;\n            inline BaseApplication* make_application(RobotDARTSimu* simu, const GraphicsConfiguration&amp; configuration = GraphicsConfiguration())\n            {\n                int argc = 0;\n                char** argv = NULL;\n\n                return new T(argc, argv, simu, configuration);\n                // configuration.width, configuration.height, configuration.shadowed, configuration.transparent_shadows, configuration.max_lights, configuration.shadow_map_size);\n            }\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/base__graphics_8hpp/","title":"File base_graphics.hpp","text":"<p>FileList &gt; gui &gt; magnum &gt; base_graphics.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/base.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/glfw_application.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/gs/helper.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/utils_headers_eigen.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/robot_dart_simu.hpp&gt;</code></li> <li><code>#include &lt;Corrade/Utility/Resource.h&gt;</code></li> </ul>"},{"location":"api/base__graphics_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum"},{"location":"api/base__graphics_8hpp/#classes","title":"Classes","text":"Type Name class BaseGraphics &lt;typename T&gt;"},{"location":"api/base__graphics_8hpp/#public-static-functions","title":"Public Static Functions","text":"Type Name void robot_dart_initialize_magnum_resources ()"},{"location":"api/base__graphics_8hpp/#public-static-functions-documentation","title":"Public Static Functions Documentation","text":""},{"location":"api/base__graphics_8hpp/#function-robot_dart_initialize_magnum_resources","title":"function robot_dart_initialize_magnum_resources","text":"<pre><code>static inline void robot_dart_initialize_magnum_resources () \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/base_graphics.hpp</code></p>"},{"location":"api/base__graphics_8hpp_source/","title":"File base_graphics.hpp","text":"<p>File List &gt; gui &gt; magnum &gt; base_graphics.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_BASE_GRAPHICS_HPP\n#define ROBOT_DART_GUI_MAGNUM_BASE_GRAPHICS_HPP\n\n#include &lt;robot_dart/gui/base.hpp&gt;\n#include &lt;robot_dart/gui/magnum/glfw_application.hpp&gt;\n#include &lt;robot_dart/gui/magnum/gs/helper.hpp&gt;\n#include &lt;robot_dart/gui/magnum/utils_headers_eigen.hpp&gt;\n#include &lt;robot_dart/robot_dart_simu.hpp&gt;\n\n// We need this for CORRADE_RESOURCE_INITIALIZE\n#include &lt;Corrade/Utility/Resource.h&gt;\n\ninline static void robot_dart_initialize_magnum_resources()\n{\n    CORRADE_RESOURCE_INITIALIZE(RobotDARTShaders);\n}\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            template &lt;typename T = GlfwApplication&gt;\n            class BaseGraphics : public Base {\n            public:\n                BaseGraphics(const GraphicsConfiguration&amp; configuration = GraphicsConfiguration())\n                    : _configuration(configuration), _enabled(true)\n                {\n                    robot_dart_initialize_magnum_resources();\n                }\n\n                virtual ~BaseGraphics() {}\n\n                virtual void set_simu(RobotDARTSimu* simu) override\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(simu, \"Simulation pointer is null!\");\n                    _simu = simu;\n                    _magnum_app.reset(make_application&lt;T&gt;(simu, _configuration));\n                }\n\n                size_t width() const override\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return _magnum_app-&gt;camera().width();\n                }\n\n                size_t height() const override\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return _magnum_app-&gt;camera().height();\n                }\n\n                bool done() const override\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return _magnum_app-&gt;done();\n                }\n\n                void refresh() override\n                {\n                    if (!_enabled)\n                        return;\n\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    _magnum_app-&gt;render();\n                }\n\n                void set_enable(bool enable) override\n                {\n                    _enabled = enable;\n                }\n\n                void set_fps(int fps) override { _fps = fps; }\n\n                void look_at(const Eigen::Vector3d&amp; camera_pos,\n                    const Eigen::Vector3d&amp; look_at = Eigen::Vector3d(0, 0, 0),\n                    const Eigen::Vector3d&amp; up = Eigen::Vector3d(0, 0, 1))\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    _magnum_app-&gt;look_at(camera_pos, look_at, up);\n                }\n\n                void clear_lights()\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    _magnum_app-&gt;clear_lights();\n                }\n\n                void add_light(const magnum::gs::Light&amp; light)\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    _magnum_app-&gt;add_light(light);\n                }\n\n                std::vector&lt;gs::Light&gt;&amp; lights()\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return _magnum_app-&gt;lights();\n                }\n\n                size_t num_lights() const\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return _magnum_app-&gt;num_lights();\n                }\n\n                magnum::gs::Light&amp; light(size_t i)\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return _magnum_app-&gt;light(i);\n                }\n\n                void record_video(const std::string&amp; video_fname, int fps = -1)\n                {\n                    int fps_computed = (fps == -1) ? _fps : fps;\n                    ROBOT_DART_EXCEPTION_ASSERT(fps_computed != -1, \"Video FPS not set!\");\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n\n                    _magnum_app-&gt;record_video(video_fname, fps_computed);\n                }\n\n                bool shadowed() const\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return _magnum_app-&gt;shadowed();\n                }\n\n                bool transparent_shadows() const\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return _magnum_app-&gt;transparent_shadows();\n                }\n\n                void enable_shadows(bool enable = true, bool transparent = true)\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    _magnum_app-&gt;enable_shadows(enable, transparent);\n                }\n\n                Magnum::Image2D* magnum_image()\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    if (_magnum_app-&gt;image())\n                        return &amp;(*_magnum_app-&gt;image());\n                    return nullptr;\n                }\n\n                Image image() override\n                {\n                    auto image = magnum_image();\n                    if (image)\n                        return gs::rgb_from_image(image);\n                    return Image();\n                }\n\n                GrayscaleImage depth_image() override\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return _magnum_app-&gt;depth_image();\n                }\n\n                GrayscaleImage raw_depth_image() override\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return _magnum_app-&gt;raw_depth_image();\n                }\n\n                DepthImage depth_array() override\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return _magnum_app-&gt;depth_array();\n                }\n\n                gs::Camera&amp; camera()\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return _magnum_app-&gt;camera();\n                }\n\n                const gs::Camera&amp; camera() const\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return _magnum_app-&gt;camera();\n                }\n\n                Eigen::Matrix3d camera_intrinsic_matrix() const\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return Magnum::EigenIntegration::cast&lt;Eigen::Matrix3d&gt;(Magnum::Matrix3d(_magnum_app-&gt;camera().intrinsic_matrix()));\n                }\n\n                Eigen::Matrix4d camera_extrinsic_matrix() const\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return Magnum::EigenIntegration::cast&lt;Eigen::Matrix4d&gt;(Magnum::Matrix4d(_magnum_app-&gt;camera().extrinsic_matrix()));\n                }\n\n                BaseApplication* magnum_app()\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return &amp;*_magnum_app;\n                }\n\n                const BaseApplication* magnum_app() const\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return &amp;*_magnum_app;\n                }\n\n            protected:\n                GraphicsConfiguration _configuration;\n                bool _enabled;\n                int _fps;\n                std::unique_ptr&lt;BaseApplication&gt; _magnum_app;\n\n                Corrade::Utility::Debug _magnum_silence_output{nullptr};\n            };\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/drawables_8cpp/","title":"File drawables.cpp","text":"<p>FileList &gt; gui &gt; magnum &gt; drawables.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/drawables.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui_data.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/robot_dart_simu.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/utils.hpp&gt;</code></li> <li><code>#include &lt;Magnum/GL/CubeMapTexture.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/DefaultFramebuffer.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Mesh.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Renderer.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/AbstractFramebuffer.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/GL.h&gt;</code></li> </ul>"},{"location":"api/drawables_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/drawables.cpp</code></p>"},{"location":"api/drawables_8cpp_source/","title":"File drawables.cpp","text":"<p>File List &gt; gui &gt; magnum &gt; drawables.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include &lt;robot_dart/gui/magnum/drawables.hpp&gt;\n#include &lt;robot_dart/gui_data.hpp&gt;\n#include &lt;robot_dart/robot_dart_simu.hpp&gt;\n#include &lt;robot_dart/utils.hpp&gt;\n\n#include &lt;Magnum/GL/CubeMapTexture.h&gt;\n#include &lt;Magnum/GL/DefaultFramebuffer.h&gt;\n#include &lt;Magnum/GL/Mesh.h&gt;\n#include &lt;Magnum/GL/Renderer.h&gt;\n\n#include &lt;Magnum/GL/AbstractFramebuffer.h&gt;\n#include &lt;Magnum/GL/GL.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            // DrawableObject\n            DrawableObject::DrawableObject(\n                RobotDARTSimu* simu,\n                dart::dynamics::ShapeNode* shape,\n                const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes,\n                const std::vector&lt;gs::Material&gt;&amp; materials,\n                gs::PhongMultiLight&amp; color,\n                gs::PhongMultiLight&amp; texture,\n                Object3D* parent,\n                Magnum::SceneGraph::DrawableGroup3D* group)\n                : Object3D{parent},\n                  Magnum::SceneGraph::Drawable3D{*this, group},\n                  _simu(simu),\n                  _shape(shape),\n                  _meshes{meshes},\n                  _color_shader{color},\n                  _texture_shader{texture},\n                  _materials(materials)\n            {\n                _is_soft_body.resize(_meshes.size(), false);\n            }\n\n            DrawableObject&amp; DrawableObject::set_meshes(const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes)\n            {\n                _meshes = meshes;\n                return *this;\n            }\n\n            DrawableObject&amp; DrawableObject::set_materials(const std::vector&lt;gs::Material&gt;&amp; materials)\n            {\n                _materials = materials;\n                return *this;\n            }\n\n            DrawableObject&amp; DrawableObject::set_soft_bodies(const std::vector&lt;bool&gt;&amp; softBody)\n            {\n                _is_soft_body = softBody;\n                return *this;\n            }\n\n            DrawableObject&amp; DrawableObject::set_scalings(const std::vector&lt;Magnum::Vector3&gt;&amp; scalings)\n            {\n                _scalings = scalings;\n\n                _has_negative_scaling.resize(_scalings.size());\n                for (size_t i = 0; i &lt; scalings.size(); i++) {\n                    _has_negative_scaling[i] = false;\n                    for (size_t j = 0; j &lt; 3; j++)\n                        if (_scalings[i][j] &lt; 0.f) {\n                            _has_negative_scaling[i] = true;\n                            break;\n                        }\n                }\n\n                return *this;\n            }\n\n            DrawableObject&amp; DrawableObject::set_transparent(bool transparent)\n            {\n                _isTransparent = transparent;\n                return *this;\n            }\n\n            DrawableObject&amp; DrawableObject::set_color_shader(std::reference_wrapper&lt;gs::PhongMultiLight&gt; shader)\n            {\n                _color_shader = shader;\n                return *this;\n            }\n\n            DrawableObject&amp; DrawableObject::set_texture_shader(std::reference_wrapper&lt;gs::PhongMultiLight&gt; shader)\n            {\n                _texture_shader = shader;\n                return *this;\n            }\n\n            void DrawableObject::draw(const Magnum::Matrix4&amp; transformationMatrix, Magnum::SceneGraph::Camera3D&amp; camera)\n            {\n                for (size_t i = 0; i &lt; _meshes.size(); i++) {\n                    Magnum::GL::Mesh&amp; mesh = _meshes[i];\n                    Magnum::Matrix4 scalingMatrix = Magnum::Matrix4::scaling(_scalings[i]);\n                    bool isColor = !_materials[i].has_diffuse_texture();\n                    if (_is_soft_body[i])\n                        Magnum::GL::Renderer::disable(Magnum::GL::Renderer::Feature::FaceCulling);\n                    else if (_has_negative_scaling[i])\n                        Magnum::GL::Renderer::setFaceCullingMode(Magnum::GL::Renderer::PolygonFacing::Front);\n                    if (isColor) {\n                        _color_shader.get()\n                            .set_material(_materials[i])\n                            .set_transformation_matrix(absoluteTransformationMatrix() * scalingMatrix)\n                            .set_normal_matrix((transformationMatrix * scalingMatrix).rotationScaling())\n                            .set_camera_matrix(camera.cameraMatrix())\n                            .set_projection_matrix(camera.projectionMatrix())\n                            .draw(mesh);\n                    }\n                    else {\n                        _texture_shader.get()\n                            .set_material(_materials[i])\n                            .set_transformation_matrix(absoluteTransformationMatrix() * scalingMatrix)\n                            .set_normal_matrix((transformationMatrix * scalingMatrix).rotationScaling())\n                            .set_camera_matrix(camera.cameraMatrix())\n                            .set_projection_matrix(camera.projectionMatrix())\n                            .draw(mesh);\n                    }\n\n                    if (_is_soft_body[i])\n                        Magnum::GL::Renderer::enable(Magnum::GL::Renderer::Feature::FaceCulling);\n                    else if (_has_negative_scaling[i])\n                        Magnum::GL::Renderer::setFaceCullingMode(Magnum::GL::Renderer::PolygonFacing::Back);\n                }\n            }\n\n            // ShadowedObject\n            ShadowedObject::ShadowedObject(\n                RobotDARTSimu* simu,\n                dart::dynamics::ShapeNode* shape,\n                const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes,\n                gs::ShadowMap&amp; shader,\n                gs::ShadowMap&amp; texture_shader,\n                Object3D* parent,\n                Magnum::SceneGraph::DrawableGroup3D* group)\n                : Object3D{parent},\n                  Magnum::SceneGraph::Drawable3D{*this, group},\n                  _simu(simu),\n                  _shape(shape),\n                  _meshes{meshes},\n                  _shader{shader},\n                  _texture_shader(texture_shader) {}\n\n            ShadowedObject&amp; ShadowedObject::set_meshes(const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes)\n            {\n                _meshes = meshes;\n                return *this;\n            }\n\n            ShadowedObject&amp; ShadowedObject::set_materials(const std::vector&lt;gs::Material&gt;&amp; materials)\n            {\n                _materials = materials;\n                return *this;\n            }\n\n            ShadowedObject&amp; ShadowedObject::set_scalings(const std::vector&lt;Magnum::Vector3&gt;&amp; scalings)\n            {\n                _scalings = scalings;\n                return *this;\n            }\n\n            void ShadowedObject::draw(const Magnum::Matrix4&amp; transformationMatrix, Magnum::SceneGraph::Camera3D&amp; camera)\n            {\n                if (!_simu-&gt;gui_data()-&gt;cast_shadows(_shape))\n                    return;\n                for (size_t i = 0; i &lt; _meshes.size(); i++) {\n                    Magnum::GL::Mesh&amp; mesh = _meshes[i];\n                    Magnum::Matrix4 scalingMatrix = Magnum::Matrix4::scaling(_scalings[i]);\n                    bool isColor = !_materials[i].has_diffuse_texture();\n                    if (isColor) {\n                        (_shader.get())\n                            .set_transformation_matrix(transformationMatrix * scalingMatrix)\n                            .set_projection_matrix(camera.projectionMatrix())\n                            .set_material(_materials[i])\n                            .draw(mesh);\n                    }\n                    else {\n                        (_texture_shader.get())\n                            .set_transformation_matrix(transformationMatrix * scalingMatrix)\n                            .set_projection_matrix(camera.projectionMatrix())\n                            .set_material(_materials[i])\n                            .draw(mesh);\n                    }\n                }\n            }\n\n            // ShadowedColorObject\n            ShadowedColorObject::ShadowedColorObject(\n                RobotDARTSimu* simu,\n                dart::dynamics::ShapeNode* shape,\n                const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes,\n                gs::ShadowMapColor&amp; shader,\n                gs::ShadowMapColor&amp; texture_shader,\n                Object3D* parent,\n                Magnum::SceneGraph::DrawableGroup3D* group)\n                : Object3D{parent},\n                  Magnum::SceneGraph::Drawable3D{*this, group},\n                  _simu(simu),\n                  _shape(shape),\n                  _meshes{meshes},\n                  _shader{shader},\n                  _texture_shader(texture_shader) {}\n\n            ShadowedColorObject&amp; ShadowedColorObject::set_meshes(const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes)\n            {\n                _meshes = meshes;\n                return *this;\n            }\n\n            ShadowedColorObject&amp; ShadowedColorObject::set_materials(const std::vector&lt;gs::Material&gt;&amp; materials)\n            {\n                _materials = materials;\n                return *this;\n            }\n\n            ShadowedColorObject&amp; ShadowedColorObject::set_scalings(const std::vector&lt;Magnum::Vector3&gt;&amp; scalings)\n            {\n                _scalings = scalings;\n                return *this;\n            }\n\n            void ShadowedColorObject::draw(const Magnum::Matrix4&amp; transformationMatrix, Magnum::SceneGraph::Camera3D&amp; camera)\n            {\n                if (!_simu-&gt;gui_data()-&gt;cast_shadows(_shape))\n                    return;\n                for (size_t i = 0; i &lt; _meshes.size(); i++) {\n                    Magnum::GL::Mesh&amp; mesh = _meshes[i];\n                    Magnum::Matrix4 scalingMatrix = Magnum::Matrix4::scaling(_scalings[i]);\n                    bool isColor = !_materials[i].has_diffuse_texture();\n                    if (isColor) {\n                        (_shader.get())\n                            .set_transformation_matrix(transformationMatrix * scalingMatrix)\n                            .set_projection_matrix(camera.projectionMatrix())\n                            .set_material(_materials[i])\n                            .draw(mesh);\n                    }\n                    else {\n                        (_texture_shader.get())\n                            .set_transformation_matrix(transformationMatrix * scalingMatrix)\n                            .set_projection_matrix(camera.projectionMatrix())\n                            .set_material(_materials[i])\n                            .draw(mesh);\n                    }\n                }\n            }\n\n            // CubeMapShadowedObject\n            CubeMapShadowedObject::CubeMapShadowedObject(\n                RobotDARTSimu* simu,\n                dart::dynamics::ShapeNode* shape,\n                const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes,\n                gs::CubeMap&amp; shader,\n                gs::CubeMap&amp; texture_shader,\n                Object3D* parent,\n                Magnum::SceneGraph::DrawableGroup3D* group)\n                : Object3D{parent},\n                  Magnum::SceneGraph::Drawable3D{*this, group},\n                  _simu(simu),\n                  _shape(shape),\n                  _meshes{meshes},\n                  _shader{shader},\n                  _texture_shader(texture_shader) {}\n\n            CubeMapShadowedObject&amp; CubeMapShadowedObject::set_meshes(const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes)\n            {\n                _meshes = meshes;\n                return *this;\n            }\n\n            CubeMapShadowedObject&amp; CubeMapShadowedObject::set_materials(const std::vector&lt;gs::Material&gt;&amp; materials)\n            {\n                _materials = materials;\n                return *this;\n            }\n\n            CubeMapShadowedObject&amp; CubeMapShadowedObject::set_scalings(const std::vector&lt;Magnum::Vector3&gt;&amp; scalings)\n            {\n                _scalings = scalings;\n                return *this;\n            }\n\n            void CubeMapShadowedObject::draw(const Magnum::Matrix4&amp;, Magnum::SceneGraph::Camera3D&amp;)\n            {\n                for (size_t i = 0; i &lt; _meshes.size(); i++) {\n                    Magnum::GL::Mesh&amp; mesh = _meshes[i];\n                    Magnum::Matrix4 scalingMatrix = Magnum::Matrix4::scaling(_scalings[i]);\n                    bool isColor = !_materials[i].has_diffuse_texture();\n                    if (isColor) {\n                        (_shader.get())\n                            .set_transformation_matrix(absoluteTransformation() * scalingMatrix)\n                            .set_material(_materials[i])\n                            .draw(mesh);\n                    }\n                    else {\n                        (_texture_shader.get())\n                            .set_transformation_matrix(absoluteTransformation() * scalingMatrix)\n                            .set_material(_materials[i])\n                            .draw(mesh);\n                    }\n                }\n            }\n\n            // CubeMapShadowedColorObject\n            CubeMapShadowedColorObject::CubeMapShadowedColorObject(\n                RobotDARTSimu* simu,\n                dart::dynamics::ShapeNode* shape,\n                const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes,\n                gs::CubeMapColor&amp; shader,\n                gs::CubeMapColor&amp; texture_shader,\n                Object3D* parent,\n                Magnum::SceneGraph::DrawableGroup3D* group)\n                : Object3D{parent},\n                  Magnum::SceneGraph::Drawable3D{*this, group},\n                  _simu(simu),\n                  _shape(shape),\n                  _meshes{meshes},\n                  _shader{shader},\n                  _texture_shader(texture_shader) {}\n\n            CubeMapShadowedColorObject&amp; CubeMapShadowedColorObject::set_meshes(const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes)\n            {\n                _meshes = meshes;\n                return *this;\n            }\n\n            CubeMapShadowedColorObject&amp; CubeMapShadowedColorObject::set_materials(const std::vector&lt;gs::Material&gt;&amp; materials)\n            {\n                _materials = materials;\n                return *this;\n            }\n\n            CubeMapShadowedColorObject&amp; CubeMapShadowedColorObject::set_scalings(const std::vector&lt;Magnum::Vector3&gt;&amp; scalings)\n            {\n                _scalings = scalings;\n                return *this;\n            }\n\n            void CubeMapShadowedColorObject::draw(const Magnum::Matrix4&amp;, Magnum::SceneGraph::Camera3D&amp;)\n            {\n                if (!_simu-&gt;gui_data()-&gt;cast_shadows(_shape))\n                    return;\n                for (size_t i = 0; i &lt; _meshes.size(); i++) {\n                    Magnum::GL::Mesh&amp; mesh = _meshes[i];\n                    Magnum::Matrix4 scalingMatrix = Magnum::Matrix4::scaling(_scalings[i]);\n                    bool isColor = !_materials[i].has_diffuse_texture();\n                    if (isColor) {\n                        (_shader.get())\n                            .set_transformation_matrix(absoluteTransformation() * scalingMatrix)\n                            .set_material(_materials[i])\n                            .draw(mesh);\n                    }\n                    else {\n                        (_texture_shader.get())\n                            .set_transformation_matrix(absoluteTransformation() * scalingMatrix)\n                            .set_material(_materials[i])\n                            .draw(mesh);\n                    }\n                }\n            }\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n</code></pre>"},{"location":"api/drawables_8hpp/","title":"File drawables.hpp","text":"<p>FileList &gt; gui &gt; magnum &gt; drawables.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/helper.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/gs/cube_map.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/gs/cube_map_color.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/gs/phong_multi_light.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/gs/shadow_map.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/gs/shadow_map_color.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/types.hpp&gt;</code></li> <li><code>#include &lt;Magnum/GL/Framebuffer.h&gt;</code></li> <li><code>#include &lt;Magnum/SceneGraph/Drawable.h&gt;</code></li> </ul>"},{"location":"api/drawables_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace dart namespace dynamics namespace robot_dart namespace gui namespace magnum"},{"location":"api/drawables_8hpp/#classes","title":"Classes","text":"Type Name class CubeMapShadowedColorObject class CubeMapShadowedObject class DrawableObject struct ObjectStruct struct ShadowData class ShadowedColorObject class ShadowedObject <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/drawables.hpp</code></p>"},{"location":"api/drawables_8hpp_source/","title":"File drawables.hpp","text":"<p>File List &gt; gui &gt; magnum &gt; drawables.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_DRAWABLES_HPP\n#define ROBOT_DART_GUI_MAGNUM_DRAWABLES_HPP\n\n#include &lt;robot_dart/gui/helper.hpp&gt;\n#include &lt;robot_dart/gui/magnum/gs/cube_map.hpp&gt;\n#include &lt;robot_dart/gui/magnum/gs/cube_map_color.hpp&gt;\n#include &lt;robot_dart/gui/magnum/gs/phong_multi_light.hpp&gt;\n#include &lt;robot_dart/gui/magnum/gs/shadow_map.hpp&gt;\n#include &lt;robot_dart/gui/magnum/gs/shadow_map_color.hpp&gt;\n#include &lt;robot_dart/gui/magnum/types.hpp&gt;\n\n#include &lt;Magnum/GL/Framebuffer.h&gt;\n\n#include &lt;Magnum/SceneGraph/Drawable.h&gt;\n\nnamespace dart {\n    namespace dynamics {\n        class ShapeNode;\n    }\n} // namespace dart\n\nnamespace robot_dart {\n    class RobotDARTSimu;\n\n    namespace gui {\n        namespace magnum {\n            class DrawableObject : public Object3D, public Magnum::SceneGraph::Drawable3D {\n            public:\n                explicit DrawableObject(\n                    RobotDARTSimu* simu,\n                    dart::dynamics::ShapeNode* shape,\n                    const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes,\n                    const std::vector&lt;gs::Material&gt;&amp; materials,\n                    gs::PhongMultiLight&amp; color,\n                    gs::PhongMultiLight&amp; texture,\n                    Object3D* parent,\n                    Magnum::SceneGraph::DrawableGroup3D* group);\n\n                DrawableObject&amp; set_meshes(const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes);\n                DrawableObject&amp; set_materials(const std::vector&lt;gs::Material&gt;&amp; materials);\n                DrawableObject&amp; set_soft_bodies(const std::vector&lt;bool&gt;&amp; softBody);\n                DrawableObject&amp; set_scalings(const std::vector&lt;Magnum::Vector3&gt;&amp; scalings);\n                DrawableObject&amp; set_transparent(bool transparent = true);\n\n                DrawableObject&amp; set_color_shader(std::reference_wrapper&lt;gs::PhongMultiLight&gt; shader);\n                DrawableObject&amp; set_texture_shader(std::reference_wrapper&lt;gs::PhongMultiLight&gt; shader);\n\n                const std::vector&lt;gs::Material&gt;&amp; materials() const { return _materials; }\n                bool transparent() const { return _isTransparent; }\n\n                RobotDARTSimu* simu() const { return _simu; }\n                dart::dynamics::ShapeNode* shape() const { return _shape; }\n\n            private:\n                void draw(const Magnum::Matrix4&amp; transformationMatrix, Magnum::SceneGraph::Camera3D&amp; camera) override;\n\n                RobotDARTSimu* _simu;\n                dart::dynamics::ShapeNode* _shape;\n                std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt; _meshes;\n                std::reference_wrapper&lt;gs::PhongMultiLight&gt; _color_shader;\n                std::reference_wrapper&lt;gs::PhongMultiLight&gt; _texture_shader;\n                std::vector&lt;gs::Material&gt; _materials;\n                std::vector&lt;Magnum::Vector3&gt; _scalings;\n                std::vector&lt;bool&gt; _has_negative_scaling;\n                std::vector&lt;bool&gt; _is_soft_body;\n                bool _isTransparent;\n            };\n\n            class ShadowedObject : public Object3D, public Magnum::SceneGraph::Drawable3D {\n            public:\n                explicit ShadowedObject(\n                    RobotDARTSimu* simu,\n                    dart::dynamics::ShapeNode* shape,\n                    const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes,\n                    gs::ShadowMap&amp; shader,\n                    gs::ShadowMap&amp; texture_shader,\n                    Object3D* parent,\n                    Magnum::SceneGraph::DrawableGroup3D* group);\n\n                ShadowedObject&amp; set_meshes(const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes);\n                ShadowedObject&amp; set_materials(const std::vector&lt;gs::Material&gt;&amp; materials);\n                ShadowedObject&amp; set_scalings(const std::vector&lt;Magnum::Vector3&gt;&amp; scalings);\n\n                RobotDARTSimu* simu() const { return _simu; }\n                dart::dynamics::ShapeNode* shape() const { return _shape; }\n\n            private:\n                void draw(const Magnum::Matrix4&amp; transformationMatrix, Magnum::SceneGraph::Camera3D&amp; camera) override;\n\n                RobotDARTSimu* _simu;\n                dart::dynamics::ShapeNode* _shape;\n                std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt; _meshes;\n                std::reference_wrapper&lt;gs::ShadowMap&gt; _shader, _texture_shader;\n                std::vector&lt;gs::Material&gt; _materials;\n                std::vector&lt;Magnum::Vector3&gt; _scalings;\n            };\n\n            class ShadowedColorObject : public Object3D, public Magnum::SceneGraph::Drawable3D {\n            public:\n                explicit ShadowedColorObject(\n                    RobotDARTSimu* simu,\n                    dart::dynamics::ShapeNode* shape,\n                    const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes,\n                    gs::ShadowMapColor&amp; shader,\n                    gs::ShadowMapColor&amp; texture_shader,\n                    Object3D* parent,\n                    Magnum::SceneGraph::DrawableGroup3D* group);\n\n                ShadowedColorObject&amp; set_meshes(const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes);\n                ShadowedColorObject&amp; set_materials(const std::vector&lt;gs::Material&gt;&amp; materials);\n                ShadowedColorObject&amp; set_scalings(const std::vector&lt;Magnum::Vector3&gt;&amp; scalings);\n\n                RobotDARTSimu* simu() const { return _simu; }\n                dart::dynamics::ShapeNode* shape() const { return _shape; }\n\n            private:\n                void draw(const Magnum::Matrix4&amp; transformationMatrix, Magnum::SceneGraph::Camera3D&amp; camera) override;\n\n                RobotDARTSimu* _simu;\n                dart::dynamics::ShapeNode* _shape;\n                std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt; _meshes;\n                std::reference_wrapper&lt;gs::ShadowMapColor&gt; _shader, _texture_shader;\n                std::vector&lt;gs::Material&gt; _materials;\n                std::vector&lt;Magnum::Vector3&gt; _scalings;\n            };\n\n            class CubeMapShadowedObject : public Object3D, public Magnum::SceneGraph::Drawable3D {\n            public:\n                explicit CubeMapShadowedObject(\n                    RobotDARTSimu* simu,\n                    dart::dynamics::ShapeNode* shape,\n                    const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes,\n                    gs::CubeMap&amp; shader,\n                    gs::CubeMap&amp; texture_shader,\n                    Object3D* parent,\n                    Magnum::SceneGraph::DrawableGroup3D* group);\n\n                CubeMapShadowedObject&amp; set_meshes(const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes);\n                CubeMapShadowedObject&amp; set_materials(const std::vector&lt;gs::Material&gt;&amp; materials);\n                CubeMapShadowedObject&amp; set_scalings(const std::vector&lt;Magnum::Vector3&gt;&amp; scalings);\n\n                RobotDARTSimu* simu() const { return _simu; }\n                dart::dynamics::ShapeNode* shape() const { return _shape; }\n\n            private:\n                void draw(const Magnum::Matrix4&amp; transformationMatrix, Magnum::SceneGraph::Camera3D&amp; camera) override;\n\n                RobotDARTSimu* _simu;\n                dart::dynamics::ShapeNode* _shape;\n                std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt; _meshes;\n                std::reference_wrapper&lt;gs::CubeMap&gt; _shader, _texture_shader;\n                std::vector&lt;gs::Material&gt; _materials;\n                std::vector&lt;Magnum::Vector3&gt; _scalings;\n            };\n\n            class CubeMapShadowedColorObject : public Object3D, public Magnum::SceneGraph::Drawable3D {\n            public:\n                explicit CubeMapShadowedColorObject(\n                    RobotDARTSimu* simu,\n                    dart::dynamics::ShapeNode* shape,\n                    const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes,\n                    gs::CubeMapColor&amp; shader,\n                    gs::CubeMapColor&amp; texture_shader,\n                    Object3D* parent,\n                    Magnum::SceneGraph::DrawableGroup3D* group);\n\n                CubeMapShadowedColorObject&amp; set_meshes(const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes);\n                CubeMapShadowedColorObject&amp; set_materials(const std::vector&lt;gs::Material&gt;&amp; materials);\n                CubeMapShadowedColorObject&amp; set_scalings(const std::vector&lt;Magnum::Vector3&gt;&amp; scalings);\n\n                RobotDARTSimu* simu() const { return _simu; }\n                dart::dynamics::ShapeNode* shape() const { return _shape; }\n\n            private:\n                void draw(const Magnum::Matrix4&amp; transformationMatrix, Magnum::SceneGraph::Camera3D&amp; camera) override;\n\n                RobotDARTSimu* _simu;\n                dart::dynamics::ShapeNode* _shape;\n                std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt; _meshes;\n                std::reference_wrapper&lt;gs::CubeMapColor&gt; _shader, _texture_shader;\n                std::vector&lt;gs::Material&gt; _materials;\n                std::vector&lt;Magnum::Vector3&gt; _scalings;\n            };\n\n            struct ShadowData {\n                Magnum::GL::Framebuffer shadow_framebuffer{Magnum::NoCreate};\n                Magnum::GL::Framebuffer shadow_color_framebuffer{Magnum::NoCreate};\n            };\n\n            struct ObjectStruct {\n                DrawableObject* drawable;\n                ShadowedObject* shadowed;\n                ShadowedColorObject* shadowed_color;\n                CubeMapShadowedObject* cubemapped;\n                CubeMapShadowedColorObject* cubemapped_color;\n            };\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n#endif\n</code></pre>"},{"location":"api/glfw__application_8cpp/","title":"File glfw_application.cpp","text":"<p>FileList &gt; gui &gt; magnum &gt; glfw_application.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"glfw_application.hpp\"</code></li> <li><code>#include \"robot_dart/utils.hpp\"</code></li> <li><code>#include &lt;Magnum/GL/DefaultFramebuffer.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Renderer.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Version.h&gt;</code></li> <li><code>#include &lt;Magnum/PixelFormat.h&gt;</code></li> </ul>"},{"location":"api/glfw__application_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/glfw_application.cpp</code></p>"},{"location":"api/glfw__application_8cpp_source/","title":"Macro Syntax Error","text":"<p>File: <code>api/glfw__application_8cpp_source.md</code></p> <p>Line 69 in Markdown file: unexpected '}' <pre><code>                Magnum::GL::defaultFramebuffer.setViewport({{}, event.framebufferSize()});\n</code></pre></p>"},{"location":"api/glfw__application_8hpp/","title":"File glfw_application.hpp","text":"<p>FileList &gt; gui &gt; magnum &gt; glfw_application.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/base_application.hpp&gt;</code></li> <li><code>#include &lt;Magnum/Platform/GlfwApplication.h&gt;</code></li> </ul>"},{"location":"api/glfw__application_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum"},{"location":"api/glfw__application_8hpp/#classes","title":"Classes","text":"Type Name class GlfwApplication <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/glfw_application.hpp</code></p>"},{"location":"api/glfw__application_8hpp_source/","title":"File glfw_application.hpp","text":"<p>File List &gt; gui &gt; magnum &gt; glfw_application.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_GLFW_APPLICATION_HPP\n#define ROBOT_DART_GUI_MAGNUM_GLFW_APPLICATION_HPP\n\n#include &lt;robot_dart/gui/magnum/base_application.hpp&gt;\n\n// Workaround for X11lib defines\n#undef Button1\n#undef Button2\n#undef Button3\n#undef Button4\n#undef Button5\n#include &lt;Magnum/Platform/GlfwApplication.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            class GlfwApplication : public BaseApplication, public Magnum::Platform::Application {\n            public:\n                explicit GlfwApplication(int argc, char** argv, RobotDARTSimu* simu, const GraphicsConfiguration&amp; configuration = GraphicsConfiguration());\n\n                ~GlfwApplication();\n\n                void render() override;\n\n            protected:\n                RobotDARTSimu* _simu;\n                Magnum::Float _speed_move, _speed_strafe;\n                bool _draw_main_camera, _draw_debug;\n                Magnum::Color4 _bg_color;\n\n                static constexpr Magnum::Float _speed = 0.05f;\n\n                void viewportEvent(ViewportEvent&amp; event) override;\n\n                void drawEvent() override;\n\n                virtual void keyReleaseEvent(KeyEvent&amp; event) override;\n                virtual void keyPressEvent(KeyEvent&amp; event) override;\n\n                virtual void mouseScrollEvent(MouseScrollEvent&amp; event) override;\n                virtual void mouseMoveEvent(MouseMoveEvent&amp; event) override;\n\n                void exitEvent(ExitEvent&amp; event) override;\n            };\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/graphics_8cpp/","title":"File graphics.cpp","text":"<p>FileList &gt; gui &gt; magnum &gt; graphics.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/graphics.hpp&gt;</code></li> </ul>"},{"location":"api/graphics_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/graphics.cpp</code></p>"},{"location":"api/graphics_8cpp_source/","title":"File graphics.cpp","text":"<p>File List &gt; gui &gt; magnum &gt; graphics.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include &lt;robot_dart/gui/magnum/graphics.hpp&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            void Graphics::set_simu(RobotDARTSimu* simu)\n            {\n                BaseGraphics&lt;GlfwApplication&gt;::set_simu(simu);\n                // we synchronize by default if we have the graphics activated\n                simu-&gt;scheduler().set_sync(true);\n                // enable summary text when graphics activated\n                simu-&gt;enable_text_panel(true);\n                simu-&gt;enable_status_bar(true);\n            }\n\n            GraphicsConfiguration Graphics::default_configuration()\n            {\n                return GraphicsConfiguration();\n            }\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n</code></pre>"},{"location":"api/graphics_8hpp/","title":"File graphics.hpp","text":"<p>FileList &gt; gui &gt; magnum &gt; graphics.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/base_graphics.hpp&gt;</code></li> </ul>"},{"location":"api/graphics_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum"},{"location":"api/graphics_8hpp/#classes","title":"Classes","text":"Type Name class Graphics <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/graphics.hpp</code></p>"},{"location":"api/graphics_8hpp_source/","title":"File graphics.hpp","text":"<p>File List &gt; gui &gt; magnum &gt; graphics.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_GRAPHICS_HPP\n#define ROBOT_DART_GUI_MAGNUM_GRAPHICS_HPP\n\n#include &lt;robot_dart/gui/magnum/base_graphics.hpp&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            class Graphics : public BaseGraphics&lt;GlfwApplication&gt; {\n            public:\n                Graphics(const GraphicsConfiguration&amp; configuration = default_configuration()) : BaseGraphics&lt;GlfwApplication&gt;(configuration) {}\n                ~Graphics() {}\n\n                void set_simu(RobotDARTSimu* simu) override;\n\n                static GraphicsConfiguration default_configuration();\n            };\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/dir_2f8612d80f6bb57c97efd4c82e0df286/","title":"Dir robot_dart/gui/magnum/gs","text":"<p>FileList &gt; gs</p>"},{"location":"api/dir_2f8612d80f6bb57c97efd4c82e0df286/#files","title":"Files","text":"Type Name file camera.cpp file camera.hpp file create_compatibility_shader.hpp file cube_map.cpp file cube_map.hpp file cube_map_color.cpp file cube_map_color.hpp file helper.cpp file helper.hpp file light.cpp file light.hpp file material.cpp file material.hpp file phong_multi_light.cpp file phong_multi_light.hpp file shadow_map.cpp file shadow_map.hpp file shadow_map_color.cpp file shadow_map_color.hpp <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/</code></p>"},{"location":"api/gs_2camera_8cpp/","title":"File camera.cpp","text":"<p>FileList &gt; gs &gt; camera.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"camera.hpp\"</code></li> <li><code>#include \"robot_dart/gui/magnum/base_application.hpp\"</code></li> <li><code>#include \"robot_dart/gui_data.hpp\"</code></li> <li><code>#include \"robot_dart/robot_dart_simu.hpp\"</code></li> <li><code>#include \"robot_dart/utils.hpp\"</code></li> <li><code>#include &lt;external/process.hpp&gt;</code></li> <li><code>#include &lt;algorithm&gt;</code></li> <li><code>#include &lt;Corrade/Containers/ArrayViewStl.h&gt;</code></li> <li><code>#include &lt;Corrade/Containers/StridedArrayView.h&gt;</code></li> <li><code>#include &lt;Corrade/Utility/Algorithms.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/AbstractFramebuffer.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/GL.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/PixelFormat.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Renderer.h&gt;</code></li> <li><code>#include &lt;Magnum/ImageView.h&gt;</code></li> <li><code>#include &lt;Magnum/PixelFormat.h&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/utils_headers_eigen.hpp&gt;</code></li> <li><code>#include &lt;utheque/utheque.hpp&gt;</code></li> </ul>"},{"location":"api/gs_2camera_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/camera.cpp</code></p>"},{"location":"api/gs_2camera_8cpp_source/","title":"Macro Syntax Error","text":"<p>File: <code>api/gs_2camera_8cpp_source.md</code></p> <p>Line 204 in Markdown file: expected name or number <pre><code>                    return {{projection[0][0], 0., 0.},\n</code></pre></p>"},{"location":"api/gs_2camera_8hpp/","title":"File camera.hpp","text":"<p>FileList &gt; gs &gt; camera.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/gs/light.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/types.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/robot_dart_simu.hpp&gt;</code></li> <li><code>#include &lt;Corrade/Containers/Optional.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Mesh.h&gt;</code></li> <li><code>#include &lt;Magnum/Image.h&gt;</code></li> <li><code>#include &lt;Magnum/Shaders/DistanceFieldVector.h&gt;</code></li> <li><code>#include &lt;Magnum/Shaders/VertexColor.h&gt;</code></li> <li><code>#include &lt;Magnum/Text/Renderer.h&gt;</code></li> </ul>"},{"location":"api/gs_2camera_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace TinyProcessLib namespace robot_dart namespace gui namespace magnum namespace gs"},{"location":"api/gs_2camera_8hpp/#classes","title":"Classes","text":"Type Name class Camera <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/camera.hpp</code></p>"},{"location":"api/gs_2camera_8hpp_source/","title":"File camera.hpp","text":"<p>File List &gt; gs &gt; camera.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_GS_CAMERA_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_CAMERA_HPP\n\n#include &lt;robot_dart/gui/magnum/gs/light.hpp&gt;\n#include &lt;robot_dart/gui/magnum/types.hpp&gt;\n#include &lt;robot_dart/robot_dart_simu.hpp&gt;\n\n#include &lt;Corrade/Containers/Optional.h&gt;\n#include &lt;Magnum/GL/Mesh.h&gt;\n#include &lt;Magnum/Image.h&gt;\n#include &lt;Magnum/Shaders/DistanceFieldVector.h&gt;\n#include &lt;Magnum/Shaders/VertexColor.h&gt;\n#include &lt;Magnum/Text/Renderer.h&gt;\n\nnamespace TinyProcessLib {\n    class Process;\n}\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            struct DebugDrawData;\n\n            namespace gs {\n                // This is partly code from the ThirdPersonCameraController of https://github.com/alexesDev/magnum-tips\n                class Camera : public Object3D {\n                public:\n                    explicit Camera(Object3D&amp; object, Magnum::Int width, Magnum::Int height);\n                    ~Camera();\n\n                    Camera3D&amp; camera() const;\n                    Object3D&amp; root_object();\n                    Object3D&amp; camera_object() const;\n\n                    Camera&amp; set_viewport(const Magnum::Vector2i&amp; size);\n\n                    Camera&amp; move(const Magnum::Vector2i&amp; shift);\n                    Camera&amp; forward(Magnum::Float speed);\n                    Camera&amp; strafe(Magnum::Float speed);\n\n                    Camera&amp; set_speed(const Magnum::Vector2&amp; speed);\n                    Camera&amp; set_near_plane(Magnum::Float near_plane);\n                    Camera&amp; set_far_plane(Magnum::Float far_plane);\n                    Camera&amp; set_fov(Magnum::Float fov);\n                    Camera&amp; set_camera_params(Magnum::Float near_plane, Magnum::Float far_plane, Magnum::Float fov, Magnum::Int width, Magnum::Int height);\n\n                    Magnum::Vector2 speed() const { return _speed; }\n                    Magnum::Float near_plane() const { return _near_plane; }\n                    Magnum::Float far_plane() const { return _far_plane; }\n                    Magnum::Float fov() const { return static_cast&lt;Magnum::Float&gt;(_fov); }\n                    Magnum::Int width() const { return _camera-&gt;viewport()[0]; }\n                    Magnum::Int height() const { return _camera-&gt;viewport()[1]; }\n                    Magnum::Matrix3 intrinsic_matrix() const;\n                    Magnum::Matrix4 extrinsic_matrix() const;\n\n                    Camera&amp; look_at(const Magnum::Vector3&amp; camera, const Magnum::Vector3&amp; center, const Magnum::Vector3&amp; up = Magnum::Vector3::zAxis());\n\n                    void transform_lights(std::vector&lt;gs::Light&gt;&amp; lights) const;\n\n                    void record(bool recording, bool recording_depth = false)\n                    {\n                        _recording = recording;\n                        _recording_depth = recording_depth;\n                    }\n\n                    // FPS is mandatory here (compared to Graphics and CameraOSR)\n                    void record_video(const std::string&amp; video_fname, int fps);\n                    bool recording() { return _recording; }\n                    bool recording_depth() { return _recording_depth; }\n\n                    Corrade::Containers::Optional&lt;Magnum::Image2D&gt;&amp; image() { return _image; }\n                    Corrade::Containers::Optional&lt;Magnum::Image2D&gt;&amp; depth_image() { return _depth_image; }\n\n                    void draw(Magnum::SceneGraph::DrawableGroup3D&amp; drawables, Magnum::GL::AbstractFramebuffer&amp; framebuffer, Magnum::PixelFormat format, RobotDARTSimu* simu, const DebugDrawData&amp; debug_data, bool draw_debug = true);\n\n                private:\n                    Object3D* _yaw_object;\n                    Object3D* _pitch_object;\n                    Object3D* _camera_object;\n\n                    Camera3D* _camera;\n                    Magnum::Vector2 _speed{-0.01f, 0.01f};\n\n                    Magnum::Vector3 _up, _front, _right;\n                    Magnum::Float _aspect_ratio, _near_plane, _far_plane;\n                    Magnum::Rad _fov;\n                    Magnum::Int _width, _height;\n\n                    bool _recording = false, _recording_depth = false;\n                    bool _recording_video = false;\n                    Corrade::Containers::Optional&lt;Magnum::Image2D&gt; _image, _depth_image;\n\n                    TinyProcessLib::Process* _ffmpeg_process = nullptr;\n\n                    void _clean_up_subprocess();\n                };\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/create__compatibility__shader_8hpp/","title":"File create_compatibility_shader.hpp","text":"<p>FileList &gt; gs &gt; create_compatibility_shader.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;Corrade/Utility/Resource.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Context.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Extensions.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Shader.h&gt;</code></li> <li><code>#include &lt;string&gt;</code></li> </ul>"},{"location":"api/create__compatibility__shader_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace Magnum namespace Shaders namespace Implementation namespace robot_dart namespace gui namespace magnum namespace gs <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/create_compatibility_shader.hpp</code></p>"},{"location":"api/create__compatibility__shader_8hpp_source/","title":"File create_compatibility_shader.hpp","text":"<p>File List &gt; gs &gt; create_compatibility_shader.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef Magnum_Shaders_Implementation_CreateCompatibilityShader_h\n#define Magnum_Shaders_Implementation_CreateCompatibilityShader_h\n/*\n    This file is part of Magnum.\n    Copyright \u00a9 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018\n              Vladim\u00edr Vondru\u0161 &lt;mosra@centrum.cz&gt;\n    Permission is hereby granted, free of charge, to any person obtaining a\n    copy of this software and associated documentation files (the \"Software\"),\n    to deal in the Software without restriction, including without limitation\n    the rights to use, copy, modify, merge, publish, distribute, sublicense,\n    and/or sell copies of the Software, and to permit persons to whom the\n    Software is furnished to do so, subject to the following conditions:\n    The above copyright notice and this permission notice shall be included\n    in all copies or substantial portions of the Software.\n    THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL\n    THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n    FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n    DEALINGS IN THE SOFTWARE.\n*/\n\n#include &lt;Corrade/Utility/Resource.h&gt;\n\n#include &lt;Magnum/GL/Context.h&gt;\n#include &lt;Magnum/GL/Extensions.h&gt;\n#include &lt;Magnum/GL/Shader.h&gt;\n\n#include &lt;string&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                namespace {\n                    enum : Magnum::Int { AmbientTextureLayer = 0,\n                        DiffuseTextureLayer = 1,\n                        SpecularTextureLayer = 2 };\n                }\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\nnamespace Magnum {\n    namespace Shaders {\n        namespace Implementation {\n\n            inline GL::Shader createCompatibilityShader(const Utility::Resource&amp; rs, GL::Version version, GL::Shader::Type type)\n            {\n                GL::Shader shader(version, type);\n\n#ifndef MAGNUM_TARGET_GLES\n                if (GL::Context::current().isExtensionDisabled&lt;GL::Extensions::ARB::explicit_attrib_location&gt;(version))\n                    shader.addSource(\"#define DISABLE_GL_ARB_explicit_attrib_location\\n\");\n                if (GL::Context::current().isExtensionDisabled&lt;GL::Extensions::ARB::shading_language_420pack&gt;(version))\n                    shader.addSource(\"#define DISABLE_GL_ARB_shading_language_420pack\\n\");\n                if (GL::Context::current().isExtensionDisabled&lt;GL::Extensions::ARB::explicit_uniform_location&gt;(version))\n                    shader.addSource(\"#define DISABLE_GL_ARB_explicit_uniform_location\\n\");\n#endif\n\n#ifndef MAGNUM_TARGET_GLES2\n                if (type == GL::Shader::Type::Vertex &amp;&amp; GL::Context::current().isExtensionDisabled&lt;GL::Extensions::MAGNUM::shader_vertex_id&gt;(version))\n                    shader.addSource(\"#define DISABLE_GL_MAGNUM_shader_vertex_id\\n\");\n#endif\n\n/* My Android emulator (running on NVidia) doesn't define GL_ES\n       preprocessor macro, thus *all* the stock shaders fail to compile */\n#ifdef CORRADE_TARGET_ANDROID\n                shader.addSource(\"#ifndef GL_ES\\n#define GL_ES 1\\n#endif\\n\");\n#endif\n\n                shader.addSource(rs.get(\"compatibility.glsl\"));\n                return shader;\n            }\n\n        } // namespace Implementation\n    } // namespace Shaders\n} // namespace Magnum\n\n#endif\n</code></pre>"},{"location":"api/cube__map_8cpp/","title":"File cube_map.cpp","text":"<p>FileList &gt; gs &gt; cube_map.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"cube_map.hpp\"</code></li> <li><code>#include \"create_compatibility_shader.hpp\"</code></li> <li><code>#include &lt;Magnum/GL/Texture.h&gt;</code></li> </ul>"},{"location":"api/cube__map_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/cube_map.cpp</code></p>"},{"location":"api/cube__map_8cpp_source/","title":"File cube_map.cpp","text":"<p>File List &gt; gs &gt; cube_map.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"cube_map.hpp\"\n#include \"create_compatibility_shader.hpp\"\n\n#include &lt;Magnum/GL/Texture.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                CubeMap::CubeMap(CubeMap::Flags flags) : _flags(flags)\n                {\n                    Corrade::Utility::Resource rs_shaders(\"RobotDARTShaders\");\n\n                    const Magnum::GL::Version version = Magnum::GL::Version::GL320;\n\n                    Magnum::GL::Shader vert = Magnum::Shaders::Implementation::createCompatibilityShader(\n                        rs_shaders, version, Magnum::GL::Shader::Type::Vertex);\n                    Magnum::GL::Shader geom = Magnum::Shaders::Implementation::createCompatibilityShader(\n                        rs_shaders, version, Magnum::GL::Shader::Type::Geometry);\n                    Magnum::GL::Shader frag = Magnum::Shaders::Implementation::createCompatibilityShader(\n                        rs_shaders, version, Magnum::GL::Shader::Type::Fragment);\n\n                    std::string defines = \"#define POSITION_ATTRIBUTE_LOCATION \" + std::to_string(Position::Location) + \"\\n\";\n                    defines += \"#define TEXTURECOORDINATES_ATTRIBUTE_LOCATION \" + std::to_string(TextureCoordinates::Location) + \"\\n\";\n\n                    vert.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n                        .addSource(defines)\n                        .addSource(rs_shaders.get(\"CubeMap.vert\"));\n                    geom.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n                        .addSource(rs_shaders.get(\"CubeMap.geom\"));\n                    frag.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n                        .addSource(rs_shaders.get(\"CubeMap.frag\"));\n\n                    CORRADE_INTERNAL_ASSERT_OUTPUT(Magnum::GL::Shader::compile({vert, geom, frag}));\n\n                    attachShaders({vert, geom, frag});\n\n                    if (!Magnum::GL::Context::current().isExtensionSupported&lt;Magnum::GL::Extensions::ARB::explicit_attrib_location&gt;(version)) {\n                        bindAttributeLocation(Position::Location, \"position\");\n                        if (flags)\n                            bindAttributeLocation(TextureCoordinates::Location, \"textureCoords\");\n                    }\n\n                    CORRADE_INTERNAL_ASSERT_OUTPUT(link());\n\n                    if (!Magnum::GL::Context::current().isExtensionSupported&lt;Magnum::GL::Extensions::ARB::explicit_uniform_location&gt;(version)) {\n                        _transformation_matrix_uniform = uniformLocation(\"transformationMatrix\");\n                        _shadow_matrices_uniform = uniformLocation(\"shadowMatrices[0]\");\n                        _light_position_uniform = uniformLocation(\"lightPosition\");\n                        _far_plane_uniform = uniformLocation(\"farPlane\");\n                        _light_index_uniform = uniformLocation(\"lightIndex\");\n                        _diffuse_color_uniform = uniformLocation(\"diffuseColor\");\n                    }\n                }\n\n                CubeMap::CubeMap(Magnum::NoCreateT) noexcept : Magnum::GL::AbstractShaderProgram{Magnum::NoCreate} {}\n\n                CubeMap::Flags CubeMap::flags() const { return _flags; }\n\n                CubeMap&amp; CubeMap::set_transformation_matrix(const Magnum::Matrix4&amp; matrix)\n                {\n                    setUniform(_transformation_matrix_uniform, matrix);\n                    return *this;\n                }\n\n                CubeMap&amp; CubeMap::set_shadow_matrices(Magnum::Matrix4 matrices[6])\n                {\n                    for (size_t i = 0; i &lt; 6; i++)\n                        setUniform(_shadow_matrices_uniform + i, matrices[i]);\n                    return *this;\n                }\n\n                CubeMap&amp; CubeMap::set_light_position(const Magnum::Vector3&amp; position)\n                {\n                    setUniform(_light_position_uniform, position);\n                    return *this;\n                }\n\n                CubeMap&amp; CubeMap::set_far_plane(Magnum::Float far_plane)\n                {\n                    setUniform(_far_plane_uniform, far_plane);\n                    return *this;\n                }\n\n                CubeMap&amp; CubeMap::set_light_index(Magnum::Int index)\n                {\n                    setUniform(_light_index_uniform, index);\n                    return *this;\n                }\n\n                CubeMap&amp; CubeMap::set_material(Material&amp; material)\n                {\n                    if (material.has_diffuse_texture() &amp;&amp; (_flags &amp; Flag::DiffuseTexture)) {\n                        (*material.diffuse_texture()).bind(DiffuseTextureLayer);\n                        setUniform(_diffuse_color_uniform, Magnum::Color4{1.0f});\n                    }\n                    else\n                        setUniform(_diffuse_color_uniform, material.diffuse_color());\n\n                    return *this;\n                }\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n</code></pre>"},{"location":"api/cube__map_8hpp/","title":"File cube_map.hpp","text":"<p>FileList &gt; gs &gt; cube_map.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/gs/material.hpp&gt;</code></li> <li><code>#include &lt;Corrade/Containers/ArrayView.h&gt;</code></li> <li><code>#include &lt;Corrade/Containers/Reference.h&gt;</code></li> <li><code>#include &lt;Corrade/Utility/Assert.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/AbstractShaderProgram.h&gt;</code></li> <li><code>#include &lt;Magnum/Math/Color.h&gt;</code></li> <li><code>#include &lt;Magnum/Math/Matrix4.h&gt;</code></li> <li><code>#include &lt;Magnum/Shaders/Generic.h&gt;</code></li> </ul>"},{"location":"api/cube__map_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs"},{"location":"api/cube__map_8hpp/#classes","title":"Classes","text":"Type Name class CubeMap <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/cube_map.hpp</code></p>"},{"location":"api/cube__map_8hpp_source/","title":"File cube_map.hpp","text":"<p>File List &gt; gs &gt; cube_map.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_GS_CUBE_MAP_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_CUBE_MAP_HPP\n\n#include &lt;robot_dart/gui/magnum/gs/material.hpp&gt;\n\n#include &lt;Corrade/Containers/ArrayView.h&gt;\n#include &lt;Corrade/Containers/Reference.h&gt;\n#include &lt;Corrade/Utility/Assert.h&gt;\n\n#include &lt;Magnum/GL/AbstractShaderProgram.h&gt;\n#include &lt;Magnum/Math/Color.h&gt;\n#include &lt;Magnum/Math/Matrix4.h&gt;\n#include &lt;Magnum/Shaders/Generic.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                class CubeMap : public Magnum::GL::AbstractShaderProgram {\n                public:\n                    using Position = Magnum::Shaders::Generic3D::Position;\n                    using TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\n\n                    enum class Flag : Magnum::UnsignedByte {\n                        DiffuseTexture = 1 &lt;&lt; 0, \n                    };\n\n                    using Flags = Magnum::Containers::EnumSet&lt;Flag&gt;;\n\n                    explicit CubeMap(Flags flags = {});\n                    explicit CubeMap(Magnum::NoCreateT) noexcept;\n\n                    Flags flags() const;\n\n                    CubeMap&amp; set_transformation_matrix(const Magnum::Matrix4&amp; matrix);\n                    CubeMap&amp; set_shadow_matrices(Magnum::Matrix4 matrices[6]);\n                    CubeMap&amp; set_light_position(const Magnum::Vector3&amp; position);\n                    CubeMap&amp; set_far_plane(Magnum::Float far_plane);\n                    CubeMap&amp; set_light_index(Magnum::Int index);\n                    CubeMap&amp; set_material(Material&amp; material);\n\n                private:\n                    Flags _flags;\n                    Magnum::Int _transformation_matrix_uniform{0},\n                        _shadow_matrices_uniform{5},\n                        _light_position_uniform{1},\n                        _far_plane_uniform{2},\n                        _light_index_uniform{3},\n                        _diffuse_color_uniform{4};\n                };\n\n                CORRADE_ENUMSET_OPERATORS(CubeMap::Flags)\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/cube__map__color_8cpp/","title":"File cube_map_color.cpp","text":"<p>FileList &gt; gs &gt; cube_map_color.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"cube_map_color.hpp\"</code></li> <li><code>#include \"create_compatibility_shader.hpp\"</code></li> <li><code>#include &lt;Magnum/GL/CubeMapTextureArray.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Texture.h&gt;</code></li> </ul>"},{"location":"api/cube__map__color_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/cube_map_color.cpp</code></p>"},{"location":"api/cube__map__color_8cpp_source/","title":"File cube_map_color.cpp","text":"<p>File List &gt; gs &gt; cube_map_color.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"cube_map_color.hpp\"\n#include \"create_compatibility_shader.hpp\"\n\n#include &lt;Magnum/GL/CubeMapTextureArray.h&gt;\n#include &lt;Magnum/GL/Texture.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                CubeMapColor::CubeMapColor(CubeMapColor::Flags flags) : _flags(flags)\n                {\n                    Corrade::Utility::Resource rs_shaders(\"RobotDARTShaders\");\n\n                    const Magnum::GL::Version version = Magnum::GL::Version::GL320;\n\n                    Magnum::GL::Shader vert = Magnum::Shaders::Implementation::createCompatibilityShader(\n                        rs_shaders, version, Magnum::GL::Shader::Type::Vertex);\n                    Magnum::GL::Shader geom = Magnum::Shaders::Implementation::createCompatibilityShader(\n                        rs_shaders, version, Magnum::GL::Shader::Type::Geometry);\n                    Magnum::GL::Shader frag = Magnum::Shaders::Implementation::createCompatibilityShader(\n                        rs_shaders, version, Magnum::GL::Shader::Type::Fragment);\n\n                    std::string defines = \"#define POSITION_ATTRIBUTE_LOCATION \" + std::to_string(Position::Location) + \"\\n\";\n                    defines += \"#define TEXTURECOORDINATES_ATTRIBUTE_LOCATION \" + std::to_string(TextureCoordinates::Location) + \"\\n\";\n\n                    vert.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n                        .addSource(defines)\n                        .addSource(rs_shaders.get(\"CubeMap.vert\"));\n                    geom.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n                        .addSource(rs_shaders.get(\"CubeMap.geom\"));\n                    frag.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n                        .addSource(rs_shaders.get(\"CubeMapColor.frag\"));\n\n                    CORRADE_INTERNAL_ASSERT_OUTPUT(Magnum::GL::Shader::compile({vert, geom, frag}));\n\n                    attachShaders({vert, geom, frag});\n\n                    if (!Magnum::GL::Context::current().isExtensionSupported&lt;Magnum::GL::Extensions::ARB::explicit_attrib_location&gt;(version)) {\n                        bindAttributeLocation(Position::Location, \"position\");\n                        if (flags)\n                            bindAttributeLocation(TextureCoordinates::Location, \"textureCoords\");\n                    }\n\n                    CORRADE_INTERNAL_ASSERT_OUTPUT(link());\n\n                    if (!Magnum::GL::Context::current().isExtensionSupported&lt;Magnum::GL::Extensions::ARB::explicit_uniform_location&gt;(version)) {\n                        _transformation_matrix_uniform = uniformLocation(\"transformationMatrix\");\n                        _shadow_matrices_uniform = uniformLocation(\"shadowMatrices[0]\");\n                        _light_position_uniform = uniformLocation(\"lightPosition\");\n                        _far_plane_uniform = uniformLocation(\"farPlane\");\n                        _light_index_uniform = uniformLocation(\"lightIndex\");\n                        _diffuse_color_uniform = uniformLocation(\"diffuseColor\");\n                    }\n\n                    if (!Magnum::GL::Context::current()\n                             .isExtensionSupported&lt;Magnum::GL::Extensions::ARB::shading_language_420pack&gt;(version)) {\n                        setUniform(uniformLocation(\"cubeMapTextures\"), _cube_map_textures_location);\n                        if (flags) {\n                            if (flags &amp; Flag::DiffuseTexture)\n                                setUniform(uniformLocation(\"diffuseTexture\"), DiffuseTextureLayer);\n                        }\n                    }\n                }\n\n                CubeMapColor::CubeMapColor(Magnum::NoCreateT) noexcept : Magnum::GL::AbstractShaderProgram{Magnum::NoCreate} {}\n\n                CubeMapColor::Flags CubeMapColor::flags() const { return _flags; }\n\n                CubeMapColor&amp; CubeMapColor::set_transformation_matrix(const Magnum::Matrix4&amp; matrix)\n                {\n                    setUniform(_transformation_matrix_uniform, matrix);\n                    return *this;\n                }\n\n                CubeMapColor&amp; CubeMapColor::set_shadow_matrices(Magnum::Matrix4 matrices[6])\n                {\n                    for (size_t i = 0; i &lt; 6; i++)\n                        setUniform(_shadow_matrices_uniform + i, matrices[i]);\n                    return *this;\n                }\n\n                CubeMapColor&amp; CubeMapColor::set_light_position(const Magnum::Vector3&amp; position)\n                {\n                    setUniform(_light_position_uniform, position);\n                    return *this;\n                }\n\n                CubeMapColor&amp; CubeMapColor::set_far_plane(Magnum::Float far_plane)\n                {\n                    setUniform(_far_plane_uniform, far_plane);\n                    return *this;\n                }\n\n                CubeMapColor&amp; CubeMapColor::set_light_index(Magnum::Int index)\n                {\n                    setUniform(_light_index_uniform, index);\n                    return *this;\n                }\n\n                CubeMapColor&amp; CubeMapColor::set_material(Material&amp; material)\n                {\n                    if (material.has_diffuse_texture() &amp;&amp; (_flags &amp; Flag::DiffuseTexture)) {\n                        (*material.diffuse_texture()).bind(DiffuseTextureLayer);\n                        setUniform(_diffuse_color_uniform, Magnum::Color4{1.0f});\n                    }\n                    else\n                        setUniform(_diffuse_color_uniform, material.diffuse_color());\n\n                    return *this;\n                }\n\n                CubeMapColor&amp; CubeMapColor::bind_cube_map_texture(Magnum::GL::CubeMapTextureArray&amp; texture)\n                {\n                    texture.bind(_cube_map_textures_location);\n                    return *this;\n                }\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n</code></pre>"},{"location":"api/cube__map__color_8hpp/","title":"File cube_map_color.hpp","text":"<p>FileList &gt; gs &gt; cube_map_color.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/gs/material.hpp&gt;</code></li> <li><code>#include &lt;Corrade/Containers/ArrayView.h&gt;</code></li> <li><code>#include &lt;Corrade/Containers/Reference.h&gt;</code></li> <li><code>#include &lt;Corrade/Utility/Assert.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/AbstractShaderProgram.h&gt;</code></li> <li><code>#include &lt;Magnum/Math/Color.h&gt;</code></li> <li><code>#include &lt;Magnum/Math/Matrix4.h&gt;</code></li> <li><code>#include &lt;Magnum/Shaders/Generic.h&gt;</code></li> </ul>"},{"location":"api/cube__map__color_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs"},{"location":"api/cube__map__color_8hpp/#classes","title":"Classes","text":"Type Name class CubeMapColor <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/cube_map_color.hpp</code></p>"},{"location":"api/cube__map__color_8hpp_source/","title":"File cube_map_color.hpp","text":"<p>File List &gt; gs &gt; cube_map_color.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_GS_CUBE_MAP_COLOR_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_CUBE_MAP_COLOR_HPP\n\n#include &lt;robot_dart/gui/magnum/gs/material.hpp&gt;\n\n#include &lt;Corrade/Containers/ArrayView.h&gt;\n#include &lt;Corrade/Containers/Reference.h&gt;\n#include &lt;Corrade/Utility/Assert.h&gt;\n\n#include &lt;Magnum/GL/AbstractShaderProgram.h&gt;\n#include &lt;Magnum/Math/Color.h&gt;\n#include &lt;Magnum/Math/Matrix4.h&gt;\n#include &lt;Magnum/Shaders/Generic.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                class CubeMapColor : public Magnum::GL::AbstractShaderProgram {\n                public:\n                    using Position = Magnum::Shaders::Generic3D::Position;\n                    using TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\n\n                    enum class Flag : Magnum::UnsignedByte {\n                        DiffuseTexture = 1 &lt;&lt; 0, \n                    };\n\n                    using Flags = Magnum::Containers::EnumSet&lt;Flag&gt;;\n\n                    explicit CubeMapColor(Flags flags = {});\n                    explicit CubeMapColor(Magnum::NoCreateT) noexcept;\n\n                    Flags flags() const;\n\n                    CubeMapColor&amp; set_transformation_matrix(const Magnum::Matrix4&amp; matrix);\n                    CubeMapColor&amp; set_shadow_matrices(Magnum::Matrix4 matrices[6]);\n                    CubeMapColor&amp; set_light_position(const Magnum::Vector3&amp; position);\n                    CubeMapColor&amp; set_far_plane(Magnum::Float far_plane);\n                    CubeMapColor&amp; set_light_index(Magnum::Int index);\n                    CubeMapColor&amp; set_material(Material&amp; material);\n\n                    CubeMapColor&amp; bind_cube_map_texture(Magnum::GL::CubeMapTextureArray&amp; texture);\n\n                private:\n                    Flags _flags;\n                    Magnum::Int _transformation_matrix_uniform{0},\n                        _shadow_matrices_uniform{5},\n                        _light_position_uniform{1},\n                        _far_plane_uniform{2},\n                        _light_index_uniform{3},\n                        _diffuse_color_uniform{4},\n                        _cube_map_textures_location{2};\n                };\n\n                CORRADE_ENUMSET_OPERATORS(CubeMapColor::Flags)\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/magnum_2gs_2helper_8cpp/","title":"File helper.cpp","text":"<p>FileList &gt; gs &gt; helper.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"helper.hpp\"</code></li> <li><code>#include &lt;Corrade/Containers/ArrayViewStl.h&gt;</code></li> <li><code>#include &lt;Corrade/Containers/StridedArrayView.h&gt;</code></li> <li><code>#include &lt;Corrade/Utility/Algorithms.h&gt;</code></li> <li><code>#include &lt;Magnum/Math/Color.h&gt;</code></li> <li><code>#include &lt;Magnum/Math/PackingBatch.h&gt;</code></li> </ul>"},{"location":"api/magnum_2gs_2helper_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/helper.cpp</code></p>"},{"location":"api/magnum_2gs_2helper_8cpp_source/","title":"File helper.cpp","text":"<p>File List &gt; gs &gt; helper.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"helper.hpp\"\n\n#include &lt;Corrade/Containers/ArrayViewStl.h&gt;\n#include &lt;Corrade/Containers/StridedArrayView.h&gt;\n#include &lt;Corrade/Utility/Algorithms.h&gt;\n\n#include &lt;Magnum/Math/Color.h&gt;\n#include &lt;Magnum/Math/PackingBatch.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                Image rgb_from_image(Magnum::Image2D* image)\n                {\n                    Image img;\n\n                    img.width = image-&gt;size().x();\n                    img.height = image-&gt;size().y();\n                    img.channels = 3;\n                    img.data.resize(image-&gt;size().product() * sizeof(Magnum::Color3ub));\n                    Corrade::Containers::StridedArrayView2D&lt;const Magnum::Color3ub&gt; src = image-&gt;pixels&lt;Magnum::Color3ub&gt;().flipped&lt;0&gt;();\n                    Corrade::Containers::StridedArrayView2D&lt;Magnum::Color3ub&gt; dst{Corrade::Containers::arrayCast&lt;Magnum::Color3ub&gt;(Corrade::Containers::arrayView(img.data)), {std::size_t(image-&gt;size().y()), std::size_t(image-&gt;size().x())}};\n                    Corrade::Utility::copy(src, dst);\n\n                    return img;\n                }\n\n                GrayscaleImage depth_from_image(Magnum::Image2D* image, bool linearize, Magnum::Float near_plane, Magnum::Float far_plane)\n                {\n                    GrayscaleImage img;\n\n                    img.width = image-&gt;size().x();\n                    img.height = image-&gt;size().y();\n                    img.data.resize(image-&gt;size().product() * sizeof(uint8_t));\n\n                    std::vector&lt;Magnum::Float&gt; data = std::vector&lt;Magnum::Float&gt;(image-&gt;size().product());\n                    Corrade::Containers::StridedArrayView2D&lt;const Magnum::Float&gt; src = image-&gt;pixels&lt;Magnum::Float&gt;().flipped&lt;0&gt;();\n                    Corrade::Containers::StridedArrayView2D&lt;Magnum::Float&gt; dst{Corrade::Containers::arrayCast&lt;Magnum::Float&gt;(Corrade::Containers::arrayView(data)), {std::size_t(image-&gt;size().y()), std::size_t(image-&gt;size().x())}};\n                    Corrade::Utility::copy(src, dst);\n\n                    if (linearize) {\n                        for (auto&amp; depth : data)\n                            depth = (2.f * near_plane) / (far_plane + near_plane - depth * (far_plane - near_plane));\n                    }\n\n                    Corrade::Containers::StridedArrayView2D&lt;uint8_t&gt; new_dst{Corrade::Containers::arrayCast&lt;uint8_t&gt;(Corrade::Containers::arrayView(img.data)), {std::size_t(image-&gt;size().y()), std::size_t(image-&gt;size().x())}};\n\n                    Magnum::Math::packInto(dst, new_dst);\n\n                    return img;\n                }\n\n                DepthImage depth_array_from_image(Magnum::Image2D* image, Magnum::Float near_plane, Magnum::Float far_plane)\n                {\n                    DepthImage img;\n                    img.width = image-&gt;size().x();\n                    img.height = image-&gt;size().y();\n\n                    std::vector&lt;Magnum::Float&gt; data = std::vector&lt;Magnum::Float&gt;(image-&gt;size().product());\n                    Corrade::Containers::StridedArrayView2D&lt;const Magnum::Float&gt; src = image-&gt;pixels&lt;Magnum::Float&gt;().flipped&lt;0&gt;();\n                    Corrade::Containers::StridedArrayView2D&lt;Magnum::Float&gt; dst{Corrade::Containers::arrayCast&lt;Magnum::Float&gt;(Corrade::Containers::arrayView(data)), {std::size_t(image-&gt;size().y()), std::size_t(image-&gt;size().x())}};\n                    Corrade::Utility::copy(src, dst);\n\n                    img.data = std::vector&lt;double&gt;(data.begin(), data.end());\n\n                    double zNear = static_cast&lt;double&gt;(near_plane);\n                    double zFar = static_cast&lt;double&gt;(far_plane);\n\n                    // zNear * zFar / (zFar + d * (zNear - zFar));\n                    for (auto&amp; depth : img.data)\n                        // depth = (2. * zNear) / (zFar + zNear - depth * (zFar - zNear));\n                        depth = (zNear * zFar) / (zFar - depth * (zFar - zNear));\n\n                    return img;\n                }\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n</code></pre>"},{"location":"api/magnum_2gs_2helper_8hpp/","title":"File helper.hpp","text":"<p>FileList &gt; gs &gt; helper.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/helper.hpp&gt;</code></li> <li><code>#include &lt;vector&gt;</code></li> <li><code>#include &lt;Magnum/Image.h&gt;</code></li> </ul>"},{"location":"api/magnum_2gs_2helper_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/helper.hpp</code></p>"},{"location":"api/magnum_2gs_2helper_8hpp_source/","title":"File helper.hpp","text":"<p>File List &gt; gs &gt; helper.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_GS_HELPER_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_HELPER_HPP\n\n#include &lt;robot_dart/gui/helper.hpp&gt;\n\n#include &lt;vector&gt;\n\n#include &lt;Magnum/Image.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                Image rgb_from_image(Magnum::Image2D* image);\n                GrayscaleImage depth_from_image(Magnum::Image2D* image, bool linearize = false, Magnum::Float near_plane = 0.f, Magnum::Float far_plane = 100.f);\n                DepthImage depth_array_from_image(Magnum::Image2D* image, Magnum::Float near_plane = 0.f, Magnum::Float far_plane = 100.f);\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/light_8cpp/","title":"File light.cpp","text":"<p>FileList &gt; gs &gt; light.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"light.hpp\"</code></li> <li><code>#include &lt;Magnum/GL/Texture.h&gt;</code></li> </ul>"},{"location":"api/light_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/light.cpp</code></p>"},{"location":"api/light_8cpp_source/","title":"File light.cpp","text":"<p>File List &gt; gs &gt; light.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"light.hpp\"\n\n#include &lt;Magnum/GL/Texture.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                Light::Light() : _position(Magnum::Vector4{0.f, 0.f, 0.f, 1.f}),\n                                 _transformed_position(_position),\n                                 _material(Material()),\n                                 _spot_direction(Magnum::Vector3{1.f, 0.f, 0.f}),\n                                 _spot_exponent(1.f),\n                                 _spot_cut_off(Magnum::Math::Constants&lt;Magnum::Float&gt;::pi()),\n                                 _attenuation(Magnum::Vector4{0.f, 0.f, 1.f, 1.f}),\n                                 _cast_shadows(true) {}\n\n                Light::Light(const Magnum::Vector4&amp; position, const Material&amp; material, const Magnum::Vector3&amp; spot_direction,\n                    Magnum::Float spot_exponent, Magnum::Float spot_cut_off, const Magnum::Vector4&amp; attenuation, bool cast_shadows) : _position(position),\n                                                                                                                                      _transformed_position(_position),\n                                                                                                                                      _material(material),\n                                                                                                                                      _spot_direction(spot_direction),\n                                                                                                                                      _spot_exponent(spot_exponent),\n                                                                                                                                      _spot_cut_off(spot_cut_off),\n                                                                                                                                      _attenuation(attenuation),\n                                                                                                                                      _cast_shadows(cast_shadows) {}\n\n                // Magnum::Vector4&amp; Light::position();\n                Magnum::Vector4 Light::position() const { return _position; }\n\n                Magnum::Vector4&amp; Light::transformed_position() { return _transformed_position; }\n                Magnum::Vector4 Light::transformed_position() const { return _transformed_position; }\n\n                Material&amp; Light::material() { return _material; }\n                Material Light::material() const { return _material; }\n\n                // Magnum::Vector3&amp; Light::spot_direction() { return _spot_direction; }\n                Magnum::Vector3 Light::spot_direction() const { return _spot_direction; }\n\n                Magnum::Vector3&amp; Light::transformed_spot_direction() { return _transformed_spot_direction; }\n                Magnum::Vector3 Light::transformed_spot_direction() const { return _transformed_spot_direction; }\n\n                Magnum::Float&amp; Light::spot_exponent() { return _spot_exponent; }\n                Magnum::Float Light::spot_exponent() const { return _spot_exponent; }\n\n                Magnum::Float&amp; Light::spot_cut_off() { return _spot_cut_off; }\n                Magnum::Float Light::spot_cut_off() const { return _spot_cut_off; }\n\n                Magnum::Vector4&amp; Light::attenuation() { return _attenuation; }\n                Magnum::Vector4 Light::attenuation() const { return _attenuation; }\n\n                Magnum::Matrix4 Light::shadow_matrix() const { return _shadow_transform; }\n\n                bool Light::casts_shadows() const { return _cast_shadows; }\n\n                Light&amp; Light::set_position(const Magnum::Vector4&amp; position)\n                {\n                    _position = position;\n                    _transformed_position = position;\n                    return *this;\n                }\n\n                Light&amp; Light::set_transformed_position(const Magnum::Vector4&amp; transformed_position)\n                {\n                    _transformed_position = transformed_position;\n                    return *this;\n                }\n\n                Light&amp; Light::set_material(const Material&amp; material)\n                {\n                    _material = material;\n                    return *this;\n                }\n\n                Light&amp; Light::set_spot_direction(const Magnum::Vector3&amp; spot_direction)\n                {\n                    _spot_direction = spot_direction;\n                    _transformed_spot_direction = _spot_direction;\n                    return *this;\n                }\n\n                Light&amp; Light::set_transformed_spot_direction(const Magnum::Vector3&amp; transformed_spot_direction)\n                {\n                    _transformed_spot_direction = transformed_spot_direction;\n                    return *this;\n                }\n\n                Light&amp; Light::set_spot_exponent(Magnum::Float spot_exponent)\n                {\n                    _spot_exponent = spot_exponent;\n                    return *this;\n                }\n\n                Light&amp; Light::set_spot_cut_off(Magnum::Float spot_cut_off)\n                {\n                    _spot_cut_off = spot_cut_off;\n                    return *this;\n                }\n\n                Light&amp; Light::set_attenuation(const Magnum::Vector4&amp; attenuation)\n                {\n                    _attenuation = attenuation;\n                    return *this;\n                }\n\n                Light&amp; Light::set_shadow_matrix(const Magnum::Matrix4&amp; shadowTransform)\n                {\n                    _shadow_transform = shadowTransform;\n                    return *this;\n                }\n\n                Light&amp; Light::set_casts_shadows(bool cast_shadows)\n                {\n                    _cast_shadows = cast_shadows;\n                    return *this;\n                }\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n</code></pre>"},{"location":"api/light_8hpp/","title":"File light.hpp","text":"<p>FileList &gt; gs &gt; light.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/gs/material.hpp&gt;</code></li> <li><code>#include &lt;Magnum/Math/Matrix4.h&gt;</code></li> </ul>"},{"location":"api/light_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs"},{"location":"api/light_8hpp/#classes","title":"Classes","text":"Type Name class Light <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/light.hpp</code></p>"},{"location":"api/light_8hpp_source/","title":"File light.hpp","text":"<p>File List &gt; gs &gt; light.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_GS_LIGHT_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_LIGHT_HPP\n\n#include &lt;robot_dart/gui/magnum/gs/material.hpp&gt;\n\n#include &lt;Magnum/Math/Matrix4.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                class Light {\n                public:\n                    Light();\n\n                    Light(const Magnum::Vector4&amp; position, const Material&amp; material, const Magnum::Vector3&amp; spot_direction,\n                        Magnum::Float spot_exponent, Magnum::Float spot_cut_off, const Magnum::Vector4&amp; attenuation, bool cast_shadows = true);\n\n                    // Magnum::Vector4&amp; position();\n                    Magnum::Vector4 position() const;\n                    Magnum::Vector4&amp; transformed_position();\n                    Magnum::Vector4 transformed_position() const;\n\n                    Material&amp; material();\n                    Material material() const;\n\n                    // Magnum::Vector3&amp; spot_direction();\n                    Magnum::Vector3 spot_direction() const;\n\n                    Magnum::Vector3&amp; transformed_spot_direction();\n                    Magnum::Vector3 transformed_spot_direction() const;\n\n                    Magnum::Float&amp; spot_exponent();\n                    Magnum::Float spot_exponent() const;\n\n                    Magnum::Float&amp; spot_cut_off();\n                    Magnum::Float spot_cut_off() const;\n\n                    Magnum::Vector4&amp; attenuation();\n                    Magnum::Vector4 attenuation() const;\n\n                    Magnum::Matrix4 shadow_matrix() const;\n                    bool casts_shadows() const;\n\n                    Light&amp; set_position(const Magnum::Vector4&amp; position);\n                    Light&amp; set_transformed_position(const Magnum::Vector4&amp; transformed_position);\n\n                    Light&amp; set_material(const Material&amp; material);\n\n                    Light&amp; set_spot_direction(const Magnum::Vector3&amp; spot_direction);\n                    Light&amp; set_transformed_spot_direction(const Magnum::Vector3&amp; transformed_spot_direction);\n                    Light&amp; set_spot_exponent(Magnum::Float spot_exponent);\n                    Light&amp; set_spot_cut_off(Magnum::Float spot_cut_off);\n\n                    Light&amp; set_attenuation(const Magnum::Vector4&amp; attenuation);\n\n                    Light&amp; set_shadow_matrix(const Magnum::Matrix4&amp; shadowTransform);\n                    Light&amp; set_casts_shadows(bool cast_shadows);\n\n                protected:\n                    // Position for point-lights and spot-lights\n                    // Direction for directional lights (if position.w == 0)\n                    Magnum::Vector4 _position;\n                    // TO-DO: Handle dirtiness of transformed position\n                    Magnum::Vector4 _transformed_position;\n                    Material _material;\n                    Magnum::Vector3 _spot_direction;\n                    // TO-DO: Handle dirtiness of transformed spot direction\n                    Magnum::Vector3 _transformed_spot_direction;\n                    Magnum::Float _spot_exponent, _spot_cut_off;\n\n                    // Attenuation is: intensity/(constant + d * (linear + quadratic * d)\n                    // where d is the distance from the light position to the vertex position.\n                    //\n                    // (constant,linear,quadratic,intensity)\n                    Magnum::Vector4 _attenuation;\n\n                    // Shadow-Matrix\n                    Magnum::Matrix4 _shadow_transform{};\n\n                    // Whether it casts shadows\n                    bool _cast_shadows = true;\n                };\n\n                // Helpers for creating lights\n                inline Light create_point_light(const Magnum::Vector3&amp; position, const Material&amp; material,\n                    Magnum::Float intensity, const Magnum::Vector3&amp; attenuationTerms)\n                {\n                    Light light;\n                    light.set_material(material);\n                    light.set_position(Magnum::Vector4{position, 1.f})\n                        .set_attenuation(Magnum::Vector4{attenuationTerms, intensity});\n\n                    return light;\n                }\n\n                inline Light create_spot_light(const Magnum::Vector3&amp; position, const Material&amp; material,\n                    const Magnum::Vector3&amp; spot_direction, Magnum::Float spot_exponent, Magnum::Float spot_cut_off,\n                    Magnum::Float intensity, const Magnum::Vector3&amp; attenuationTerms)\n                {\n                    return Light(Magnum::Vector4{position, 1.f}, material, spot_direction, spot_exponent, spot_cut_off,\n                        Magnum::Vector4{attenuationTerms, intensity});\n                }\n\n                inline Light create_directional_light(\n                    const Magnum::Vector3&amp; direction, const Material&amp; material)\n                {\n                    Light light;\n                    light.set_material(material);\n                    light.set_position(Magnum::Vector4{direction, 0.f});\n\n                    return light;\n                }\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/material_8cpp/","title":"File material.cpp","text":"<p>FileList &gt; gs &gt; material.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"material.hpp\"</code></li> <li><code>#include &lt;Magnum/GL/Texture.h&gt;</code></li> </ul>"},{"location":"api/material_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/material.cpp</code></p>"},{"location":"api/material_8cpp_source/","title":"File material.cpp","text":"<p>File List &gt; gs &gt; material.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"material.hpp\"\n\n#include &lt;Magnum/GL/Texture.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                Material::Material() : _ambient(Magnum::Color4{0.f, 0.f, 0.f, 1.f}),\n                                       _diffuse(Magnum::Color4{0.f, 0.f, 0.f, 1.f}),\n                                       _specular(Magnum::Color4{0.f, 0.f, 0.f, 1.f}),\n                                       _shininess(2000.f) {}\n\n                Material::Material(const Magnum::Color4&amp; ambient, const Magnum::Color4&amp; diffuse,\n                    const Magnum::Color4&amp; specular, Magnum::Float shininess) : _ambient(ambient),\n                                                                               _diffuse(diffuse),\n                                                                               _specular(specular),\n                                                                               _shininess(shininess) {}\n\n                Material::Material(Magnum::GL::Texture2D* ambient_texture,\n                    Magnum::GL::Texture2D* diffuse_texture,\n                    Magnum::GL::Texture2D* specular_texture, Magnum::Float shininess) : _ambient(Magnum::Color4{0.f, 0.f, 0.f, 1.f}),\n                                                                                       _diffuse(Magnum::Color4{0.f, 0.f, 0.f, 1.f}),\n                                                                                       _specular(Magnum::Color4{0.f, 0.f, 0.f, 1.f}),\n                                                                                       _shininess(shininess),\n                                                                                       _ambient_texture(ambient_texture),\n                                                                                       _diffuse_texture(diffuse_texture),\n                                                                                       _specular_texture(specular_texture) {}\n\n                Magnum::Color4&amp; Material::ambient_color() { return _ambient; }\n                Magnum::Color4 Material::ambient_color() const { return _ambient; }\n\n                Magnum::Color4&amp; Material::diffuse_color() { return _diffuse; }\n                Magnum::Color4 Material::diffuse_color() const { return _diffuse; }\n\n                Magnum::Color4&amp; Material::specular_color() { return _specular; }\n                Magnum::Color4 Material::specular_color() const { return _specular; }\n\n                Magnum::Float&amp; Material::shininess() { return _shininess; }\n                Magnum::Float Material::shininess() const { return _shininess; }\n\n                Magnum::GL::Texture2D* Material::ambient_texture() { return _ambient_texture; }\n                Magnum::GL::Texture2D* Material::diffuse_texture() { return _diffuse_texture; }\n                Magnum::GL::Texture2D* Material::specular_texture() { return _specular_texture; }\n\n                bool Material::has_ambient_texture() const { return _ambient_texture != NULL; }\n                bool Material::has_diffuse_texture() const { return _diffuse_texture != NULL; }\n                bool Material::has_specular_texture() const { return _specular_texture != NULL; }\n\n                Material&amp; Material::set_ambient_color(const Magnum::Color4&amp; ambient)\n                {\n                    _ambient = ambient;\n                    return *this;\n                }\n\n                Material&amp; Material::set_diffuse_color(const Magnum::Color4&amp; diffuse)\n                {\n                    _diffuse = diffuse;\n                    return *this;\n                }\n\n                Material&amp; Material::set_specular_color(const Magnum::Color4&amp; specular)\n                {\n                    _specular = specular;\n                    return *this;\n                }\n\n                Material&amp; Material::set_shininess(Magnum::Float shininess)\n                {\n                    _shininess = shininess;\n                    return *this;\n                }\n\n                Material&amp; Material::set_ambient_texture(Magnum::GL::Texture2D* ambient_texture)\n                {\n                    _ambient_texture = ambient_texture;\n                    return *this;\n                }\n\n                Material&amp; Material::set_diffuse_texture(Magnum::GL::Texture2D* diffuse_texture)\n                {\n                    _diffuse_texture = diffuse_texture;\n                    return *this;\n                }\n\n                Material&amp; Material::set_specular_texture(Magnum::GL::Texture2D* specular_texture)\n                {\n                    _specular_texture = specular_texture;\n                    return *this;\n                }\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n</code></pre>"},{"location":"api/material_8hpp/","title":"File material.hpp","text":"<p>FileList &gt; gs &gt; material.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;Corrade/Containers/Optional.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/GL.h&gt;</code></li> <li><code>#include &lt;Magnum/Magnum.h&gt;</code></li> <li><code>#include &lt;Magnum/Math/Color.h&gt;</code></li> </ul>"},{"location":"api/material_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs"},{"location":"api/material_8hpp/#classes","title":"Classes","text":"Type Name class Material <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/material.hpp</code></p>"},{"location":"api/material_8hpp_source/","title":"File material.hpp","text":"<p>File List &gt; gs &gt; material.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_GS_MATERIAL_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_MATERIAL_HPP\n\n#include &lt;Corrade/Containers/Optional.h&gt;\n\n#include &lt;Magnum/GL/GL.h&gt;\n#include &lt;Magnum/Magnum.h&gt;\n#include &lt;Magnum/Math/Color.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                class Material {\n                public:\n                    Material();\n\n                    Material(const Magnum::Color4&amp; ambient, const Magnum::Color4&amp; diffuse,\n                        const Magnum::Color4&amp; specular, Magnum::Float shininess);\n\n                    Material(Magnum::GL::Texture2D* ambient_texture,\n                        Magnum::GL::Texture2D* diffuse_texture,\n                        Magnum::GL::Texture2D* specular_texture, Magnum::Float shininess);\n\n                    Magnum::Color4&amp; ambient_color();\n                    Magnum::Color4 ambient_color() const;\n\n                    Magnum::Color4&amp; diffuse_color();\n                    Magnum::Color4 diffuse_color() const;\n\n                    Magnum::Color4&amp; specular_color();\n                    Magnum::Color4 specular_color() const;\n\n                    Magnum::Float&amp; shininess();\n                    Magnum::Float shininess() const;\n\n                    Magnum::GL::Texture2D* ambient_texture();\n                    Magnum::GL::Texture2D* diffuse_texture();\n                    Magnum::GL::Texture2D* specular_texture();\n\n                    bool has_ambient_texture() const;\n                    bool has_diffuse_texture() const;\n                    bool has_specular_texture() const;\n\n                    Material&amp; set_ambient_color(const Magnum::Color4&amp; ambient);\n                    Material&amp; set_diffuse_color(const Magnum::Color4&amp; diffuse);\n                    Material&amp; set_specular_color(const Magnum::Color4&amp; specular);\n                    Material&amp; set_shininess(Magnum::Float shininess);\n\n                    Material&amp; set_ambient_texture(Magnum::GL::Texture2D* ambient_texture);\n                    Material&amp; set_diffuse_texture(Magnum::GL::Texture2D* diffuse_texture);\n                    Material&amp; set_specular_texture(Magnum::GL::Texture2D* specular_texture);\n\n                protected:\n                    Magnum::Color4 _ambient, _diffuse, _specular;\n                    Magnum::Float _shininess;\n                    Magnum::GL::Texture2D* _ambient_texture = NULL;\n                    Magnum::GL::Texture2D* _diffuse_texture = NULL;\n                    Magnum::GL::Texture2D* _specular_texture = NULL;\n                };\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/phong__multi__light_8cpp/","title":"File phong_multi_light.cpp","text":"<p>FileList &gt; gs &gt; phong_multi_light.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"phong_multi_light.hpp\"</code></li> <li><code>#include \"create_compatibility_shader.hpp\"</code></li> <li><code>#include &lt;Magnum/GL/CubeMapTextureArray.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Texture.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/TextureArray.h&gt;</code></li> </ul>"},{"location":"api/phong__multi__light_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/phong_multi_light.cpp</code></p>"},{"location":"api/phong__multi__light_8cpp_source/","title":"File phong_multi_light.cpp","text":"<p>File List &gt; gs &gt; phong_multi_light.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"phong_multi_light.hpp\"\n#include \"create_compatibility_shader.hpp\"\n\n#include &lt;Magnum/GL/CubeMapTextureArray.h&gt;\n#include &lt;Magnum/GL/Texture.h&gt;\n#include &lt;Magnum/GL/TextureArray.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                PhongMultiLight::PhongMultiLight(PhongMultiLight::Flags flags, Magnum::Int max_lights) : _flags(flags), _max_lights(max_lights)\n                {\n                    Corrade::Utility::Resource rs_shaders(\"RobotDARTShaders\");\n\n                    const Magnum::GL::Version version = Magnum::GL::Version::GL320;\n\n                    Magnum::GL::Shader vert = Magnum::Shaders::Implementation::createCompatibilityShader(\n                        rs_shaders, version, Magnum::GL::Shader::Type::Vertex);\n                    Magnum::GL::Shader frag = Magnum::Shaders::Implementation::createCompatibilityShader(\n                        rs_shaders, version, Magnum::GL::Shader::Type::Fragment);\n\n                    std::string defines = \"#define LIGHT_COUNT \" + std::to_string(_max_lights) + \"\\n\";\n                    defines += \"#define POSITION_ATTRIBUTE_LOCATION \" + std::to_string(Position::Location) + \"\\n\";\n                    defines += \"#define NORMAL_ATTRIBUTE_LOCATION \" + std::to_string(Normal::Location) + \"\\n\";\n                    defines += \"#define TEXTURECOORDINATES_ATTRIBUTE_LOCATION \" + std::to_string(TextureCoordinates::Location) + \"\\n\";\n\n                    vert.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n                        .addSource(defines)\n                        .addSource(rs_shaders.get(\"PhongMultiLight.vert\"));\n                    frag.addSource(flags &amp; Flag::AmbientTexture ? \"#define AMBIENT_TEXTURE\\n\" : \"\")\n                        .addSource(flags &amp; Flag::DiffuseTexture ? \"#define DIFFUSE_TEXTURE\\n\" : \"\")\n                        .addSource(flags &amp; Flag::SpecularTexture ? \"#define SPECULAR_TEXTURE\\n\" : \"\")\n                        .addSource(defines)\n                        .addSource(rs_shaders.get(\"PhongMultiLight.frag\"));\n\n                    CORRADE_INTERNAL_ASSERT_OUTPUT(Magnum::GL::Shader::compile({vert, frag}));\n\n                    attachShaders({vert, frag});\n\n                    if (!Magnum::GL::Context::current().isExtensionSupported&lt;Magnum::GL::Extensions::ARB::explicit_attrib_location&gt;(version)) {\n                        bindAttributeLocation(Position::Location, \"position\");\n                        bindAttributeLocation(Normal::Location, \"normal\");\n                        if (flags)\n                            bindAttributeLocation(TextureCoordinates::Location, \"textureCoords\");\n                    }\n\n                    CORRADE_INTERNAL_ASSERT_OUTPUT(link());\n\n                    /* Get light matrices uniform */\n                    _lights_matrices_uniform = uniformLocation(\"lightMatrices[0]\");\n\n                    if (!Magnum::GL::Context::current().isExtensionSupported&lt;Magnum::GL::Extensions::ARB::explicit_uniform_location&gt;(version)) {\n                        _transformation_matrix_uniform = uniformLocation(\"transformationMatrix\");\n                        _projection_matrix_uniform = uniformLocation(\"projectionMatrix\");\n                        _camera_matrix_uniform = uniformLocation(\"cameraMatrix\");\n                        _normal_matrix_uniform = uniformLocation(\"normalMatrix\");\n                        _lights_uniform = uniformLocation(\"lights[0].position\");\n                        _lights_matrices_uniform = uniformLocation(\"lightMatrices[0]\");\n                        _ambient_color_uniform = uniformLocation(\"ambientColor\");\n                        _diffuse_color_uniform = uniformLocation(\"diffuseColor\");\n                        _specular_color_uniform = uniformLocation(\"specularColor\");\n                        _shininess_uniform = uniformLocation(\"shininess\");\n                        _far_plane_uniform = uniformLocation(\"farPlane\");\n                        _specular_strength_uniform = uniformLocation(\"specularStrength\");\n                        _is_shadowed_uniform = uniformLocation(\"isShadowed\");\n                        _transparent_shadows_uniform = uniformLocation(\"drawTransparentShadows\");\n                    }\n\n                    if (!Magnum::GL::Context::current()\n                             .isExtensionSupported&lt;Magnum::GL::Extensions::ARB::shading_language_420pack&gt;(version)) {\n                        setUniform(uniformLocation(\"shadowTextures\"), _shadow_textures_location);\n                        setUniform(uniformLocation(\"cubeMapTextures\"), _cube_map_textures_location);\n                        setUniform(uniformLocation(\"shadowColorTextures\"), _shadow_color_textures_location);\n                        setUniform(uniformLocation(\"cubeMapColorTextures\"), _cube_map_color_textures_location);\n                        if (flags) {\n                            if (flags &amp; Flag::AmbientTexture)\n                                setUniform(uniformLocation(\"ambientTexture\"), AmbientTextureLayer);\n                            if (flags &amp; Flag::DiffuseTexture)\n                                setUniform(uniformLocation(\"diffuseTexture\"), DiffuseTextureLayer);\n                            if (flags &amp; Flag::SpecularTexture)\n                                setUniform(uniformLocation(\"specularTexture\"), SpecularTextureLayer);\n                        }\n                    }\n\n                    /* Set defaults (normally they are set in shader code itself, but just in case) */\n                    Material material;\n\n                    /* Default to fully opaque white so we can see the textures */\n                    if (flags &amp; Flag::AmbientTexture)\n                        material.set_ambient_color(Magnum::Color4{1.0f});\n                    else\n                        material.set_ambient_color(Magnum::Color4{0.0f, 1.0f});\n\n                    if (flags &amp; Flag::DiffuseTexture)\n                        material.set_diffuse_color(Magnum::Color4{1.0f});\n\n                    material.set_specular_color(Magnum::Color4{1.0f});\n                    material.set_shininess(80.0f);\n\n                    set_material(material);\n\n                    /* Lights defaults need to be set by code */\n                    /* All lights are disabled i.e., color equal to black */\n                    Light light;\n                    for (Magnum::Int i = 0; i &lt; _max_lights; i++)\n                        set_light(i, light);\n                }\n\n                PhongMultiLight::PhongMultiLight(Magnum::NoCreateT) noexcept : Magnum::GL::AbstractShaderProgram{Magnum::NoCreate} {}\n\n                PhongMultiLight::Flags PhongMultiLight::flags() const { return _flags; }\n\n                PhongMultiLight&amp; PhongMultiLight::set_material(Material&amp; material)\n                {\n                    // TO-DO: Check if we should do this or let the user define the proper\n                    // material\n                    if (material.has_ambient_texture() &amp;&amp; (_flags &amp; Flag::AmbientTexture)) {\n                        (*material.ambient_texture()).bind(AmbientTextureLayer);\n                        setUniform(_ambient_color_uniform, Magnum::Color4{1.0f});\n                    }\n                    else\n                        setUniform(_ambient_color_uniform, material.ambient_color());\n\n                    if (material.has_diffuse_texture() &amp;&amp; (_flags &amp; Flag::DiffuseTexture)) {\n                        (*material.diffuse_texture()).bind(DiffuseTextureLayer);\n                        setUniform(_diffuse_color_uniform, Magnum::Color4{1.0f});\n                    }\n                    else\n                        setUniform(_diffuse_color_uniform, material.diffuse_color());\n\n                    if (material.has_specular_texture() &amp;&amp; (_flags &amp; Flag::SpecularTexture)) {\n                        (*material.specular_texture()).bind(SpecularTextureLayer);\n                        setUniform(_specular_color_uniform, Magnum::Color4{1.0f});\n                    }\n                    else\n                        setUniform(_specular_color_uniform, material.specular_color());\n\n                    setUniform(_shininess_uniform, material.shininess());\n\n                    return *this;\n                }\n\n                PhongMultiLight&amp; PhongMultiLight::set_light(Magnum::Int i, const Light&amp; light)\n                {\n                    CORRADE_INTERNAL_ASSERT(i &gt;= 0 &amp;&amp; i &lt; _max_lights);\n                    Magnum::Vector4 attenuation = light.attenuation();\n\n                    // light position\n                    setUniform(_lights_uniform + i * _light_loc_size, light.transformed_position());\n                    // light material\n                    setUniform(_lights_uniform + i * _light_loc_size + 1, light.material().ambient_color());\n                    setUniform(_lights_uniform + i * _light_loc_size + 2, light.material().diffuse_color());\n                    setUniform(_lights_uniform + i * _light_loc_size + 3, light.material().specular_color());\n                    // spotlight properties\n                    setUniform(_lights_uniform + i * _light_loc_size + 4, light.transformed_spot_direction());\n                    setUniform(_lights_uniform + i * _light_loc_size + 5, light.spot_exponent());\n                    setUniform(_lights_uniform + i * _light_loc_size + 6, light.spot_cut_off());\n                    // intesity\n                    setUniform(_lights_uniform + i * _light_loc_size + 7, attenuation[3]);\n                    // constant attenuation term\n                    setUniform(_lights_uniform + i * _light_loc_size + 8, attenuation[0]);\n                    // linear attenuation term\n                    setUniform(_lights_uniform + i * _light_loc_size + 9, attenuation[1]);\n                    // quadratic attenuation term\n                    setUniform(_lights_uniform + i * _light_loc_size + 10, attenuation[2]);\n                    // world position\n                    setUniform(_lights_uniform + i * _light_loc_size + 11, light.position());\n                    // casts shadows?\n                    setUniform(_lights_uniform + i * _light_loc_size + 12, light.casts_shadows());\n\n                    setUniform(_lights_matrices_uniform + i, light.shadow_matrix());\n\n                    return *this;\n                }\n\n                PhongMultiLight&amp; PhongMultiLight::set_transformation_matrix(const Magnum::Matrix4&amp; matrix)\n                {\n                    setUniform(_transformation_matrix_uniform, matrix);\n                    return *this;\n                }\n\n                PhongMultiLight&amp; PhongMultiLight::set_camera_matrix(const Magnum::Matrix4&amp; matrix)\n                {\n                    setUniform(_camera_matrix_uniform, matrix);\n                    return *this;\n                }\n\n                PhongMultiLight&amp; PhongMultiLight::set_normal_matrix(const Magnum::Matrix3x3&amp; matrix)\n                {\n                    setUniform(_normal_matrix_uniform, matrix);\n                    return *this;\n                }\n\n                PhongMultiLight&amp; PhongMultiLight::set_projection_matrix(const Magnum::Matrix4&amp; matrix)\n                {\n                    setUniform(_projection_matrix_uniform, matrix);\n                    return *this;\n                }\n\n                PhongMultiLight&amp; PhongMultiLight::set_far_plane(Magnum::Float far_plane)\n                {\n                    setUniform(_far_plane_uniform, far_plane);\n                    return *this;\n                }\n\n                PhongMultiLight&amp; PhongMultiLight::set_is_shadowed(bool shadows)\n                {\n                    setUniform(_is_shadowed_uniform, shadows);\n                    return *this;\n                }\n\n                PhongMultiLight&amp; PhongMultiLight::set_transparent_shadows(bool shadows)\n                {\n                    setUniform(_transparent_shadows_uniform, shadows);\n                    return *this;\n                }\n\n                PhongMultiLight&amp; PhongMultiLight::set_specular_strength(Magnum::Float specular_strength)\n                {\n                    setUniform(_specular_strength_uniform, std::max(0.f, specular_strength));\n                    return *this;\n                }\n\n                PhongMultiLight&amp; PhongMultiLight::bind_shadow_texture(Magnum::GL::Texture2DArray&amp; texture)\n                {\n                    texture.bind(_shadow_textures_location);\n                    return *this;\n                }\n\n                PhongMultiLight&amp; PhongMultiLight::bind_shadow_color_texture(Magnum::GL::Texture2DArray&amp; texture)\n                {\n                    texture.bind(_shadow_color_textures_location);\n                    return *this;\n                }\n\n                PhongMultiLight&amp; PhongMultiLight::bind_cube_map_texture(Magnum::GL::CubeMapTextureArray&amp; texture)\n                {\n                    texture.bind(_cube_map_textures_location);\n                    return *this;\n                }\n\n                PhongMultiLight&amp; PhongMultiLight::bind_cube_map_color_texture(Magnum::GL::CubeMapTextureArray&amp; texture)\n                {\n                    texture.bind(_cube_map_color_textures_location);\n                    return *this;\n                }\n\n                Magnum::Int PhongMultiLight::max_lights() const { return _max_lights; }\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n</code></pre>"},{"location":"api/phong__multi__light_8hpp/","title":"File phong_multi_light.hpp","text":"<p>FileList &gt; gs &gt; phong_multi_light.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/gs/light.hpp&gt;</code></li> <li><code>#include &lt;Corrade/Containers/ArrayView.h&gt;</code></li> <li><code>#include &lt;Corrade/Containers/Reference.h&gt;</code></li> <li><code>#include &lt;Corrade/Utility/Assert.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/AbstractShaderProgram.h&gt;</code></li> <li><code>#include &lt;Magnum/Math/Color.h&gt;</code></li> <li><code>#include &lt;Magnum/Math/Matrix4.h&gt;</code></li> <li><code>#include &lt;Magnum/Shaders/Generic.h&gt;</code></li> </ul>"},{"location":"api/phong__multi__light_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs"},{"location":"api/phong__multi__light_8hpp/#classes","title":"Classes","text":"Type Name class PhongMultiLight <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/phong_multi_light.hpp</code></p>"},{"location":"api/phong__multi__light_8hpp_source/","title":"File phong_multi_light.hpp","text":"<p>File List &gt; gs &gt; phong_multi_light.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_GS_PHONG_MULTI_LIGHT_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_PHONG_MULTI_LIGHT_HPP\n\n#include &lt;robot_dart/gui/magnum/gs/light.hpp&gt;\n\n#include &lt;Corrade/Containers/ArrayView.h&gt;\n#include &lt;Corrade/Containers/Reference.h&gt;\n#include &lt;Corrade/Utility/Assert.h&gt;\n\n#include &lt;Magnum/GL/AbstractShaderProgram.h&gt;\n#include &lt;Magnum/Math/Color.h&gt;\n#include &lt;Magnum/Math/Matrix4.h&gt;\n#include &lt;Magnum/Shaders/Generic.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                class PhongMultiLight : public Magnum::GL::AbstractShaderProgram {\n                public:\n                    using Position = Magnum::Shaders::Generic3D::Position;\n                    using Normal = Magnum::Shaders::Generic3D::Normal;\n                    using TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\n\n                    enum class Flag : Magnum::UnsignedByte {\n                        AmbientTexture = 1 &lt;&lt; 0, \n                        DiffuseTexture = 1 &lt;&lt; 1, \n                        SpecularTexture = 1 &lt;&lt; 2 \n                    };\n\n                    using Flags = Magnum::Containers::EnumSet&lt;Flag&gt;;\n\n                    explicit PhongMultiLight(Flags flags = {}, Magnum::Int max_lights = 10);\n                    explicit PhongMultiLight(Magnum::NoCreateT) noexcept;\n\n                    Flags flags() const;\n\n                    PhongMultiLight&amp; set_material(Material&amp; material);\n                    PhongMultiLight&amp; set_light(Magnum::Int i, const Light&amp; light);\n\n                    PhongMultiLight&amp; set_transformation_matrix(const Magnum::Matrix4&amp; matrix);\n                    PhongMultiLight&amp; set_camera_matrix(const Magnum::Matrix4&amp; matrix);\n                    PhongMultiLight&amp; set_normal_matrix(const Magnum::Matrix3x3&amp; matrix);\n                    PhongMultiLight&amp; set_projection_matrix(const Magnum::Matrix4&amp; matrix);\n\n                    PhongMultiLight&amp; set_far_plane(Magnum::Float far_plane);\n                    PhongMultiLight&amp; set_is_shadowed(bool shadows);\n                    PhongMultiLight&amp; set_transparent_shadows(bool shadows);\n                    PhongMultiLight&amp; set_specular_strength(Magnum::Float specular_strength);\n\n                    PhongMultiLight&amp; bind_shadow_texture(Magnum::GL::Texture2DArray&amp; texture);\n                    PhongMultiLight&amp; bind_shadow_color_texture(Magnum::GL::Texture2DArray&amp; texture);\n                    PhongMultiLight&amp; bind_cube_map_texture(Magnum::GL::CubeMapTextureArray&amp; texture);\n                    PhongMultiLight&amp; bind_cube_map_color_texture(Magnum::GL::CubeMapTextureArray&amp; texture);\n\n                    Magnum::Int max_lights() const;\n\n                private:\n                    Flags _flags;\n                    Magnum::Int _max_lights = 10;\n                    Magnum::Int _transformation_matrix_uniform{0}, _camera_matrix_uniform{7}, _projection_matrix_uniform{1}, _normal_matrix_uniform{2},\n                        _shininess_uniform{3}, _ambient_color_uniform{4}, _diffuse_color_uniform{5}, _specular_color_uniform{6}, _specular_strength_uniform{11},\n                        _lights_uniform{12}, _lights_matrices_uniform, _far_plane_uniform{8}, _is_shadowed_uniform{9}, _transparent_shadows_uniform{10},\n                        _shadow_textures_location{3}, _cube_map_textures_location{4}, _shadow_color_textures_location{5}, _cube_map_color_textures_location{6};\n                    const Magnum::Int _light_loc_size = 13;\n                };\n\n                CORRADE_ENUMSET_OPERATORS(PhongMultiLight::Flags)\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/shadow__map_8cpp/","title":"File shadow_map.cpp","text":"<p>FileList &gt; gs &gt; shadow_map.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"shadow_map.hpp\"</code></li> <li><code>#include \"create_compatibility_shader.hpp\"</code></li> <li><code>#include &lt;Magnum/GL/Texture.h&gt;</code></li> </ul>"},{"location":"api/shadow__map_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/shadow_map.cpp</code></p>"},{"location":"api/shadow__map_8cpp_source/","title":"File shadow_map.cpp","text":"<p>File List &gt; gs &gt; shadow_map.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"shadow_map.hpp\"\n#include \"create_compatibility_shader.hpp\"\n\n#include &lt;Magnum/GL/Texture.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                ShadowMap::ShadowMap(ShadowMap::Flags flags) : _flags(flags)\n                {\n                    Corrade::Utility::Resource rs_shaders(\"RobotDARTShaders\");\n\n                    const Magnum::GL::Version version = Magnum::GL::Version::GL320;\n\n                    Magnum::GL::Shader vert = Magnum::Shaders::Implementation::createCompatibilityShader(\n                        rs_shaders, version, Magnum::GL::Shader::Type::Vertex);\n                    Magnum::GL::Shader frag = Magnum::Shaders::Implementation::createCompatibilityShader(\n                        rs_shaders, version, Magnum::GL::Shader::Type::Fragment);\n\n                    std::string defines = \"#define POSITION_ATTRIBUTE_LOCATION \" + std::to_string(Position::Location) + \"\\n\";\n                    defines += \"#define TEXTURECOORDINATES_ATTRIBUTE_LOCATION \" + std::to_string(TextureCoordinates::Location) + \"\\n\";\n\n                    vert.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n                        .addSource(defines)\n                        .addSource(rs_shaders.get(\"ShadowMap.vert\"));\n                    frag.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n                        .addSource(rs_shaders.get(\"ShadowMap.frag\"));\n\n                    CORRADE_INTERNAL_ASSERT_OUTPUT(Magnum::GL::Shader::compile({vert, frag}));\n\n                    attachShaders({vert, frag});\n\n                    if (!Magnum::GL::Context::current().isExtensionSupported&lt;Magnum::GL::Extensions::ARB::explicit_attrib_location&gt;(version)) {\n                        bindAttributeLocation(Position::Location, \"position\");\n                        if (flags)\n                            bindAttributeLocation(TextureCoordinates::Location, \"textureCoords\");\n                    }\n\n                    CORRADE_INTERNAL_ASSERT_OUTPUT(link());\n\n                    if (!Magnum::GL::Context::current().isExtensionSupported&lt;Magnum::GL::Extensions::ARB::explicit_uniform_location&gt;(version)) {\n                        _transformation_matrix_uniform = uniformLocation(\"transformationMatrix\");\n                        _projection_matrix_uniform = uniformLocation(\"projectionMatrix\");\n                        _diffuse_color_uniform = uniformLocation(\"diffuseColor\");\n                    }\n\n                    if (!Magnum::GL::Context::current()\n                             .isExtensionSupported&lt;Magnum::GL::Extensions::ARB::shading_language_420pack&gt;(version)\n                        &amp;&amp; flags) {\n                        setUniform(uniformLocation(\"diffuseTexture\"), DiffuseTextureLayer);\n                    }\n                }\n\n                ShadowMap::ShadowMap(Magnum::NoCreateT) noexcept : Magnum::GL::AbstractShaderProgram{Magnum::NoCreate} {}\n\n                ShadowMap::Flags ShadowMap::flags() const { return _flags; }\n\n                ShadowMap&amp; ShadowMap::set_transformation_matrix(const Magnum::Matrix4&amp; matrix)\n                {\n                    setUniform(_transformation_matrix_uniform, matrix);\n                    return *this;\n                }\n\n                ShadowMap&amp; ShadowMap::set_projection_matrix(const Magnum::Matrix4&amp; matrix)\n                {\n                    setUniform(_projection_matrix_uniform, matrix);\n                    return *this;\n                }\n\n                ShadowMap&amp; ShadowMap::set_material(Material&amp; material)\n                {\n                    if (material.has_diffuse_texture() &amp;&amp; (_flags &amp; Flag::DiffuseTexture)) {\n                        (*material.diffuse_texture()).bind(DiffuseTextureLayer);\n                        setUniform(_diffuse_color_uniform, Magnum::Color4{1.0f});\n                    }\n                    else\n                        setUniform(_diffuse_color_uniform, material.diffuse_color());\n\n                    return *this;\n                }\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n</code></pre>"},{"location":"api/shadow__map_8hpp/","title":"File shadow_map.hpp","text":"<p>FileList &gt; gs &gt; shadow_map.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/gs/material.hpp&gt;</code></li> <li><code>#include &lt;Corrade/Containers/ArrayView.h&gt;</code></li> <li><code>#include &lt;Corrade/Containers/Reference.h&gt;</code></li> <li><code>#include &lt;Corrade/Utility/Assert.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/AbstractShaderProgram.h&gt;</code></li> <li><code>#include &lt;Magnum/Math/Color.h&gt;</code></li> <li><code>#include &lt;Magnum/Math/Matrix4.h&gt;</code></li> <li><code>#include &lt;Magnum/Shaders/Generic.h&gt;</code></li> </ul>"},{"location":"api/shadow__map_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs"},{"location":"api/shadow__map_8hpp/#classes","title":"Classes","text":"Type Name class ShadowMap <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/shadow_map.hpp</code></p>"},{"location":"api/shadow__map_8hpp_source/","title":"File shadow_map.hpp","text":"<p>File List &gt; gs &gt; shadow_map.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_GS_SHADOW_MAP_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_SHADOW_MAP_HPP\n\n#include &lt;robot_dart/gui/magnum/gs/material.hpp&gt;\n\n#include &lt;Corrade/Containers/ArrayView.h&gt;\n#include &lt;Corrade/Containers/Reference.h&gt;\n#include &lt;Corrade/Utility/Assert.h&gt;\n\n#include &lt;Magnum/GL/AbstractShaderProgram.h&gt;\n#include &lt;Magnum/Math/Color.h&gt;\n#include &lt;Magnum/Math/Matrix4.h&gt;\n#include &lt;Magnum/Shaders/Generic.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                class ShadowMap : public Magnum::GL::AbstractShaderProgram {\n                public:\n                    using Position = Magnum::Shaders::Generic3D::Position;\n                    using TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\n\n                    enum class Flag : Magnum::UnsignedByte {\n                        DiffuseTexture = 1 &lt;&lt; 0, \n                    };\n\n                    using Flags = Magnum::Containers::EnumSet&lt;Flag&gt;;\n\n                    explicit ShadowMap(Flags flags = {});\n                    explicit ShadowMap(Magnum::NoCreateT) noexcept;\n\n                    Flags flags() const;\n\n                    ShadowMap&amp; set_transformation_matrix(const Magnum::Matrix4&amp; matrix);\n                    ShadowMap&amp; set_projection_matrix(const Magnum::Matrix4&amp; matrix);\n                    ShadowMap&amp; set_material(Material&amp; material);\n\n                private:\n                    Flags _flags;\n                    Magnum::Int _transformation_matrix_uniform{0}, _projection_matrix_uniform{1}, _diffuse_color_uniform{2};\n                };\n\n                CORRADE_ENUMSET_OPERATORS(ShadowMap::Flags)\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/shadow__map__color_8cpp/","title":"File shadow_map_color.cpp","text":"<p>FileList &gt; gs &gt; shadow_map_color.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"shadow_map_color.hpp\"</code></li> <li><code>#include \"create_compatibility_shader.hpp\"</code></li> <li><code>#include &lt;Magnum/GL/Texture.h&gt;</code></li> </ul>"},{"location":"api/shadow__map__color_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/shadow_map_color.cpp</code></p>"},{"location":"api/shadow__map__color_8cpp_source/","title":"File shadow_map_color.cpp","text":"<p>File List &gt; gs &gt; shadow_map_color.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"shadow_map_color.hpp\"\n#include \"create_compatibility_shader.hpp\"\n\n#include &lt;Magnum/GL/Texture.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                ShadowMapColor::ShadowMapColor(ShadowMapColor::Flags flags) : _flags(flags)\n                {\n                    Corrade::Utility::Resource rs_shaders(\"RobotDARTShaders\");\n\n                    const Magnum::GL::Version version = Magnum::GL::Version::GL320;\n\n                    Magnum::GL::Shader vert = Magnum::Shaders::Implementation::createCompatibilityShader(\n                        rs_shaders, version, Magnum::GL::Shader::Type::Vertex);\n                    Magnum::GL::Shader frag = Magnum::Shaders::Implementation::createCompatibilityShader(\n                        rs_shaders, version, Magnum::GL::Shader::Type::Fragment);\n\n                    std::string defines = \"#define POSITION_ATTRIBUTE_LOCATION \" + std::to_string(Position::Location) + \"\\n\";\n                    defines += \"#define TEXTURECOORDINATES_ATTRIBUTE_LOCATION \" + std::to_string(TextureCoordinates::Location) + \"\\n\";\n\n                    vert.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n                        .addSource(defines)\n                        .addSource(rs_shaders.get(\"ShadowMap.vert\"));\n                    frag.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n                        .addSource(rs_shaders.get(\"ShadowMapColor.frag\"));\n\n                    CORRADE_INTERNAL_ASSERT_OUTPUT(Magnum::GL::Shader::compile({vert, frag}));\n\n                    attachShaders({vert, frag});\n\n                    if (!Magnum::GL::Context::current().isExtensionSupported&lt;Magnum::GL::Extensions::ARB::explicit_attrib_location&gt;(version)) {\n                        bindAttributeLocation(Position::Location, \"position\");\n                        if (flags)\n                            bindAttributeLocation(TextureCoordinates::Location, \"textureCoords\");\n                    }\n\n                    CORRADE_INTERNAL_ASSERT_OUTPUT(link());\n\n                    if (!Magnum::GL::Context::current().isExtensionSupported&lt;Magnum::GL::Extensions::ARB::explicit_uniform_location&gt;(version)) {\n                        _transformation_matrix_uniform = uniformLocation(\"transformationMatrix\");\n                        _projection_matrix_uniform = uniformLocation(\"projectionMatrix\");\n                        _diffuse_color_uniform = uniformLocation(\"diffuseColor\");\n                    }\n\n                    if (!Magnum::GL::Context::current()\n                             .isExtensionSupported&lt;Magnum::GL::Extensions::ARB::shading_language_420pack&gt;(version)\n                        &amp;&amp; flags) {\n                        setUniform(uniformLocation(\"diffuseTexture\"), DiffuseTextureLayer);\n                    }\n                }\n\n                ShadowMapColor::ShadowMapColor(Magnum::NoCreateT) noexcept : Magnum::GL::AbstractShaderProgram{Magnum::NoCreate} {}\n\n                ShadowMapColor::Flags ShadowMapColor::flags() const { return _flags; }\n\n                ShadowMapColor&amp; ShadowMapColor::set_transformation_matrix(const Magnum::Matrix4&amp; matrix)\n                {\n                    setUniform(_transformation_matrix_uniform, matrix);\n                    return *this;\n                }\n\n                ShadowMapColor&amp; ShadowMapColor::set_projection_matrix(const Magnum::Matrix4&amp; matrix)\n                {\n                    setUniform(_projection_matrix_uniform, matrix);\n                    return *this;\n                }\n\n                ShadowMapColor&amp; ShadowMapColor::set_material(Material&amp; material)\n                {\n                    if (material.has_diffuse_texture() &amp;&amp; (_flags &amp; Flag::DiffuseTexture)) {\n                        (*material.diffuse_texture()).bind(DiffuseTextureLayer);\n                        setUniform(_diffuse_color_uniform, Magnum::Color4{1.0f});\n                    }\n                    else\n                        setUniform(_diffuse_color_uniform, material.diffuse_color());\n\n                    return *this;\n                }\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n</code></pre>"},{"location":"api/shadow__map__color_8hpp/","title":"File shadow_map_color.hpp","text":"<p>FileList &gt; gs &gt; shadow_map_color.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/gs/material.hpp&gt;</code></li> <li><code>#include &lt;Corrade/Containers/ArrayView.h&gt;</code></li> <li><code>#include &lt;Corrade/Containers/Reference.h&gt;</code></li> <li><code>#include &lt;Corrade/Utility/Assert.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/AbstractShaderProgram.h&gt;</code></li> <li><code>#include &lt;Magnum/Math/Color.h&gt;</code></li> <li><code>#include &lt;Magnum/Math/Matrix4.h&gt;</code></li> <li><code>#include &lt;Magnum/Shaders/Generic.h&gt;</code></li> </ul>"},{"location":"api/shadow__map__color_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs"},{"location":"api/shadow__map__color_8hpp/#classes","title":"Classes","text":"Type Name class ShadowMapColor <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/shadow_map_color.hpp</code></p>"},{"location":"api/shadow__map__color_8hpp_source/","title":"File shadow_map_color.hpp","text":"<p>File List &gt; gs &gt; shadow_map_color.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_GS_SHADOW_MAP_COLOR_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_SHADOW_MAP_COLOR_HPP\n\n#include &lt;robot_dart/gui/magnum/gs/material.hpp&gt;\n\n#include &lt;Corrade/Containers/ArrayView.h&gt;\n#include &lt;Corrade/Containers/Reference.h&gt;\n#include &lt;Corrade/Utility/Assert.h&gt;\n\n#include &lt;Magnum/GL/AbstractShaderProgram.h&gt;\n#include &lt;Magnum/Math/Color.h&gt;\n#include &lt;Magnum/Math/Matrix4.h&gt;\n#include &lt;Magnum/Shaders/Generic.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                class ShadowMapColor : public Magnum::GL::AbstractShaderProgram {\n                public:\n                    using Position = Magnum::Shaders::Generic3D::Position;\n                    using TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\n\n                    enum class Flag : Magnum::UnsignedByte {\n                        DiffuseTexture = 1 &lt;&lt; 0, \n                    };\n\n                    using Flags = Magnum::Containers::EnumSet&lt;Flag&gt;;\n\n                    explicit ShadowMapColor(Flags flags = {});\n                    explicit ShadowMapColor(Magnum::NoCreateT) noexcept;\n\n                    Flags flags() const;\n\n                    ShadowMapColor&amp; set_transformation_matrix(const Magnum::Matrix4&amp; matrix);\n                    ShadowMapColor&amp; set_projection_matrix(const Magnum::Matrix4&amp; matrix);\n                    ShadowMapColor&amp; set_material(Material&amp; material);\n\n                private:\n                    Flags _flags;\n                    Magnum::Int _transformation_matrix_uniform{0}, _projection_matrix_uniform{1}, _diffuse_color_uniform{2};\n                };\n\n                CORRADE_ENUMSET_OPERATORS(ShadowMapColor::Flags)\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/dir_2c74a777547786aaf50e99ba400e19fa/","title":"Dir robot_dart/gui/magnum/sensor","text":"<p>FileList &gt; gui &gt; magnum &gt; sensor</p>"},{"location":"api/dir_2c74a777547786aaf50e99ba400e19fa/#files","title":"Files","text":"Type Name file camera.cpp file camera.hpp <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/sensor/</code></p>"},{"location":"api/sensor_2camera_8cpp/","title":"File camera.cpp","text":"<p>FileList &gt; gui &gt; magnum &gt; sensor &gt; camera.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"camera.hpp\"</code></li> <li><code>#include &lt;Corrade/Containers/ArrayViewStl.h&gt;</code></li> <li><code>#include &lt;Corrade/Containers/StridedArrayView.h&gt;</code></li> <li><code>#include &lt;Corrade/Utility/Algorithms.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/PixelFormat.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/RenderbufferFormat.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Renderer.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/TextureFormat.h&gt;</code></li> <li><code>#include &lt;Magnum/ImageView.h&gt;</code></li> <li><code>#include &lt;Magnum/PixelFormat.h&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/utils_headers_eigen.hpp&gt;</code></li> </ul>"},{"location":"api/sensor_2camera_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace sensor <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/sensor/camera.cpp</code></p>"},{"location":"api/sensor_2camera_8cpp_source/","title":"Macro Syntax Error","text":"<p>File: <code>api/sensor_2camera_8cpp_source.md</code></p> <p>Line 46 in Markdown file: unexpected '}' <pre><code>                    _framebuffer = Magnum::GL::Framebuffer({{}, {w, h}});\n</code></pre></p>"},{"location":"api/sensor_2camera_8hpp/","title":"File camera.hpp","text":"<p>FileList &gt; gui &gt; magnum &gt; sensor &gt; camera.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/base_application.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/gs/helper.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/sensor/sensor.hpp&gt;</code></li> <li><code>#include &lt;Magnum/GL/Framebuffer.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Renderbuffer.h&gt;</code></li> <li><code>#include &lt;Magnum/PixelFormat.h&gt;</code></li> </ul>"},{"location":"api/sensor_2camera_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace sensor namespace sensor"},{"location":"api/sensor_2camera_8hpp/#classes","title":"Classes","text":"Type Name class Camera <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/sensor/camera.hpp</code></p>"},{"location":"api/sensor_2camera_8hpp_source/","title":"File camera.hpp","text":"<p>File List &gt; gui &gt; magnum &gt; sensor &gt; camera.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_SENSOR_CAMERA_HPP\n#define ROBOT_DART_GUI_MAGNUM_SENSOR_CAMERA_HPP\n\n#include &lt;robot_dart/gui/magnum/base_application.hpp&gt;\n#include &lt;robot_dart/gui/magnum/gs/helper.hpp&gt;\n#include &lt;robot_dart/sensor/sensor.hpp&gt;\n\n#include &lt;Magnum/GL/Framebuffer.h&gt;\n#include &lt;Magnum/GL/Renderbuffer.h&gt;\n#include &lt;Magnum/PixelFormat.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace sensor {\n                class Camera : public robot_dart::sensor::Sensor {\n                public:\n                    Camera(BaseApplication* app, size_t width, size_t height, size_t freq = 30, bool draw_debug = false);\n                    ~Camera() {}\n\n                    void init() override;\n\n                    void calculate(double) override;\n\n                    std::string type() const override;\n\n                    void attach_to_body(dart::dynamics::BodyNode* body, const Eigen::Isometry3d&amp; tf = Eigen::Isometry3d::Identity()) override;\n\n                    void attach_to_joint(dart::dynamics::Joint*, const Eigen::Isometry3d&amp;) override\n                    {\n                        ROBOT_DART_WARNING(true, \"You cannot attach a camera to a joint!\");\n                    }\n\n                    gs::Camera&amp; camera() { return *_camera; }\n                    const gs::Camera&amp; camera() const { return *_camera; }\n\n                    Eigen::Matrix3d camera_intrinsic_matrix() const;\n                    Eigen::Matrix4d camera_extrinsic_matrix() const;\n\n                    bool drawing_debug() const { return _draw_debug; }\n                    void draw_debug(bool draw = true) { _draw_debug = draw; }\n\n                    void look_at(const Eigen::Vector3d&amp; camera_pos, const Eigen::Vector3d&amp; look_at = Eigen::Vector3d(0, 0, 0), const Eigen::Vector3d&amp; up = Eigen::Vector3d(0, 0, 1));\n\n                    // this will use the default FPS of the camera if fps == -1\n                    void record_video(const std::string&amp; video_fname)\n                    {\n                        _camera-&gt;record_video(video_fname, _frequency);\n                    }\n\n                    Magnum::Image2D* magnum_image()\n                    {\n                        if (_camera-&gt;image())\n                            return &amp;(*_camera-&gt;image());\n                        return nullptr;\n                    }\n\n                    Image image()\n                    {\n                        auto image = magnum_image();\n                        if (image)\n                            return gs::rgb_from_image(image);\n                        return Image();\n                    }\n\n                    Magnum::Image2D* magnum_depth_image()\n                    {\n                        if (_camera-&gt;depth_image())\n                            return &amp;(*_camera-&gt;depth_image());\n                        return nullptr;\n                    }\n\n                    // This is for visualization purposes\n                    GrayscaleImage depth_image();\n\n                    // Image filled with depth buffer values\n                    GrayscaleImage raw_depth_image();\n\n                    // \"Image\" filled with depth buffer values (this returns an array of doubles)\n                    DepthImage depth_array();\n\n                protected:\n                    Magnum::GL::Framebuffer _framebuffer{Magnum::NoCreate};\n                    Magnum::PixelFormat _format;\n                    Magnum::GL::Renderbuffer _color, _depth;\n\n                    BaseApplication* _magnum_app;\n                    size_t _width, _height;\n\n                    std::unique_ptr&lt;gs::Camera&gt; _camera;\n\n                    bool _draw_debug;\n                };\n            } // namespace sensor\n        } // namespace magnum\n    } // namespace gui\n\n    namespace sensor {\n        using gui::magnum::sensor::Camera;\n    }\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/types_8hpp/","title":"File types.hpp","text":"<p>FileList &gt; gui &gt; magnum &gt; types.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;Magnum/SceneGraph/Camera.h&gt;</code></li> <li><code>#include &lt;Magnum/SceneGraph/MatrixTransformation3D.h&gt;</code></li> <li><code>#include &lt;Magnum/SceneGraph/Scene.h&gt;</code></li> </ul>"},{"location":"api/types_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/types.hpp</code></p>"},{"location":"api/types_8hpp_source/","title":"File types.hpp","text":"<p>File List &gt; gui &gt; magnum &gt; types.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_TYPES_HPP\n#define ROBOT_DART_GUI_MAGNUM_TYPES_HPP\n\n#include &lt;Magnum/SceneGraph/Camera.h&gt;\n#include &lt;Magnum/SceneGraph/MatrixTransformation3D.h&gt;\n#include &lt;Magnum/SceneGraph/Scene.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            using Object3D = Magnum::SceneGraph::Object&lt;Magnum::SceneGraph::MatrixTransformation3D&gt;;\n            using Scene3D = Magnum::SceneGraph::Scene&lt;Magnum::SceneGraph::MatrixTransformation3D&gt;;\n            using Camera3D = Magnum::SceneGraph::Camera3D;\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/utils__headers__eigen_8hpp/","title":"File utils_headers_eigen.hpp","text":"<p>FileList &gt; gui &gt; magnum &gt; utils_headers_eigen.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;Magnum/EigenIntegration/GeometryIntegration.h&gt;</code></li> <li><code>#include &lt;Magnum/EigenIntegration/Integration.h&gt;</code></li> </ul> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/utils_headers_eigen.hpp</code></p>"},{"location":"api/utils__headers__eigen_8hpp_source/","title":"File utils_headers_eigen.hpp","text":"<p>File List &gt; gui &gt; magnum &gt; utils_headers_eigen.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_UTILS_HEADERS_EXTERNAL_GUI_HPP\n#define ROBOT_DART_GUI_MAGNUM_UTILS_HEADERS_EXTERNAL_GUI_HPP\n\n#pragma GCC system_header\n\n#include &lt;Magnum/EigenIntegration/GeometryIntegration.h&gt;\n#include &lt;Magnum/EigenIntegration/Integration.h&gt;\n\n#endif\n</code></pre>"},{"location":"api/windowless__gl__application_8cpp/","title":"File windowless_gl_application.cpp","text":"<p>FileList &gt; gui &gt; magnum &gt; windowless_gl_application.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"windowless_gl_application.hpp\"</code></li> <li><code>#include &lt;Magnum/GL/RenderbufferFormat.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Renderer.h&gt;</code></li> </ul>"},{"location":"api/windowless__gl__application_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/windowless_gl_application.cpp</code></p>"},{"location":"api/windowless__gl__application_8cpp_source/","title":"Macro Syntax Error","text":"<p>File: <code>api/windowless__gl__application_8cpp_source.md</code></p> <p>Line 42 in Markdown file: unexpected '}' <pre><code>                _framebuffer = Magnum::GL::Framebuffer({{}, {w, h}});\n</code></pre></p>"},{"location":"api/windowless__gl__application_8hpp/","title":"File windowless_gl_application.hpp","text":"<p>FileList &gt; gui &gt; magnum &gt; windowless_gl_application.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/base_application.hpp&gt;</code></li> <li><code>#include &lt;Magnum/GL/Renderbuffer.h&gt;</code></li> <li><code>#include &lt;Magnum/PixelFormat.h&gt;</code></li> </ul>"},{"location":"api/windowless__gl__application_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum"},{"location":"api/windowless__gl__application_8hpp/#classes","title":"Classes","text":"Type Name class WindowlessGLApplication <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/windowless_gl_application.hpp</code></p>"},{"location":"api/windowless__gl__application_8hpp_source/","title":"File windowless_gl_application.hpp","text":"<p>File List &gt; gui &gt; magnum &gt; windowless_gl_application.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_GLX_APPLICATION_HPP\n#define ROBOT_DART_GUI_MAGNUM_GLX_APPLICATION_HPP\n\n#include &lt;robot_dart/gui/magnum/base_application.hpp&gt;\n\n#include &lt;Magnum/GL/Renderbuffer.h&gt;\n#include &lt;Magnum/PixelFormat.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            class WindowlessGLApplication : public BaseApplication, public Magnum::Platform::WindowlessApplication {\n            public:\n                explicit WindowlessGLApplication(int argc, char** argv, RobotDARTSimu* simu, const GraphicsConfiguration&amp; configuration = GraphicsConfiguration());\n                ~WindowlessGLApplication();\n\n                void render() override;\n\n            protected:\n                RobotDARTSimu* _simu;\n                bool _draw_main_camera, _draw_debug;\n                Magnum::Color4 _bg_color;\n                Magnum::GL::Framebuffer _framebuffer{Magnum::NoCreate};\n                Magnum::PixelFormat _format;\n                Magnum::GL::Renderbuffer _color{Magnum::NoCreate}, _depth{Magnum::NoCreate};\n                // size_t _index = 0;\n\n                virtual int exec() override { return 0; }\n            };\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/windowless__graphics_8cpp/","title":"File windowless_graphics.cpp","text":"<p>FileList &gt; gui &gt; magnum &gt; windowless_graphics.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/windowless_graphics.hpp&gt;</code></li> </ul>"},{"location":"api/windowless__graphics_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/windowless_graphics.cpp</code></p>"},{"location":"api/windowless__graphics_8cpp_source/","title":"File windowless_graphics.cpp","text":"<p>File List &gt; gui &gt; magnum &gt; windowless_graphics.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include &lt;robot_dart/gui/magnum/windowless_graphics.hpp&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            void WindowlessGraphics::set_simu(RobotDARTSimu* simu)\n            {\n                BaseGraphics&lt;WindowlessGLApplication&gt;::set_simu(simu);\n                // we should not synchronize by default if we want windowless graphics (usually used only for sensors)\n                simu-&gt;scheduler().set_sync(false);\n                // disable summary text when windowless graphics activated\n                simu-&gt;enable_text_panel(false);\n                simu-&gt;enable_status_bar(false);\n            }\n\n            GraphicsConfiguration WindowlessGraphics::default_configuration()\n            {\n                GraphicsConfiguration config;\n                // by default we do not draw text in windowless mode\n                config.draw_debug = false;\n                config.draw_text = false;\n\n                return config;\n            }\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n</code></pre>"},{"location":"api/windowless__graphics_8hpp/","title":"File windowless_graphics.hpp","text":"<p>FileList &gt; gui &gt; magnum &gt; windowless_graphics.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/base_graphics.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/windowless_gl_application.hpp&gt;</code></li> </ul>"},{"location":"api/windowless__graphics_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum"},{"location":"api/windowless__graphics_8hpp/#classes","title":"Classes","text":"Type Name class WindowlessGraphics <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/windowless_graphics.hpp</code></p>"},{"location":"api/windowless__graphics_8hpp_source/","title":"File windowless_graphics.hpp","text":"<p>File List &gt; gui &gt; magnum &gt; windowless_graphics.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_WINDOWLESS_GRAPHICS_HPP\n#define ROBOT_DART_GUI_MAGNUM_WINDOWLESS_GRAPHICS_HPP\n\n#include &lt;robot_dart/gui/magnum/base_graphics.hpp&gt;\n#include &lt;robot_dart/gui/magnum/windowless_gl_application.hpp&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            class WindowlessGraphics : public BaseGraphics&lt;WindowlessGLApplication&gt; {\n            public:\n                WindowlessGraphics(const GraphicsConfiguration&amp; configuration = default_configuration()) : BaseGraphics&lt;WindowlessGLApplication&gt;(configuration) {}\n                ~WindowlessGraphics() {}\n\n                void set_simu(RobotDARTSimu* simu) override;\n\n                static GraphicsConfiguration default_configuration();\n            };\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/stb__image__write_8h/","title":"File stb_image_write.h","text":"<p>FileList &gt; gui &gt; stb_image_write.h</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;stdlib.h&gt;</code></li> </ul>"},{"location":"api/stb__image__write_8h/#public-types","title":"Public Types","text":"Type Name typedef void stbi_write_func"},{"location":"api/stb__image__write_8h/#public-attributes","title":"Public Attributes","text":"Type Name int stbi_write_force_png_filter int stbi_write_png_compression_level int stbi_write_tga_with_rle"},{"location":"api/stb__image__write_8h/#public-functions","title":"Public Functions","text":"Type Name STBIWDEF void stbi_flip_vertically_on_write (int flip_boolean)  STBIWDEF int stbi_write_bmp (char const * filename, int w, int h, int comp, const void * data)  STBIWDEF int stbi_write_bmp_to_func (stbi_write_func * func, void * context, int w, int h, int comp, const void * data)  STBIWDEF int stbi_write_hdr (char const * filename, int w, int h, int comp, const float * data)  STBIWDEF int stbi_write_hdr_to_func (stbi_write_func * func, void * context, int w, int h, int comp, const float * data)  STBIWDEF int stbi_write_jpg (char const * filename, int x, int y, int comp, const void * data, int quality)  STBIWDEF int stbi_write_jpg_to_func (stbi_write_func * func, void * context, int x, int y, int comp, const void * data, int quality)  STBIWDEF int stbi_write_png (char const * filename, int w, int h, int comp, const void * data, int stride_in_bytes)  STBIWDEF int stbi_write_png_to_func (stbi_write_func * func, void * context, int w, int h, int comp, const void * data, int stride_in_bytes)  STBIWDEF int stbi_write_tga (char const * filename, int w, int h, int comp, const void * data)  STBIWDEF int stbi_write_tga_to_func (stbi_write_func * func, void * context, int w, int h, int comp, const void * data)"},{"location":"api/stb__image__write_8h/#macros","title":"Macros","text":"Type Name define STBIWDEF  extern"},{"location":"api/stb__image__write_8h/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/stb__image__write_8h/#typedef-stbi_write_func","title":"typedef stbi_write_func","text":"<pre><code>typedef void stbi_write_func(void *context, void *data, int size);\n</code></pre>"},{"location":"api/stb__image__write_8h/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/stb__image__write_8h/#variable-stbi_write_force_png_filter","title":"variable stbi_write_force_png_filter","text":"<pre><code>int stbi_write_force_png_filter;\n</code></pre>"},{"location":"api/stb__image__write_8h/#variable-stbi_write_png_compression_level","title":"variable stbi_write_png_compression_level","text":"<pre><code>int stbi_write_png_compression_level;\n</code></pre>"},{"location":"api/stb__image__write_8h/#variable-stbi_write_tga_with_rle","title":"variable stbi_write_tga_with_rle","text":"<pre><code>int stbi_write_tga_with_rle;\n</code></pre>"},{"location":"api/stb__image__write_8h/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/stb__image__write_8h/#function-stbi_flip_vertically_on_write","title":"function stbi_flip_vertically_on_write","text":"<pre><code>STBIWDEF void stbi_flip_vertically_on_write (\n    int flip_boolean\n) \n</code></pre>"},{"location":"api/stb__image__write_8h/#function-stbi_write_bmp","title":"function stbi_write_bmp","text":"<pre><code>STBIWDEF int stbi_write_bmp (\n    char const * filename,\n    int w,\n    int h,\n    int comp,\n    const void * data\n) \n</code></pre>"},{"location":"api/stb__image__write_8h/#function-stbi_write_bmp_to_func","title":"function stbi_write_bmp_to_func","text":"<pre><code>STBIWDEF int stbi_write_bmp_to_func (\n    stbi_write_func * func,\n    void * context,\n    int w,\n    int h,\n    int comp,\n    const void * data\n) \n</code></pre>"},{"location":"api/stb__image__write_8h/#function-stbi_write_hdr","title":"function stbi_write_hdr","text":"<pre><code>STBIWDEF int stbi_write_hdr (\n    char const * filename,\n    int w,\n    int h,\n    int comp,\n    const float * data\n) \n</code></pre>"},{"location":"api/stb__image__write_8h/#function-stbi_write_hdr_to_func","title":"function stbi_write_hdr_to_func","text":"<pre><code>STBIWDEF int stbi_write_hdr_to_func (\n    stbi_write_func * func,\n    void * context,\n    int w,\n    int h,\n    int comp,\n    const float * data\n) \n</code></pre>"},{"location":"api/stb__image__write_8h/#function-stbi_write_jpg","title":"function stbi_write_jpg","text":"<pre><code>STBIWDEF int stbi_write_jpg (\n    char const * filename,\n    int x,\n    int y,\n    int comp,\n    const void * data,\n    int quality\n) \n</code></pre>"},{"location":"api/stb__image__write_8h/#function-stbi_write_jpg_to_func","title":"function stbi_write_jpg_to_func","text":"<pre><code>STBIWDEF int stbi_write_jpg_to_func (\n    stbi_write_func * func,\n    void * context,\n    int x,\n    int y,\n    int comp,\n    const void * data,\n    int quality\n) \n</code></pre>"},{"location":"api/stb__image__write_8h/#function-stbi_write_png","title":"function stbi_write_png","text":"<pre><code>STBIWDEF int stbi_write_png (\n    char const * filename,\n    int w,\n    int h,\n    int comp,\n    const void * data,\n    int stride_in_bytes\n) \n</code></pre>"},{"location":"api/stb__image__write_8h/#function-stbi_write_png_to_func","title":"function stbi_write_png_to_func","text":"<pre><code>STBIWDEF int stbi_write_png_to_func (\n    stbi_write_func * func,\n    void * context,\n    int w,\n    int h,\n    int comp,\n    const void * data,\n    int stride_in_bytes\n) \n</code></pre>"},{"location":"api/stb__image__write_8h/#function-stbi_write_tga","title":"function stbi_write_tga","text":"<pre><code>STBIWDEF int stbi_write_tga (\n    char const * filename,\n    int w,\n    int h,\n    int comp,\n    const void * data\n) \n</code></pre>"},{"location":"api/stb__image__write_8h/#function-stbi_write_tga_to_func","title":"function stbi_write_tga_to_func","text":"<pre><code>STBIWDEF int stbi_write_tga_to_func (\n    stbi_write_func * func,\n    void * context,\n    int w,\n    int h,\n    int comp,\n    const void * data\n) \n</code></pre>"},{"location":"api/stb__image__write_8h/#macro-definition-documentation","title":"Macro Definition Documentation","text":""},{"location":"api/stb__image__write_8h/#define-stbiwdef","title":"define STBIWDEF","text":"<pre><code>#define STBIWDEF extern\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/stb_image_write.h</code></p>"},{"location":"api/stb__image__write_8h_source/","title":"File stb_image_write.h","text":"<p>File List &gt; gui &gt; stb_image_write.h</p> <p>Go to the documentation of this file</p> <pre><code>/* stb_image_write - v1.13 - public domain - http://nothings.org/stb\n   writes out PNG/BMP/TGA/JPEG/HDR images to C stdio - Sean Barrett 2010-2015\n                                     no warranty implied; use at your own risk\n\n   Before #including,\n\n       #define STB_IMAGE_WRITE_IMPLEMENTATION\n\n   in the file that you want to have the implementation.\n\n   Will probably not work correctly with strict-aliasing optimizations.\n\nABOUT:\n\n   This header file is a library for writing images to C stdio or a callback.\n\n   The PNG output is not optimal; it is 20-50% larger than the file\n   written by a decent optimizing implementation; though providing a custom\n   zlib compress function (see STBIW_ZLIB_COMPRESS) can mitigate that.\n   This library is designed for source code compactness and simplicity,\n   not optimal image file size or run-time performance.\n\nBUILDING:\n\n   You can #define STBIW_ASSERT(x) before the #include to avoid using assert.h.\n   You can #define STBIW_MALLOC(), STBIW_REALLOC(), and STBIW_FREE() to replace\n   malloc,realloc,free.\n   You can #define STBIW_MEMMOVE() to replace memmove()\n   You can #define STBIW_ZLIB_COMPRESS to use a custom zlib-style compress function\n   for PNG compression (instead of the builtin one), it must have the following signature:\n   unsigned char * my_compress(unsigned char *data, int data_len, int *out_len, int quality);\n   The returned data will be freed with STBIW_FREE() (free() by default),\n   so it must be heap allocated with STBIW_MALLOC() (malloc() by default),\n\nUNICODE:\n\n   If compiling for Windows and you wish to use Unicode filenames, compile\n   with\n       #define STBIW_WINDOWS_UTF8\n   and pass utf8-encoded filenames. Call stbiw_convert_wchar_to_utf8 to convert\n   Windows wchar_t filenames to utf8.\n\nUSAGE:\n\n   There are five functions, one for each image file format:\n\n     int stbi_write_png(char const *filename, int w, int h, int comp, const void *data, int stride_in_bytes);\n     int stbi_write_bmp(char const *filename, int w, int h, int comp, const void *data);\n     int stbi_write_tga(char const *filename, int w, int h, int comp, const void *data);\n     int stbi_write_jpg(char const *filename, int w, int h, int comp, const void *data, int quality);\n     int stbi_write_hdr(char const *filename, int w, int h, int comp, const float *data);\n\n     void stbi_flip_vertically_on_write(int flag); // flag is non-zero to flip data vertically\n\n   There are also five equivalent functions that use an arbitrary write function. You are\n   expected to open/close your file-equivalent before and after calling these:\n\n     int stbi_write_png_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void  *data, int stride_in_bytes);\n     int stbi_write_bmp_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void  *data);\n     int stbi_write_tga_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void  *data);\n     int stbi_write_hdr_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const float *data);\n     int stbi_write_jpg_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void *data, int quality);\n\n   where the callback is:\n      void stbi_write_func(void *context, void *data, int size);\n\n   You can configure it with these global variables:\n      int stbi_write_tga_with_rle;             // defaults to true; set to 0 to disable RLE\n      int stbi_write_png_compression_level;    // defaults to 8; set to higher for more compression\n      int stbi_write_force_png_filter;         // defaults to -1; set to 0..5 to force a filter mode\n\n\n   You can define STBI_WRITE_NO_STDIO to disable the file variant of these\n   functions, so the library will not use stdio.h at all. However, this will\n   also disable HDR writing, because it requires stdio for formatted output.\n\n   Each function returns 0 on failure and non-0 on success.\n\n   The functions create an image file defined by the parameters. The image\n   is a rectangle of pixels stored from left-to-right, top-to-bottom.\n   Each pixel contains 'comp' channels of data stored interleaved with 8-bits\n   per channel, in the following order: 1=Y, 2=YA, 3=RGB, 4=RGBA. (Y is\n   monochrome color.) The rectangle is 'w' pixels wide and 'h' pixels tall.\n   The *data pointer points to the first byte of the top-left-most pixel.\n   For PNG, \"stride_in_bytes\" is the distance in bytes from the first byte of\n   a row of pixels to the first byte of the next row of pixels.\n\n   PNG creates output files with the same number of components as the input.\n   The BMP format expands Y to RGB in the file format and does not\n   output alpha.\n\n   PNG supports writing rectangles of data even when the bytes storing rows of\n   data are not consecutive in memory (e.g. sub-rectangles of a larger image),\n   by supplying the stride between the beginning of adjacent rows. The other\n   formats do not. (Thus you cannot write a native-format BMP through the BMP\n   writer, both because it is in BGR order and because it may have padding\n   at the end of the line.)\n\n   PNG allows you to set the deflate compression level by setting the global\n   variable 'stbi_write_png_compression_level' (it defaults to 8).\n\n   HDR expects linear float data. Since the format is always 32-bit rgb(e)\n   data, alpha (if provided) is discarded, and for monochrome data it is\n   replicated across all three channels.\n\n   TGA supports RLE or non-RLE compressed data. To use non-RLE-compressed\n   data, set the global variable 'stbi_write_tga_with_rle' to 0.\n\n   JPEG does ignore alpha channels in input data; quality is between 1 and 100.\n   Higher quality looks better but results in a bigger image.\n   JPEG baseline (no JPEG progressive).\n\nCREDITS:\n\n\n   Sean Barrett           -    PNG/BMP/TGA \n   Baldur Karlsson        -    HDR\n   Jean-Sebastien Guay    -    TGA monochrome\n   Tim Kelsey             -    misc enhancements\n   Alan Hickman           -    TGA RLE\n   Emmanuel Julien        -    initial file IO callback implementation\n   Jon Olick              -    original jo_jpeg.cpp code\n   Daniel Gibson          -    integrate JPEG, allow external zlib\n   Aarni Koskela          -    allow choosing PNG filter\n\n   bugfixes:\n      github:Chribba\n      Guillaume Chereau\n      github:jry2\n      github:romigrou\n      Sergio Gonzalez\n      Jonas Karlsson\n      Filip Wasil\n      Thatcher Ulrich\n      github:poppolopoppo\n      Patrick Boettcher\n      github:xeekworx\n      Cap Petschulat\n      Simon Rodriguez\n      Ivan Tikhonov\n      github:ignotion\n      Adam Schackart\n\nLICENSE\n\n  See end of file for license information.\n\n*/\n\n#pragma GCC system_header\n\n#ifndef INCLUDE_STB_IMAGE_WRITE_H\n#define INCLUDE_STB_IMAGE_WRITE_H\n\n#include &lt;stdlib.h&gt;\n\n// if STB_IMAGE_WRITE_STATIC causes problems, try defining STBIWDEF to 'inline' or 'static inline'\n#ifndef STBIWDEF\n#ifdef STB_IMAGE_WRITE_STATIC\n#define STBIWDEF  static\n#else\n#ifdef __cplusplus\n#define STBIWDEF  extern \"C\"\n#else\n#define STBIWDEF  extern\n#endif\n#endif\n#endif\n\n#ifndef STB_IMAGE_WRITE_STATIC  // C++ forbids static forward declarations\nextern int stbi_write_tga_with_rle;\nextern int stbi_write_png_compression_level;\nextern int stbi_write_force_png_filter;\n#endif\n\n#ifndef STBI_WRITE_NO_STDIO\nSTBIWDEF int stbi_write_png(char const *filename, int w, int h, int comp, const void  *data, int stride_in_bytes);\nSTBIWDEF int stbi_write_bmp(char const *filename, int w, int h, int comp, const void  *data);\nSTBIWDEF int stbi_write_tga(char const *filename, int w, int h, int comp, const void  *data);\nSTBIWDEF int stbi_write_hdr(char const *filename, int w, int h, int comp, const float *data);\nSTBIWDEF int stbi_write_jpg(char const *filename, int x, int y, int comp, const void  *data, int quality);\n\n#ifdef STBI_WINDOWS_UTF8\nSTBIWDEF int stbiw_convert_wchar_to_utf8(char *buffer, size_t bufferlen, const wchar_t* input);\n#endif\n#endif\n\ntypedef void stbi_write_func(void *context, void *data, int size);\n\nSTBIWDEF int stbi_write_png_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void  *data, int stride_in_bytes);\nSTBIWDEF int stbi_write_bmp_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void  *data);\nSTBIWDEF int stbi_write_tga_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void  *data);\nSTBIWDEF int stbi_write_hdr_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const float *data);\nSTBIWDEF int stbi_write_jpg_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void  *data, int quality);\n\nSTBIWDEF void stbi_flip_vertically_on_write(int flip_boolean);\n\n#endif//INCLUDE_STB_IMAGE_WRITE_H\n\n#ifdef STB_IMAGE_WRITE_IMPLEMENTATION\n\n#ifdef _WIN32\n   #ifndef _CRT_SECURE_NO_WARNINGS\n   #define _CRT_SECURE_NO_WARNINGS\n   #endif\n   #ifndef _CRT_NONSTDC_NO_DEPRECATE\n   #define _CRT_NONSTDC_NO_DEPRECATE\n   #endif\n#endif\n\n#ifndef STBI_WRITE_NO_STDIO\n#include &lt;stdio.h&gt;\n#endif // STBI_WRITE_NO_STDIO\n\n#include &lt;stdarg.h&gt;\n#include &lt;stdlib.h&gt;\n#include &lt;string.h&gt;\n#include &lt;math.h&gt;\n\n#if defined(STBIW_MALLOC) &amp;&amp; defined(STBIW_FREE) &amp;&amp; (defined(STBIW_REALLOC) || defined(STBIW_REALLOC_SIZED))\n// ok\n#elif !defined(STBIW_MALLOC) &amp;&amp; !defined(STBIW_FREE) &amp;&amp; !defined(STBIW_REALLOC) &amp;&amp; !defined(STBIW_REALLOC_SIZED)\n// ok\n#else\n#error \"Must define all or none of STBIW_MALLOC, STBIW_FREE, and STBIW_REALLOC (or STBIW_REALLOC_SIZED).\"\n#endif\n\n#ifndef STBIW_MALLOC\n#define STBIW_MALLOC(sz)        malloc(sz)\n#define STBIW_REALLOC(p,newsz)  realloc(p,newsz)\n#define STBIW_FREE(p)           free(p)\n#endif\n\n#ifndef STBIW_REALLOC_SIZED\n#define STBIW_REALLOC_SIZED(p,oldsz,newsz) STBIW_REALLOC(p,newsz)\n#endif\n\n\n#ifndef STBIW_MEMMOVE\n#define STBIW_MEMMOVE(a,b,sz) memmove(a,b,sz)\n#endif\n\n\n#ifndef STBIW_ASSERT\n#include &lt;assert.h&gt;\n#define STBIW_ASSERT(x) assert(x)\n#endif\n\n#define STBIW_UCHAR(x) (unsigned char) ((x) &amp; 0xff)\n\n#ifdef STB_IMAGE_WRITE_STATIC\nstatic int stbi__flip_vertically_on_write=0;\nstatic int stbi_write_png_compression_level = 8;\nstatic int stbi_write_tga_with_rle = 1;\nstatic int stbi_write_force_png_filter = -1;\n#else\nint stbi_write_png_compression_level = 8;\nint stbi__flip_vertically_on_write=0;\nint stbi_write_tga_with_rle = 1;\nint stbi_write_force_png_filter = -1;\n#endif\n\nSTBIWDEF void stbi_flip_vertically_on_write(int flag)\n{\n   stbi__flip_vertically_on_write = flag;\n}\n\ntypedef struct\n{\n   stbi_write_func *func;\n   void *context;\n} stbi__write_context;\n\n// initialize a callback-based context\nstatic void stbi__start_write_callbacks(stbi__write_context *s, stbi_write_func *c, void *context)\n{\n   s-&gt;func    = c;\n   s-&gt;context = context;\n}\n\n#ifndef STBI_WRITE_NO_STDIO\n\nstatic void stbi__stdio_write(void *context, void *data, int size)\n{\n   fwrite(data,1,size,(FILE*) context);\n}\n\n#if defined(_MSC_VER) &amp;&amp; defined(STBI_WINDOWS_UTF8)\n#ifdef __cplusplus\n#define STBIW_EXTERN extern \"C\"\n#else\n#define STBIW_EXTERN extern\n#endif\nSTBIW_EXTERN __declspec(dllimport) int __stdcall MultiByteToWideChar(unsigned int cp, unsigned long flags, const char *str, int cbmb, wchar_t *widestr, int cchwide);\nSTBIW_EXTERN __declspec(dllimport) int __stdcall WideCharToMultiByte(unsigned int cp, unsigned long flags, const wchar_t *widestr, int cchwide, char *str, int cbmb, const char *defchar, int *used_default);\n\nSTBIWDEF int stbiw_convert_wchar_to_utf8(char *buffer, size_t bufferlen, const wchar_t* input)\n{\n    return WideCharToMultiByte(65001 /* UTF8 */, 0, input, -1, buffer, (int) bufferlen, NULL, NULL);\n}\n#endif\n\nstatic FILE *stbiw__fopen(char const *filename, char const *mode)\n{\n   FILE *f;\n#if defined(_MSC_VER) &amp;&amp; defined(STBI_WINDOWS_UTF8)\n   wchar_t wMode[64];\n   wchar_t wFilename[1024];\n    if (0 == MultiByteToWideChar(65001 /* UTF8 */, 0, filename, -1, wFilename, sizeof(wFilename)))\n      return 0;\n\n    if (0 == MultiByteToWideChar(65001 /* UTF8 */, 0, mode, -1, wMode, sizeof(wMode)))\n      return 0;\n\n#if _MSC_VER &gt;= 1400\n    if (0 != _wfopen_s(&amp;f, wFilename, wMode))\n        f = 0;\n#else\n   f = _wfopen(wFilename, wMode);\n#endif\n\n#elif defined(_MSC_VER) &amp;&amp; _MSC_VER &gt;= 1400\n   if (0 != fopen_s(&amp;f, filename, mode))\n      f=0;\n#else\n   f = fopen(filename, mode);\n#endif\n   return f;\n}\n\nstatic int stbi__start_write_file(stbi__write_context *s, const char *filename)\n{\n   FILE *f = stbiw__fopen(filename, \"wb\");\n   stbi__start_write_callbacks(s, stbi__stdio_write, (void *) f);\n   return f != NULL;\n}\n\nstatic void stbi__end_write_file(stbi__write_context *s)\n{\n   fclose((FILE *)s-&gt;context);\n}\n\n#endif // !STBI_WRITE_NO_STDIO\n\ntypedef unsigned int stbiw_uint32;\ntypedef int stb_image_write_test[sizeof(stbiw_uint32)==4 ? 1 : -1];\n\nstatic void stbiw__writefv(stbi__write_context *s, const char *fmt, va_list v)\n{\n   while (*fmt) {\n      switch (*fmt++) {\n         case ' ': break;\n         case '1': { unsigned char x = STBIW_UCHAR(va_arg(v, int));\n                     s-&gt;func(s-&gt;context,&amp;x,1);\n                     break; }\n         case '2': { int x = va_arg(v,int);\n                     unsigned char b[2];\n                     b[0] = STBIW_UCHAR(x);\n                     b[1] = STBIW_UCHAR(x&gt;&gt;8);\n                     s-&gt;func(s-&gt;context,b,2);\n                     break; }\n         case '4': { stbiw_uint32 x = va_arg(v,int);\n                     unsigned char b[4];\n                     b[0]=STBIW_UCHAR(x);\n                     b[1]=STBIW_UCHAR(x&gt;&gt;8);\n                     b[2]=STBIW_UCHAR(x&gt;&gt;16);\n                     b[3]=STBIW_UCHAR(x&gt;&gt;24);\n                     s-&gt;func(s-&gt;context,b,4);\n                     break; }\n         default:\n            STBIW_ASSERT(0);\n            return;\n      }\n   }\n}\n\nstatic void stbiw__writef(stbi__write_context *s, const char *fmt, ...)\n{\n   va_list v;\n   va_start(v, fmt);\n   stbiw__writefv(s, fmt, v);\n   va_end(v);\n}\n\nstatic void stbiw__putc(stbi__write_context *s, unsigned char c)\n{\n   s-&gt;func(s-&gt;context, &amp;c, 1);\n}\n\nstatic void stbiw__write3(stbi__write_context *s, unsigned char a, unsigned char b, unsigned char c)\n{\n   unsigned char arr[3];\n   arr[0] = a; arr[1] = b; arr[2] = c;\n   s-&gt;func(s-&gt;context, arr, 3);\n}\n\nstatic void stbiw__write_pixel(stbi__write_context *s, int rgb_dir, int comp, int write_alpha, int expand_mono, unsigned char *d)\n{\n   unsigned char bg[3] = { 255, 0, 255}, px[3];\n   int k;\n\n   if (write_alpha &lt; 0)\n      s-&gt;func(s-&gt;context, &amp;d[comp - 1], 1);\n\n   switch (comp) {\n      case 2: // 2 pixels = mono + alpha, alpha is written separately, so same as 1-channel case\n      case 1:\n         if (expand_mono)\n            stbiw__write3(s, d[0], d[0], d[0]); // monochrome bmp\n         else\n            s-&gt;func(s-&gt;context, d, 1);  // monochrome TGA\n         break;\n      case 4:\n         if (!write_alpha) {\n            // composite against pink background\n            for (k = 0; k &lt; 3; ++k)\n               px[k] = bg[k] + ((d[k] - bg[k]) * d[3]) / 255;\n            stbiw__write3(s, px[1 - rgb_dir], px[1], px[1 + rgb_dir]);\n            break;\n         }\n         /* FALLTHROUGH */\n      case 3:\n         stbiw__write3(s, d[1 - rgb_dir], d[1], d[1 + rgb_dir]);\n         break;\n   }\n   if (write_alpha &gt; 0)\n      s-&gt;func(s-&gt;context, &amp;d[comp - 1], 1);\n}\n\nstatic void stbiw__write_pixels(stbi__write_context *s, int rgb_dir, int vdir, int x, int y, int comp, void *data, int write_alpha, int scanline_pad, int expand_mono)\n{\n   stbiw_uint32 zero = 0;\n   int i,j, j_end;\n\n   if (y &lt;= 0)\n      return;\n\n   if (stbi__flip_vertically_on_write)\n      vdir *= -1;\n\n   if (vdir &lt; 0) {\n      j_end = -1; j = y-1;\n   } else {\n      j_end =  y; j = 0;\n   }\n\n   for (; j != j_end; j += vdir) {\n      for (i=0; i &lt; x; ++i) {\n         unsigned char *d = (unsigned char *) data + (j*x+i)*comp;\n         stbiw__write_pixel(s, rgb_dir, comp, write_alpha, expand_mono, d);\n      }\n      s-&gt;func(s-&gt;context, &amp;zero, scanline_pad);\n   }\n}\n\nstatic int stbiw__outfile(stbi__write_context *s, int rgb_dir, int vdir, int x, int y, int comp, int expand_mono, void *data, int alpha, int pad, const char *fmt, ...)\n{\n   if (y &lt; 0 || x &lt; 0) {\n      return 0;\n   } else {\n      va_list v;\n      va_start(v, fmt);\n      stbiw__writefv(s, fmt, v);\n      va_end(v);\n      stbiw__write_pixels(s,rgb_dir,vdir,x,y,comp,data,alpha,pad, expand_mono);\n      return 1;\n   }\n}\n\nstatic int stbi_write_bmp_core(stbi__write_context *s, int x, int y, int comp, const void *data)\n{\n   int pad = (-x*3) &amp; 3;\n   return stbiw__outfile(s,-1,-1,x,y,comp,1,(void *) data,0,pad,\n           \"11 4 22 4\" \"4 44 22 444444\",\n           'B', 'M', 14+40+(x*3+pad)*y, 0,0, 14+40,  // file header\n            40, x,y, 1,24, 0,0,0,0,0,0);             // bitmap header\n}\n\nSTBIWDEF int stbi_write_bmp_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void *data)\n{\n   stbi__write_context s;\n   stbi__start_write_callbacks(&amp;s, func, context);\n   return stbi_write_bmp_core(&amp;s, x, y, comp, data);\n}\n\n#ifndef STBI_WRITE_NO_STDIO\nSTBIWDEF int stbi_write_bmp(char const *filename, int x, int y, int comp, const void *data)\n{\n   stbi__write_context s;\n   if (stbi__start_write_file(&amp;s,filename)) {\n      int r = stbi_write_bmp_core(&amp;s, x, y, comp, data);\n      stbi__end_write_file(&amp;s);\n      return r;\n   } else\n      return 0;\n}\n#endif \n\nstatic int stbi_write_tga_core(stbi__write_context *s, int x, int y, int comp, void *data)\n{\n   int has_alpha = (comp == 2 || comp == 4);\n   int colorbytes = has_alpha ? comp-1 : comp;\n   int format = colorbytes &lt; 2 ? 3 : 2; // 3 color channels (RGB/RGBA) = 2, 1 color channel (Y/YA) = 3\n\n   if (y &lt; 0 || x &lt; 0)\n      return 0;\n\n   if (!stbi_write_tga_with_rle) {\n      return stbiw__outfile(s, -1, -1, x, y, comp, 0, (void *) data, has_alpha, 0,\n         \"111 221 2222 11\", 0, 0, format, 0, 0, 0, 0, 0, x, y, (colorbytes + has_alpha) * 8, has_alpha * 8);\n   } else {\n      int i,j,k;\n      int jend, jdir;\n\n      stbiw__writef(s, \"111 221 2222 11\", 0,0,format+8, 0,0,0, 0,0,x,y, (colorbytes + has_alpha) * 8, has_alpha * 8);\n\n      if (stbi__flip_vertically_on_write) {\n         j = 0;\n         jend = y;\n         jdir = 1;\n      } else {\n         j = y-1;\n         jend = -1;\n         jdir = -1;\n      }\n      for (; j != jend; j += jdir) {\n         unsigned char *row = (unsigned char *) data + j * x * comp;\n         int len;\n\n         for (i = 0; i &lt; x; i += len) {\n            unsigned char *begin = row + i * comp;\n            int diff = 1;\n            len = 1;\n\n            if (i &lt; x - 1) {\n               ++len;\n               diff = memcmp(begin, row + (i + 1) * comp, comp);\n               if (diff) {\n                  const unsigned char *prev = begin;\n                  for (k = i + 2; k &lt; x &amp;&amp; len &lt; 128; ++k) {\n                     if (memcmp(prev, row + k * comp, comp)) {\n                        prev += comp;\n                        ++len;\n                     } else {\n                        --len;\n                        break;\n                     }\n                  }\n               } else {\n                  for (k = i + 2; k &lt; x &amp;&amp; len &lt; 128; ++k) {\n                     if (!memcmp(begin, row + k * comp, comp)) {\n                        ++len;\n                     } else {\n                        break;\n                     }\n                  }\n               }\n            }\n\n            if (diff) {\n               unsigned char header = STBIW_UCHAR(len - 1);\n               s-&gt;func(s-&gt;context, &amp;header, 1);\n               for (k = 0; k &lt; len; ++k) {\n                  stbiw__write_pixel(s, -1, comp, has_alpha, 0, begin + k * comp);\n               }\n            } else {\n               unsigned char header = STBIW_UCHAR(len - 129);\n               s-&gt;func(s-&gt;context, &amp;header, 1);\n               stbiw__write_pixel(s, -1, comp, has_alpha, 0, begin);\n            }\n         }\n      }\n   }\n   return 1;\n}\n\nSTBIWDEF int stbi_write_tga_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void *data)\n{\n   stbi__write_context s;\n   stbi__start_write_callbacks(&amp;s, func, context);\n   return stbi_write_tga_core(&amp;s, x, y, comp, (void *) data);\n}\n\n#ifndef STBI_WRITE_NO_STDIO\nSTBIWDEF int stbi_write_tga(char const *filename, int x, int y, int comp, const void *data)\n{\n   stbi__write_context s;\n   if (stbi__start_write_file(&amp;s,filename)) {\n      int r = stbi_write_tga_core(&amp;s, x, y, comp, (void *) data);\n      stbi__end_write_file(&amp;s);\n      return r;\n   } else\n      return 0;\n}\n#endif\n\n// *************************************************************************************************\n// Radiance RGBE HDR writer\n// by Baldur Karlsson\n\n#define stbiw__max(a, b)  ((a) &gt; (b) ? (a) : (b))\n\nstatic void stbiw__linear_to_rgbe(unsigned char *rgbe, float *linear)\n{\n   int exponent;\n   float maxcomp = stbiw__max(linear[0], stbiw__max(linear[1], linear[2]));\n\n   if (maxcomp &lt; 1e-32f) {\n      rgbe[0] = rgbe[1] = rgbe[2] = rgbe[3] = 0;\n   } else {\n      float normalize = (float) frexp(maxcomp, &amp;exponent) * 256.0f/maxcomp;\n\n      rgbe[0] = (unsigned char)(linear[0] * normalize);\n      rgbe[1] = (unsigned char)(linear[1] * normalize);\n      rgbe[2] = (unsigned char)(linear[2] * normalize);\n      rgbe[3] = (unsigned char)(exponent + 128);\n   }\n}\n\nstatic void stbiw__write_run_data(stbi__write_context *s, int length, unsigned char databyte)\n{\n   unsigned char lengthbyte = STBIW_UCHAR(length+128);\n   STBIW_ASSERT(length+128 &lt;= 255);\n   s-&gt;func(s-&gt;context, &amp;lengthbyte, 1);\n   s-&gt;func(s-&gt;context, &amp;databyte, 1);\n}\n\nstatic void stbiw__write_dump_data(stbi__write_context *s, int length, unsigned char *data)\n{\n   unsigned char lengthbyte = STBIW_UCHAR(length);\n   STBIW_ASSERT(length &lt;= 128); // inconsistent with spec but consistent with official code\n   s-&gt;func(s-&gt;context, &amp;lengthbyte, 1);\n   s-&gt;func(s-&gt;context, data, length);\n}\n\nstatic void stbiw__write_hdr_scanline(stbi__write_context *s, int width, int ncomp, unsigned char *scratch, float *scanline)\n{\n   unsigned char scanlineheader[4] = { 2, 2, 0, 0 };\n   unsigned char rgbe[4];\n   float linear[3];\n   int x;\n\n   scanlineheader[2] = (width&amp;0xff00)&gt;&gt;8;\n   scanlineheader[3] = (width&amp;0x00ff);\n\n   /* skip RLE for images too small or large */\n   if (width &lt; 8 || width &gt;= 32768) {\n      for (x=0; x &lt; width; x++) {\n         switch (ncomp) {\n            case 4: /* fallthrough */\n            case 3: linear[2] = scanline[x*ncomp + 2];\n                    linear[1] = scanline[x*ncomp + 1];\n                    linear[0] = scanline[x*ncomp + 0];\n                    break;\n            default:\n                    linear[0] = linear[1] = linear[2] = scanline[x*ncomp + 0];\n                    break;\n         }\n         stbiw__linear_to_rgbe(rgbe, linear);\n         s-&gt;func(s-&gt;context, rgbe, 4);\n      }\n   } else {\n      int c,r;\n      /* encode into scratch buffer */\n      for (x=0; x &lt; width; x++) {\n         switch(ncomp) {\n            case 4: /* fallthrough */\n            case 3: linear[2] = scanline[x*ncomp + 2];\n                    linear[1] = scanline[x*ncomp + 1];\n                    linear[0] = scanline[x*ncomp + 0];\n                    break;\n            default:\n                    linear[0] = linear[1] = linear[2] = scanline[x*ncomp + 0];\n                    break;\n         }\n         stbiw__linear_to_rgbe(rgbe, linear);\n         scratch[x + width*0] = rgbe[0];\n         scratch[x + width*1] = rgbe[1];\n         scratch[x + width*2] = rgbe[2];\n         scratch[x + width*3] = rgbe[3];\n      }\n\n      s-&gt;func(s-&gt;context, scanlineheader, 4);\n\n      /* RLE each component separately */\n      for (c=0; c &lt; 4; c++) {\n         unsigned char *comp = &amp;scratch[width*c];\n\n         x = 0;\n         while (x &lt; width) {\n            // find first run\n            r = x;\n            while (r+2 &lt; width) {\n               if (comp[r] == comp[r+1] &amp;&amp; comp[r] == comp[r+2])\n                  break;\n               ++r;\n            }\n            if (r+2 &gt;= width)\n               r = width;\n            // dump up to first run\n            while (x &lt; r) {\n               int len = r-x;\n               if (len &gt; 128) len = 128;\n               stbiw__write_dump_data(s, len, &amp;comp[x]);\n               x += len;\n            }\n            // if there's a run, output it\n            if (r+2 &lt; width) { // same test as what we break out of in search loop, so only true if we break'd\n               // find next byte after run\n               while (r &lt; width &amp;&amp; comp[r] == comp[x])\n                  ++r;\n               // output run up to r\n               while (x &lt; r) {\n                  int len = r-x;\n                  if (len &gt; 127) len = 127;\n                  stbiw__write_run_data(s, len, comp[x]);\n                  x += len;\n               }\n            }\n         }\n      }\n   }\n}\n\nstatic int stbi_write_hdr_core(stbi__write_context *s, int x, int y, int comp, float *data)\n{\n   if (y &lt;= 0 || x &lt;= 0 || data == NULL)\n      return 0;\n   else {\n      // Each component is stored separately. Allocate scratch space for full output scanline.\n      unsigned char *scratch = (unsigned char *) STBIW_MALLOC(x*4);\n      int i, len;\n      char buffer[128];\n      char header[] = \"#?RADIANCE\\n# Written by stb_image_write.h\\nFORMAT=32-bit_rle_rgbe\\n\";\n      s-&gt;func(s-&gt;context, header, sizeof(header)-1);\n\n#ifdef __STDC_WANT_SECURE_LIB__\n      len = sprintf_s(buffer, sizeof(buffer), \"EXPOSURE=          1.0000000000000\\n\\n-Y %d +X %d\\n\", y, x);\n#else\n      len = sprintf(buffer, \"EXPOSURE=          1.0000000000000\\n\\n-Y %d +X %d\\n\", y, x);\n#endif\n      s-&gt;func(s-&gt;context, buffer, len);\n\n      for(i=0; i &lt; y; i++)\n         stbiw__write_hdr_scanline(s, x, comp, scratch, data + comp*x*(stbi__flip_vertically_on_write ? y-1-i : i));\n      STBIW_FREE(scratch);\n      return 1;\n   }\n}\n\nSTBIWDEF int stbi_write_hdr_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const float *data)\n{\n   stbi__write_context s;\n   stbi__start_write_callbacks(&amp;s, func, context);\n   return stbi_write_hdr_core(&amp;s, x, y, comp, (float *) data);\n}\n\n#ifndef STBI_WRITE_NO_STDIO\nSTBIWDEF int stbi_write_hdr(char const *filename, int x, int y, int comp, const float *data)\n{\n   stbi__write_context s;\n   if (stbi__start_write_file(&amp;s,filename)) {\n      int r = stbi_write_hdr_core(&amp;s, x, y, comp, (float *) data);\n      stbi__end_write_file(&amp;s);\n      return r;\n   } else\n      return 0;\n}\n#endif // STBI_WRITE_NO_STDIO\n\n\n//\n// PNG writer\n//\n\n#ifndef STBIW_ZLIB_COMPRESS\n// stretchy buffer; stbiw__sbpush() == vector&lt;&gt;::push_back() -- stbiw__sbcount() == vector&lt;&gt;::size()\n#define stbiw__sbraw(a) ((int *) (a) - 2)\n#define stbiw__sbm(a)   stbiw__sbraw(a)[0]\n#define stbiw__sbn(a)   stbiw__sbraw(a)[1]\n\n#define stbiw__sbneedgrow(a,n)  ((a)==0 || stbiw__sbn(a)+n &gt;= stbiw__sbm(a))\n#define stbiw__sbmaybegrow(a,n) (stbiw__sbneedgrow(a,(n)) ? stbiw__sbgrow(a,n) : 0)\n#define stbiw__sbgrow(a,n)  stbiw__sbgrowf((void **) &amp;(a), (n), sizeof(*(a)))\n\n#define stbiw__sbpush(a, v)      (stbiw__sbmaybegrow(a,1), (a)[stbiw__sbn(a)++] = (v))\n#define stbiw__sbcount(a)        ((a) ? stbiw__sbn(a) : 0)\n#define stbiw__sbfree(a)         ((a) ? STBIW_FREE(stbiw__sbraw(a)),0 : 0)\n\nstatic void *stbiw__sbgrowf(void **arr, int increment, int itemsize)\n{\n   int m = *arr ? 2*stbiw__sbm(*arr)+increment : increment+1;\n   void *p = STBIW_REALLOC_SIZED(*arr ? stbiw__sbraw(*arr) : 0, *arr ? (stbiw__sbm(*arr)*itemsize + sizeof(int)*2) : 0, itemsize * m + sizeof(int)*2);\n   STBIW_ASSERT(p);\n   if (p) {\n      if (!*arr) ((int *) p)[1] = 0;\n      *arr = (void *) ((int *) p + 2);\n      stbiw__sbm(*arr) = m;\n   }\n   return *arr;\n}\n\nstatic unsigned char *stbiw__zlib_flushf(unsigned char *data, unsigned int *bitbuffer, int *bitcount)\n{\n   while (*bitcount &gt;= 8) {\n      stbiw__sbpush(data, STBIW_UCHAR(*bitbuffer));\n      *bitbuffer &gt;&gt;= 8;\n      *bitcount -= 8;\n   }\n   return data;\n}\n\nstatic int stbiw__zlib_bitrev(int code, int codebits)\n{\n   int res=0;\n   while (codebits--) {\n      res = (res &lt;&lt; 1) | (code &amp; 1);\n      code &gt;&gt;= 1;\n   }\n   return res;\n}\n\nstatic unsigned int stbiw__zlib_countm(unsigned char *a, unsigned char *b, int limit)\n{\n   int i;\n   for (i=0; i &lt; limit &amp;&amp; i &lt; 258; ++i)\n      if (a[i] != b[i]) break;\n   return i;\n}\n\nstatic unsigned int stbiw__zhash(unsigned char *data)\n{\n   stbiw_uint32 hash = data[0] + (data[1] &lt;&lt; 8) + (data[2] &lt;&lt; 16);\n   hash ^= hash &lt;&lt; 3;\n   hash += hash &gt;&gt; 5;\n   hash ^= hash &lt;&lt; 4;\n   hash += hash &gt;&gt; 17;\n   hash ^= hash &lt;&lt; 25;\n   hash += hash &gt;&gt; 6;\n   return hash;\n}\n\n#define stbiw__zlib_flush() (out = stbiw__zlib_flushf(out, &amp;bitbuf, &amp;bitcount))\n#define stbiw__zlib_add(code,codebits) \\\n      (bitbuf |= (code) &lt;&lt; bitcount, bitcount += (codebits), stbiw__zlib_flush())\n#define stbiw__zlib_huffa(b,c)  stbiw__zlib_add(stbiw__zlib_bitrev(b,c),c)\n// default huffman tables\n#define stbiw__zlib_huff1(n)  stbiw__zlib_huffa(0x30 + (n), 8)\n#define stbiw__zlib_huff2(n)  stbiw__zlib_huffa(0x190 + (n)-144, 9)\n#define stbiw__zlib_huff3(n)  stbiw__zlib_huffa(0 + (n)-256,7)\n#define stbiw__zlib_huff4(n)  stbiw__zlib_huffa(0xc0 + (n)-280,8)\n#define stbiw__zlib_huff(n)  ((n) &lt;= 143 ? stbiw__zlib_huff1(n) : (n) &lt;= 255 ? stbiw__zlib_huff2(n) : (n) &lt;= 279 ? stbiw__zlib_huff3(n) : stbiw__zlib_huff4(n))\n#define stbiw__zlib_huffb(n) ((n) &lt;= 143 ? stbiw__zlib_huff1(n) : stbiw__zlib_huff2(n))\n\n#define stbiw__ZHASH   16384\n\n#endif // STBIW_ZLIB_COMPRESS\n\nSTBIWDEF unsigned char * stbi_zlib_compress(unsigned char *data, int data_len, int *out_len, int quality)\n{\n#ifdef STBIW_ZLIB_COMPRESS\n   // user provided a zlib compress implementation, use that\n   return STBIW_ZLIB_COMPRESS(data, data_len, out_len, quality);\n#else // use builtin\n   static unsigned short lengthc[] = { 3,4,5,6,7,8,9,10,11,13,15,17,19,23,27,31,35,43,51,59,67,83,99,115,131,163,195,227,258, 259 };\n   static unsigned char  lengtheb[]= { 0,0,0,0,0,0,0, 0, 1, 1, 1, 1, 2, 2, 2, 2, 3, 3, 3, 3, 4, 4, 4,  4,  5,  5,  5,  5,  0 };\n   static unsigned short distc[]   = { 1,2,3,4,5,7,9,13,17,25,33,49,65,97,129,193,257,385,513,769,1025,1537,2049,3073,4097,6145,8193,12289,16385,24577, 32768 };\n   static unsigned char  disteb[]  = { 0,0,0,0,1,1,2,2,3,3,4,4,5,5,6,6,7,7,8,8,9,9,10,10,11,11,12,12,13,13 };\n   unsigned int bitbuf=0;\n   int i,j, bitcount=0;\n   unsigned char *out = NULL;\n   unsigned char ***hash_table = (unsigned char***) STBIW_MALLOC(stbiw__ZHASH * sizeof(unsigned char**));\n   if (hash_table == NULL)\n      return NULL;\n   if (quality &lt; 5) quality = 5;\n\n   stbiw__sbpush(out, 0x78);   // DEFLATE 32K window\n   stbiw__sbpush(out, 0x5e);   // FLEVEL = 1\n   stbiw__zlib_add(1,1);  // BFINAL = 1\n   stbiw__zlib_add(1,2);  // BTYPE = 1 -- fixed huffman\n\n   for (i=0; i &lt; stbiw__ZHASH; ++i)\n      hash_table[i] = NULL;\n\n   i=0;\n   while (i &lt; data_len-3) {\n      // hash next 3 bytes of data to be compressed\n      int h = stbiw__zhash(data+i)&amp;(stbiw__ZHASH-1), best=3;\n      unsigned char *bestloc = 0;\n      unsigned char **hlist = hash_table[h];\n      int n = stbiw__sbcount(hlist);\n      for (j=0; j &lt; n; ++j) {\n         if (hlist[j]-data &gt; i-32768) { // if entry lies within window\n            int d = stbiw__zlib_countm(hlist[j], data+i, data_len-i);\n            if (d &gt;= best) { best=d; bestloc=hlist[j]; }\n         }\n      }\n      // when hash table entry is too long, delete half the entries\n      if (hash_table[h] &amp;&amp; stbiw__sbn(hash_table[h]) == 2*quality) {\n         STBIW_MEMMOVE(hash_table[h], hash_table[h]+quality, sizeof(hash_table[h][0])*quality);\n         stbiw__sbn(hash_table[h]) = quality;\n      }\n      stbiw__sbpush(hash_table[h],data+i);\n\n      if (bestloc) {\n         // \"lazy matching\" - check match at *next* byte, and if it's better, do cur byte as literal\n         h = stbiw__zhash(data+i+1)&amp;(stbiw__ZHASH-1);\n         hlist = hash_table[h];\n         n = stbiw__sbcount(hlist);\n         for (j=0; j &lt; n; ++j) {\n            if (hlist[j]-data &gt; i-32767) {\n               int e = stbiw__zlib_countm(hlist[j], data+i+1, data_len-i-1);\n               if (e &gt; best) { // if next match is better, bail on current match\n                  bestloc = NULL;\n                  break;\n               }\n            }\n         }\n      }\n\n      if (bestloc) {\n         int d = (int) (data+i - bestloc); // distance back\n         STBIW_ASSERT(d &lt;= 32767 &amp;&amp; best &lt;= 258);\n         for (j=0; best &gt; lengthc[j+1]-1; ++j);\n         stbiw__zlib_huff(j+257);\n         if (lengtheb[j]) stbiw__zlib_add(best - lengthc[j], lengtheb[j]);\n         for (j=0; d &gt; distc[j+1]-1; ++j);\n         stbiw__zlib_add(stbiw__zlib_bitrev(j,5),5);\n         if (disteb[j]) stbiw__zlib_add(d - distc[j], disteb[j]);\n         i += best;\n      } else {\n         stbiw__zlib_huffb(data[i]);\n         ++i;\n      }\n   }\n   // write out final bytes\n   for (;i &lt; data_len; ++i)\n      stbiw__zlib_huffb(data[i]);\n   stbiw__zlib_huff(256); // end of block\n   // pad with 0 bits to byte boundary\n   while (bitcount)\n      stbiw__zlib_add(0,1);\n\n   for (i=0; i &lt; stbiw__ZHASH; ++i)\n      (void) stbiw__sbfree(hash_table[i]);\n   STBIW_FREE(hash_table);\n\n   {\n      // compute adler32 on input\n      unsigned int s1=1, s2=0;\n      int blocklen = (int) (data_len % 5552);\n      j=0;\n      while (j &lt; data_len) {\n         for (i=0; i &lt; blocklen; ++i) { s1 += data[j+i]; s2 += s1; }\n         s1 %= 65521; s2 %= 65521;\n         j += blocklen;\n         blocklen = 5552;\n      }\n      stbiw__sbpush(out, STBIW_UCHAR(s2 &gt;&gt; 8));\n      stbiw__sbpush(out, STBIW_UCHAR(s2));\n      stbiw__sbpush(out, STBIW_UCHAR(s1 &gt;&gt; 8));\n      stbiw__sbpush(out, STBIW_UCHAR(s1));\n   }\n   *out_len = stbiw__sbn(out);\n   // make returned pointer freeable\n   STBIW_MEMMOVE(stbiw__sbraw(out), out, *out_len);\n   return (unsigned char *) stbiw__sbraw(out);\n#endif // STBIW_ZLIB_COMPRESS\n}\n\nstatic unsigned int stbiw__crc32(unsigned char *buffer, int len)\n{\n#ifdef STBIW_CRC32\n    return STBIW_CRC32(buffer, len);\n#else\n   static unsigned int crc_table[256] =\n   {\n      0x00000000, 0x77073096, 0xEE0E612C, 0x990951BA, 0x076DC419, 0x706AF48F, 0xE963A535, 0x9E6495A3,\n      0x0eDB8832, 0x79DCB8A4, 0xE0D5E91E, 0x97D2D988, 0x09B64C2B, 0x7EB17CBD, 0xE7B82D07, 0x90BF1D91,\n      0x1DB71064, 0x6AB020F2, 0xF3B97148, 0x84BE41DE, 0x1ADAD47D, 0x6DDDE4EB, 0xF4D4B551, 0x83D385C7,\n      0x136C9856, 0x646BA8C0, 0xFD62F97A, 0x8A65C9EC, 0x14015C4F, 0x63066CD9, 0xFA0F3D63, 0x8D080DF5,\n      0x3B6E20C8, 0x4C69105E, 0xD56041E4, 0xA2677172, 0x3C03E4D1, 0x4B04D447, 0xD20D85FD, 0xA50AB56B,\n      0x35B5A8FA, 0x42B2986C, 0xDBBBC9D6, 0xACBCF940, 0x32D86CE3, 0x45DF5C75, 0xDCD60DCF, 0xABD13D59,\n      0x26D930AC, 0x51DE003A, 0xC8D75180, 0xBFD06116, 0x21B4F4B5, 0x56B3C423, 0xCFBA9599, 0xB8BDA50F,\n      0x2802B89E, 0x5F058808, 0xC60CD9B2, 0xB10BE924, 0x2F6F7C87, 0x58684C11, 0xC1611DAB, 0xB6662D3D,\n      0x76DC4190, 0x01DB7106, 0x98D220BC, 0xEFD5102A, 0x71B18589, 0x06B6B51F, 0x9FBFE4A5, 0xE8B8D433,\n      0x7807C9A2, 0x0F00F934, 0x9609A88E, 0xE10E9818, 0x7F6A0DBB, 0x086D3D2D, 0x91646C97, 0xE6635C01,\n      0x6B6B51F4, 0x1C6C6162, 0x856530D8, 0xF262004E, 0x6C0695ED, 0x1B01A57B, 0x8208F4C1, 0xF50FC457,\n      0x65B0D9C6, 0x12B7E950, 0x8BBEB8EA, 0xFCB9887C, 0x62DD1DDF, 0x15DA2D49, 0x8CD37CF3, 0xFBD44C65,\n      0x4DB26158, 0x3AB551CE, 0xA3BC0074, 0xD4BB30E2, 0x4ADFA541, 0x3DD895D7, 0xA4D1C46D, 0xD3D6F4FB,\n      0x4369E96A, 0x346ED9FC, 0xAD678846, 0xDA60B8D0, 0x44042D73, 0x33031DE5, 0xAA0A4C5F, 0xDD0D7CC9,\n      0x5005713C, 0x270241AA, 0xBE0B1010, 0xC90C2086, 0x5768B525, 0x206F85B3, 0xB966D409, 0xCE61E49F,\n      0x5EDEF90E, 0x29D9C998, 0xB0D09822, 0xC7D7A8B4, 0x59B33D17, 0x2EB40D81, 0xB7BD5C3B, 0xC0BA6CAD,\n      0xEDB88320, 0x9ABFB3B6, 0x03B6E20C, 0x74B1D29A, 0xEAD54739, 0x9DD277AF, 0x04DB2615, 0x73DC1683,\n      0xE3630B12, 0x94643B84, 0x0D6D6A3E, 0x7A6A5AA8, 0xE40ECF0B, 0x9309FF9D, 0x0A00AE27, 0x7D079EB1,\n      0xF00F9344, 0x8708A3D2, 0x1E01F268, 0x6906C2FE, 0xF762575D, 0x806567CB, 0x196C3671, 0x6E6B06E7,\n      0xFED41B76, 0x89D32BE0, 0x10DA7A5A, 0x67DD4ACC, 0xF9B9DF6F, 0x8EBEEFF9, 0x17B7BE43, 0x60B08ED5,\n      0xD6D6A3E8, 0xA1D1937E, 0x38D8C2C4, 0x4FDFF252, 0xD1BB67F1, 0xA6BC5767, 0x3FB506DD, 0x48B2364B,\n      0xD80D2BDA, 0xAF0A1B4C, 0x36034AF6, 0x41047A60, 0xDF60EFC3, 0xA867DF55, 0x316E8EEF, 0x4669BE79,\n      0xCB61B38C, 0xBC66831A, 0x256FD2A0, 0x5268E236, 0xCC0C7795, 0xBB0B4703, 0x220216B9, 0x5505262F,\n      0xC5BA3BBE, 0xB2BD0B28, 0x2BB45A92, 0x5CB36A04, 0xC2D7FFA7, 0xB5D0CF31, 0x2CD99E8B, 0x5BDEAE1D,\n      0x9B64C2B0, 0xEC63F226, 0x756AA39C, 0x026D930A, 0x9C0906A9, 0xEB0E363F, 0x72076785, 0x05005713,\n      0x95BF4A82, 0xE2B87A14, 0x7BB12BAE, 0x0CB61B38, 0x92D28E9B, 0xE5D5BE0D, 0x7CDCEFB7, 0x0BDBDF21,\n      0x86D3D2D4, 0xF1D4E242, 0x68DDB3F8, 0x1FDA836E, 0x81BE16CD, 0xF6B9265B, 0x6FB077E1, 0x18B74777,\n      0x88085AE6, 0xFF0F6A70, 0x66063BCA, 0x11010B5C, 0x8F659EFF, 0xF862AE69, 0x616BFFD3, 0x166CCF45,\n      0xA00AE278, 0xD70DD2EE, 0x4E048354, 0x3903B3C2, 0xA7672661, 0xD06016F7, 0x4969474D, 0x3E6E77DB,\n      0xAED16A4A, 0xD9D65ADC, 0x40DF0B66, 0x37D83BF0, 0xA9BCAE53, 0xDEBB9EC5, 0x47B2CF7F, 0x30B5FFE9,\n      0xBDBDF21C, 0xCABAC28A, 0x53B39330, 0x24B4A3A6, 0xBAD03605, 0xCDD70693, 0x54DE5729, 0x23D967BF,\n      0xB3667A2E, 0xC4614AB8, 0x5D681B02, 0x2A6F2B94, 0xB40BBE37, 0xC30C8EA1, 0x5A05DF1B, 0x2D02EF8D\n   };\n\n   unsigned int crc = ~0u;\n   int i;\n   for (i=0; i &lt; len; ++i)\n      crc = (crc &gt;&gt; 8) ^ crc_table[buffer[i] ^ (crc &amp; 0xff)];\n   return ~crc;\n#endif\n}\n\n#define stbiw__wpng4(o,a,b,c,d) ((o)[0]=STBIW_UCHAR(a),(o)[1]=STBIW_UCHAR(b),(o)[2]=STBIW_UCHAR(c),(o)[3]=STBIW_UCHAR(d),(o)+=4)\n#define stbiw__wp32(data,v) stbiw__wpng4(data, (v)&gt;&gt;24,(v)&gt;&gt;16,(v)&gt;&gt;8,(v));\n#define stbiw__wptag(data,s) stbiw__wpng4(data, s[0],s[1],s[2],s[3])\n\nstatic void stbiw__wpcrc(unsigned char **data, int len)\n{\n   unsigned int crc = stbiw__crc32(*data - len - 4, len+4);\n   stbiw__wp32(*data, crc);\n}\n\nstatic unsigned char stbiw__paeth(int a, int b, int c)\n{\n   int p = a + b - c, pa = abs(p-a), pb = abs(p-b), pc = abs(p-c);\n   if (pa &lt;= pb &amp;&amp; pa &lt;= pc) return STBIW_UCHAR(a);\n   if (pb &lt;= pc) return STBIW_UCHAR(b);\n   return STBIW_UCHAR(c);\n}\n\n// @OPTIMIZE: provide an option that always forces left-predict or paeth predict\nstatic void stbiw__encode_png_line(unsigned char *pixels, int stride_bytes, int width, int height, int y, int n, int filter_type, signed char *line_buffer)\n{\n   static int mapping[] = { 0,1,2,3,4 };\n   static int firstmap[] = { 0,1,0,5,6 };\n   int *mymap = (y != 0) ? mapping : firstmap;\n   int i;\n   int type = mymap[filter_type];\n   unsigned char *z = pixels + stride_bytes * (stbi__flip_vertically_on_write ? height-1-y : y);\n   int signed_stride = stbi__flip_vertically_on_write ? -stride_bytes : stride_bytes;\n\n   if (type==0) {\n      memcpy(line_buffer, z, width*n);\n      return;\n   }\n\n   // first loop isn't optimized since it's just one pixel    \n   for (i = 0; i &lt; n; ++i) {\n      switch (type) {\n         case 1: line_buffer[i] = z[i]; break;\n         case 2: line_buffer[i] = z[i] - z[i-signed_stride]; break;\n         case 3: line_buffer[i] = z[i] - (z[i-signed_stride]&gt;&gt;1); break;\n         case 4: line_buffer[i] = (signed char) (z[i] - stbiw__paeth(0,z[i-signed_stride],0)); break;\n         case 5: line_buffer[i] = z[i]; break;\n         case 6: line_buffer[i] = z[i]; break;\n      }\n   }\n   switch (type) {\n      case 1: for (i=n; i &lt; width*n; ++i) line_buffer[i] = z[i] - z[i-n]; break;\n      case 2: for (i=n; i &lt; width*n; ++i) line_buffer[i] = z[i] - z[i-signed_stride]; break;\n      case 3: for (i=n; i &lt; width*n; ++i) line_buffer[i] = z[i] - ((z[i-n] + z[i-signed_stride])&gt;&gt;1); break;\n      case 4: for (i=n; i &lt; width*n; ++i) line_buffer[i] = z[i] - stbiw__paeth(z[i-n], z[i-signed_stride], z[i-signed_stride-n]); break;\n      case 5: for (i=n; i &lt; width*n; ++i) line_buffer[i] = z[i] - (z[i-n]&gt;&gt;1); break;\n      case 6: for (i=n; i &lt; width*n; ++i) line_buffer[i] = z[i] - stbiw__paeth(z[i-n], 0,0); break;\n   }\n}\n\nSTBIWDEF unsigned char *stbi_write_png_to_mem(const unsigned char *pixels, int stride_bytes, int x, int y, int n, int *out_len)\n{\n   int force_filter = stbi_write_force_png_filter;\n   int ctype[5] = { -1, 0, 4, 2, 6 };\n   unsigned char sig[8] = { 137,80,78,71,13,10,26,10 };\n   unsigned char *out,*o, *filt, *zlib;\n   signed char *line_buffer;\n   int j,zlen;\n\n   if (stride_bytes == 0)\n      stride_bytes = x * n;\n\n   if (force_filter &gt;= 5) {\n      force_filter = -1;\n   }\n\n   filt = (unsigned char *) STBIW_MALLOC((x*n+1) * y); if (!filt) return 0;\n   line_buffer = (signed char *) STBIW_MALLOC(x * n); if (!line_buffer) { STBIW_FREE(filt); return 0; }\n   for (j=0; j &lt; y; ++j) {\n      int filter_type;\n      if (force_filter &gt; -1) {\n         filter_type = force_filter;\n         stbiw__encode_png_line((unsigned char*)(pixels), stride_bytes, x, y, j, n, force_filter, line_buffer);\n      } else { // Estimate the best filter by running through all of them:\n         int best_filter = 0, best_filter_val = 0x7fffffff, est, i;\n         for (filter_type = 0; filter_type &lt; 5; filter_type++) {\n            stbiw__encode_png_line((unsigned char*)(pixels), stride_bytes, x, y, j, n, filter_type, line_buffer);\n\n            // Estimate the entropy of the line using this filter; the less, the better.\n            est = 0;\n            for (i = 0; i &lt; x*n; ++i) {\n               est += abs((signed char) line_buffer[i]);\n            }\n            if (est &lt; best_filter_val) {\n               best_filter_val = est;\n               best_filter = filter_type;\n            }\n         }\n         if (filter_type != best_filter) {  // If the last iteration already got us the best filter, don't redo it\n            stbiw__encode_png_line((unsigned char*)(pixels), stride_bytes, x, y, j, n, best_filter, line_buffer);\n            filter_type = best_filter;\n         }\n      }\n      // when we get here, filter_type contains the filter type, and line_buffer contains the data\n      filt[j*(x*n+1)] = (unsigned char) filter_type;\n      STBIW_MEMMOVE(filt+j*(x*n+1)+1, line_buffer, x*n);\n   }\n   STBIW_FREE(line_buffer);\n   zlib = stbi_zlib_compress(filt, y*( x*n+1), &amp;zlen, stbi_write_png_compression_level);\n   STBIW_FREE(filt);\n   if (!zlib) return 0;\n\n   // each tag requires 12 bytes of overhead\n   out = (unsigned char *) STBIW_MALLOC(8 + 12+13 + 12+zlen + 12);\n   if (!out) return 0;\n   *out_len = 8 + 12+13 + 12+zlen + 12;\n\n   o=out;\n   STBIW_MEMMOVE(o,sig,8); o+= 8;\n   stbiw__wp32(o, 13); // header length\n   stbiw__wptag(o, \"IHDR\");\n   stbiw__wp32(o, x);\n   stbiw__wp32(o, y);\n   *o++ = 8;\n   *o++ = STBIW_UCHAR(ctype[n]);\n   *o++ = 0;\n   *o++ = 0;\n   *o++ = 0;\n   stbiw__wpcrc(&amp;o,13);\n\n   stbiw__wp32(o, zlen);\n   stbiw__wptag(o, \"IDAT\");\n   STBIW_MEMMOVE(o, zlib, zlen);\n   o += zlen;\n   STBIW_FREE(zlib);\n   stbiw__wpcrc(&amp;o, zlen);\n\n   stbiw__wp32(o,0);\n   stbiw__wptag(o, \"IEND\");\n   stbiw__wpcrc(&amp;o,0);\n\n   STBIW_ASSERT(o == out + *out_len);\n\n   return out;\n}\n\n#ifndef STBI_WRITE_NO_STDIO\nSTBIWDEF int stbi_write_png(char const *filename, int x, int y, int comp, const void *data, int stride_bytes)\n{\n   FILE *f;\n   int len;\n   unsigned char *png = stbi_write_png_to_mem((const unsigned char *) data, stride_bytes, x, y, comp, &amp;len);\n   if (png == NULL) return 0;\n\n   f = stbiw__fopen(filename, \"wb\");\n   if (!f) { STBIW_FREE(png); return 0; }\n   fwrite(png, 1, len, f);\n   fclose(f);\n   STBIW_FREE(png);\n   return 1;\n}\n#endif\n\nSTBIWDEF int stbi_write_png_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void *data, int stride_bytes)\n{\n   int len;\n   unsigned char *png = stbi_write_png_to_mem((const unsigned char *) data, stride_bytes, x, y, comp, &amp;len);\n   if (png == NULL) return 0;\n   func(context, png, len);\n   STBIW_FREE(png);\n   return 1;\n}\n\n\n/* ***************************************************************************\n *\n * JPEG writer\n *\n * This is based on Jon Olick's jo_jpeg.cpp:\n * public domain Simple, Minimalistic JPEG writer - http://www.jonolick.com/code.html\n */\n\nstatic const unsigned char stbiw__jpg_ZigZag[] = { 0,1,5,6,14,15,27,28,2,4,7,13,16,26,29,42,3,8,12,17,25,30,41,43,9,11,18,\n      24,31,40,44,53,10,19,23,32,39,45,52,54,20,22,33,38,46,51,55,60,21,34,37,47,50,56,59,61,35,36,48,49,57,58,62,63 };\n\nstatic void stbiw__jpg_writeBits(stbi__write_context *s, int *bitBufP, int *bitCntP, const unsigned short *bs) {\n   int bitBuf = *bitBufP, bitCnt = *bitCntP;\n   bitCnt += bs[1];\n   bitBuf |= bs[0] &lt;&lt; (24 - bitCnt);\n   while(bitCnt &gt;= 8) {\n      unsigned char c = (bitBuf &gt;&gt; 16) &amp; 255;\n      stbiw__putc(s, c);\n      if(c == 255) {\n         stbiw__putc(s, 0);\n      }\n      bitBuf &lt;&lt;= 8;\n      bitCnt -= 8;\n   }\n   *bitBufP = bitBuf;\n   *bitCntP = bitCnt;\n}\n\nstatic void stbiw__jpg_DCT(float *d0p, float *d1p, float *d2p, float *d3p, float *d4p, float *d5p, float *d6p, float *d7p) {\n   float d0 = *d0p, d1 = *d1p, d2 = *d2p, d3 = *d3p, d4 = *d4p, d5 = *d5p, d6 = *d6p, d7 = *d7p;\n   float z1, z2, z3, z4, z5, z11, z13;\n\n   float tmp0 = d0 + d7;\n   float tmp7 = d0 - d7;\n   float tmp1 = d1 + d6;\n   float tmp6 = d1 - d6;\n   float tmp2 = d2 + d5;\n   float tmp5 = d2 - d5;\n   float tmp3 = d3 + d4;\n   float tmp4 = d3 - d4;\n\n   // Even part\n   float tmp10 = tmp0 + tmp3;   // phase 2\n   float tmp13 = tmp0 - tmp3;\n   float tmp11 = tmp1 + tmp2;\n   float tmp12 = tmp1 - tmp2;\n\n   d0 = tmp10 + tmp11;       // phase 3\n   d4 = tmp10 - tmp11;\n\n   z1 = (tmp12 + tmp13) * 0.707106781f; // c4\n   d2 = tmp13 + z1;       // phase 5\n   d6 = tmp13 - z1;\n\n   // Odd part\n   tmp10 = tmp4 + tmp5;       // phase 2\n   tmp11 = tmp5 + tmp6;\n   tmp12 = tmp6 + tmp7;\n\n   // The rotator is modified from fig 4-8 to avoid extra negations.\n   z5 = (tmp10 - tmp12) * 0.382683433f; // c6\n   z2 = tmp10 * 0.541196100f + z5; // c2-c6\n   z4 = tmp12 * 1.306562965f + z5; // c2+c6\n   z3 = tmp11 * 0.707106781f; // c4\n\n   z11 = tmp7 + z3;      // phase 5\n   z13 = tmp7 - z3;\n\n   *d5p = z13 + z2;         // phase 6\n   *d3p = z13 - z2;\n   *d1p = z11 + z4;\n   *d7p = z11 - z4;\n\n   *d0p = d0;  *d2p = d2;  *d4p = d4;  *d6p = d6;\n}\n\nstatic void stbiw__jpg_calcBits(int val, unsigned short bits[2]) {\n   int tmp1 = val &lt; 0 ? -val : val;\n   val = val &lt; 0 ? val-1 : val;\n   bits[1] = 1;\n   while(tmp1 &gt;&gt;= 1) {\n      ++bits[1];\n   }\n   bits[0] = val &amp; ((1&lt;&lt;bits[1])-1);\n}\n\nstatic int stbiw__jpg_processDU(stbi__write_context *s, int *bitBuf, int *bitCnt, float *CDU, float *fdtbl, int DC, const unsigned short HTDC[256][2], const unsigned short HTAC[256][2]) {\n   const unsigned short EOB[2] = { HTAC[0x00][0], HTAC[0x00][1] };\n   const unsigned short M16zeroes[2] = { HTAC[0xF0][0], HTAC[0xF0][1] };\n   int dataOff, i, diff, end0pos;\n   int DU[64];\n\n   // DCT rows\n   for(dataOff=0; dataOff&lt;64; dataOff+=8) {\n      stbiw__jpg_DCT(&amp;CDU[dataOff], &amp;CDU[dataOff+1], &amp;CDU[dataOff+2], &amp;CDU[dataOff+3], &amp;CDU[dataOff+4], &amp;CDU[dataOff+5], &amp;CDU[dataOff+6], &amp;CDU[dataOff+7]);\n   }\n   // DCT columns\n   for(dataOff=0; dataOff&lt;8; ++dataOff) {\n      stbiw__jpg_DCT(&amp;CDU[dataOff], &amp;CDU[dataOff+8], &amp;CDU[dataOff+16], &amp;CDU[dataOff+24], &amp;CDU[dataOff+32], &amp;CDU[dataOff+40], &amp;CDU[dataOff+48], &amp;CDU[dataOff+56]);\n   }\n   // Quantize/descale/zigzag the coefficients\n   for(i=0; i&lt;64; ++i) {\n      float v = CDU[i]*fdtbl[i];\n      // DU[stbiw__jpg_ZigZag[i]] = (int)(v &lt; 0 ? ceilf(v - 0.5f) : floorf(v + 0.5f));\n      // ceilf() and floorf() are C99, not C89, but I /think/ they're not needed here anyway?\n      DU[stbiw__jpg_ZigZag[i]] = (int)(v &lt; 0 ? v - 0.5f : v + 0.5f);\n   }\n\n   // Encode DC\n   diff = DU[0] - DC;\n   if (diff == 0) {\n      stbiw__jpg_writeBits(s, bitBuf, bitCnt, HTDC[0]);\n   } else {\n      unsigned short bits[2];\n      stbiw__jpg_calcBits(diff, bits);\n      stbiw__jpg_writeBits(s, bitBuf, bitCnt, HTDC[bits[1]]);\n      stbiw__jpg_writeBits(s, bitBuf, bitCnt, bits);\n   }\n   // Encode ACs\n   end0pos = 63;\n   for(; (end0pos&gt;0)&amp;&amp;(DU[end0pos]==0); --end0pos) {\n   }\n   // end0pos = first element in reverse order !=0\n   if(end0pos == 0) {\n      stbiw__jpg_writeBits(s, bitBuf, bitCnt, EOB);\n      return DU[0];\n   }\n   for(i = 1; i &lt;= end0pos; ++i) {\n      int startpos = i;\n      int nrzeroes;\n      unsigned short bits[2];\n      for (; DU[i]==0 &amp;&amp; i&lt;=end0pos; ++i) {\n      }\n      nrzeroes = i-startpos;\n      if ( nrzeroes &gt;= 16 ) {\n         int lng = nrzeroes&gt;&gt;4;\n         int nrmarker;\n         for (nrmarker=1; nrmarker &lt;= lng; ++nrmarker)\n            stbiw__jpg_writeBits(s, bitBuf, bitCnt, M16zeroes);\n         nrzeroes &amp;= 15;\n      }\n      stbiw__jpg_calcBits(DU[i], bits);\n      stbiw__jpg_writeBits(s, bitBuf, bitCnt, HTAC[(nrzeroes&lt;&lt;4)+bits[1]]);\n      stbiw__jpg_writeBits(s, bitBuf, bitCnt, bits);\n   }\n   if(end0pos != 63) {\n      stbiw__jpg_writeBits(s, bitBuf, bitCnt, EOB);\n   }\n   return DU[0];\n}\n\nstatic int stbi_write_jpg_core(stbi__write_context *s, int width, int height, int comp, const void* data, int quality) {\n   // Constants that don't pollute global namespace\n   static const unsigned char std_dc_luminance_nrcodes[] = {0,0,1,5,1,1,1,1,1,1,0,0,0,0,0,0,0};\n   static const unsigned char std_dc_luminance_values[] = {0,1,2,3,4,5,6,7,8,9,10,11};\n   static const unsigned char std_ac_luminance_nrcodes[] = {0,0,2,1,3,3,2,4,3,5,5,4,4,0,0,1,0x7d};\n   static const unsigned char std_ac_luminance_values[] = {\n      0x01,0x02,0x03,0x00,0x04,0x11,0x05,0x12,0x21,0x31,0x41,0x06,0x13,0x51,0x61,0x07,0x22,0x71,0x14,0x32,0x81,0x91,0xa1,0x08,\n      0x23,0x42,0xb1,0xc1,0x15,0x52,0xd1,0xf0,0x24,0x33,0x62,0x72,0x82,0x09,0x0a,0x16,0x17,0x18,0x19,0x1a,0x25,0x26,0x27,0x28,\n      0x29,0x2a,0x34,0x35,0x36,0x37,0x38,0x39,0x3a,0x43,0x44,0x45,0x46,0x47,0x48,0x49,0x4a,0x53,0x54,0x55,0x56,0x57,0x58,0x59,\n      0x5a,0x63,0x64,0x65,0x66,0x67,0x68,0x69,0x6a,0x73,0x74,0x75,0x76,0x77,0x78,0x79,0x7a,0x83,0x84,0x85,0x86,0x87,0x88,0x89,\n      0x8a,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9a,0xa2,0xa3,0xa4,0xa5,0xa6,0xa7,0xa8,0xa9,0xaa,0xb2,0xb3,0xb4,0xb5,0xb6,\n      0xb7,0xb8,0xb9,0xba,0xc2,0xc3,0xc4,0xc5,0xc6,0xc7,0xc8,0xc9,0xca,0xd2,0xd3,0xd4,0xd5,0xd6,0xd7,0xd8,0xd9,0xda,0xe1,0xe2,\n      0xe3,0xe4,0xe5,0xe6,0xe7,0xe8,0xe9,0xea,0xf1,0xf2,0xf3,0xf4,0xf5,0xf6,0xf7,0xf8,0xf9,0xfa\n   };\n   static const unsigned char std_dc_chrominance_nrcodes[] = {0,0,3,1,1,1,1,1,1,1,1,1,0,0,0,0,0};\n   static const unsigned char std_dc_chrominance_values[] = {0,1,2,3,4,5,6,7,8,9,10,11};\n   static const unsigned char std_ac_chrominance_nrcodes[] = {0,0,2,1,2,4,4,3,4,7,5,4,4,0,1,2,0x77};\n   static const unsigned char std_ac_chrominance_values[] = {\n      0x00,0x01,0x02,0x03,0x11,0x04,0x05,0x21,0x31,0x06,0x12,0x41,0x51,0x07,0x61,0x71,0x13,0x22,0x32,0x81,0x08,0x14,0x42,0x91,\n      0xa1,0xb1,0xc1,0x09,0x23,0x33,0x52,0xf0,0x15,0x62,0x72,0xd1,0x0a,0x16,0x24,0x34,0xe1,0x25,0xf1,0x17,0x18,0x19,0x1a,0x26,\n      0x27,0x28,0x29,0x2a,0x35,0x36,0x37,0x38,0x39,0x3a,0x43,0x44,0x45,0x46,0x47,0x48,0x49,0x4a,0x53,0x54,0x55,0x56,0x57,0x58,\n      0x59,0x5a,0x63,0x64,0x65,0x66,0x67,0x68,0x69,0x6a,0x73,0x74,0x75,0x76,0x77,0x78,0x79,0x7a,0x82,0x83,0x84,0x85,0x86,0x87,\n      0x88,0x89,0x8a,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9a,0xa2,0xa3,0xa4,0xa5,0xa6,0xa7,0xa8,0xa9,0xaa,0xb2,0xb3,0xb4,\n      0xb5,0xb6,0xb7,0xb8,0xb9,0xba,0xc2,0xc3,0xc4,0xc5,0xc6,0xc7,0xc8,0xc9,0xca,0xd2,0xd3,0xd4,0xd5,0xd6,0xd7,0xd8,0xd9,0xda,\n      0xe2,0xe3,0xe4,0xe5,0xe6,0xe7,0xe8,0xe9,0xea,0xf2,0xf3,0xf4,0xf5,0xf6,0xf7,0xf8,0xf9,0xfa\n   };\n   // Huffman tables\n   static const unsigned short YDC_HT[256][2] = { {0,2},{2,3},{3,3},{4,3},{5,3},{6,3},{14,4},{30,5},{62,6},{126,7},{254,8},{510,9}};\n   static const unsigned short UVDC_HT[256][2] = { {0,2},{1,2},{2,2},{6,3},{14,4},{30,5},{62,6},{126,7},{254,8},{510,9},{1022,10},{2046,11}};\n   static const unsigned short YAC_HT[256][2] = {\n      {10,4},{0,2},{1,2},{4,3},{11,4},{26,5},{120,7},{248,8},{1014,10},{65410,16},{65411,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {12,4},{27,5},{121,7},{502,9},{2038,11},{65412,16},{65413,16},{65414,16},{65415,16},{65416,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {28,5},{249,8},{1015,10},{4084,12},{65417,16},{65418,16},{65419,16},{65420,16},{65421,16},{65422,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {58,6},{503,9},{4085,12},{65423,16},{65424,16},{65425,16},{65426,16},{65427,16},{65428,16},{65429,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {59,6},{1016,10},{65430,16},{65431,16},{65432,16},{65433,16},{65434,16},{65435,16},{65436,16},{65437,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {122,7},{2039,11},{65438,16},{65439,16},{65440,16},{65441,16},{65442,16},{65443,16},{65444,16},{65445,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {123,7},{4086,12},{65446,16},{65447,16},{65448,16},{65449,16},{65450,16},{65451,16},{65452,16},{65453,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {250,8},{4087,12},{65454,16},{65455,16},{65456,16},{65457,16},{65458,16},{65459,16},{65460,16},{65461,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {504,9},{32704,15},{65462,16},{65463,16},{65464,16},{65465,16},{65466,16},{65467,16},{65468,16},{65469,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {505,9},{65470,16},{65471,16},{65472,16},{65473,16},{65474,16},{65475,16},{65476,16},{65477,16},{65478,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {506,9},{65479,16},{65480,16},{65481,16},{65482,16},{65483,16},{65484,16},{65485,16},{65486,16},{65487,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {1017,10},{65488,16},{65489,16},{65490,16},{65491,16},{65492,16},{65493,16},{65494,16},{65495,16},{65496,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {1018,10},{65497,16},{65498,16},{65499,16},{65500,16},{65501,16},{65502,16},{65503,16},{65504,16},{65505,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {2040,11},{65506,16},{65507,16},{65508,16},{65509,16},{65510,16},{65511,16},{65512,16},{65513,16},{65514,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {65515,16},{65516,16},{65517,16},{65518,16},{65519,16},{65520,16},{65521,16},{65522,16},{65523,16},{65524,16},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {2041,11},{65525,16},{65526,16},{65527,16},{65528,16},{65529,16},{65530,16},{65531,16},{65532,16},{65533,16},{65534,16},{0,0},{0,0},{0,0},{0,0},{0,0}\n   };\n   static const unsigned short UVAC_HT[256][2] = {\n      {0,2},{1,2},{4,3},{10,4},{24,5},{25,5},{56,6},{120,7},{500,9},{1014,10},{4084,12},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {11,4},{57,6},{246,8},{501,9},{2038,11},{4085,12},{65416,16},{65417,16},{65418,16},{65419,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {26,5},{247,8},{1015,10},{4086,12},{32706,15},{65420,16},{65421,16},{65422,16},{65423,16},{65424,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {27,5},{248,8},{1016,10},{4087,12},{65425,16},{65426,16},{65427,16},{65428,16},{65429,16},{65430,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {58,6},{502,9},{65431,16},{65432,16},{65433,16},{65434,16},{65435,16},{65436,16},{65437,16},{65438,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {59,6},{1017,10},{65439,16},{65440,16},{65441,16},{65442,16},{65443,16},{65444,16},{65445,16},{65446,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {121,7},{2039,11},{65447,16},{65448,16},{65449,16},{65450,16},{65451,16},{65452,16},{65453,16},{65454,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {122,7},{2040,11},{65455,16},{65456,16},{65457,16},{65458,16},{65459,16},{65460,16},{65461,16},{65462,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {249,8},{65463,16},{65464,16},{65465,16},{65466,16},{65467,16},{65468,16},{65469,16},{65470,16},{65471,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {503,9},{65472,16},{65473,16},{65474,16},{65475,16},{65476,16},{65477,16},{65478,16},{65479,16},{65480,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {504,9},{65481,16},{65482,16},{65483,16},{65484,16},{65485,16},{65486,16},{65487,16},{65488,16},{65489,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {505,9},{65490,16},{65491,16},{65492,16},{65493,16},{65494,16},{65495,16},{65496,16},{65497,16},{65498,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {506,9},{65499,16},{65500,16},{65501,16},{65502,16},{65503,16},{65504,16},{65505,16},{65506,16},{65507,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {2041,11},{65508,16},{65509,16},{65510,16},{65511,16},{65512,16},{65513,16},{65514,16},{65515,16},{65516,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {16352,14},{65517,16},{65518,16},{65519,16},{65520,16},{65521,16},{65522,16},{65523,16},{65524,16},{65525,16},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {1018,10},{32707,15},{65526,16},{65527,16},{65528,16},{65529,16},{65530,16},{65531,16},{65532,16},{65533,16},{65534,16},{0,0},{0,0},{0,0},{0,0},{0,0}\n   };\n   static const int YQT[] = {16,11,10,16,24,40,51,61,12,12,14,19,26,58,60,55,14,13,16,24,40,57,69,56,14,17,22,29,51,87,80,62,18,22,\n                             37,56,68,109,103,77,24,35,55,64,81,104,113,92,49,64,78,87,103,121,120,101,72,92,95,98,112,100,103,99};\n   static const int UVQT[] = {17,18,24,47,99,99,99,99,18,21,26,66,99,99,99,99,24,26,56,99,99,99,99,99,47,66,99,99,99,99,99,99,\n                              99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99};\n   static const float aasf[] = { 1.0f * 2.828427125f, 1.387039845f * 2.828427125f, 1.306562965f * 2.828427125f, 1.175875602f * 2.828427125f, \n                                 1.0f * 2.828427125f, 0.785694958f * 2.828427125f, 0.541196100f * 2.828427125f, 0.275899379f * 2.828427125f };\n\n   int row, col, i, k;\n   float fdtbl_Y[64], fdtbl_UV[64];\n   unsigned char YTable[64], UVTable[64];\n\n   if(!data || !width || !height || comp &gt; 4 || comp &lt; 1) {\n      return 0;\n   }\n\n   quality = quality ? quality : 90;\n   quality = quality &lt; 1 ? 1 : quality &gt; 100 ? 100 : quality;\n   quality = quality &lt; 50 ? 5000 / quality : 200 - quality * 2;\n\n   for(i = 0; i &lt; 64; ++i) {\n      int uvti, yti = (YQT[i]*quality+50)/100;\n      YTable[stbiw__jpg_ZigZag[i]] = (unsigned char) (yti &lt; 1 ? 1 : yti &gt; 255 ? 255 : yti);\n      uvti = (UVQT[i]*quality+50)/100;\n      UVTable[stbiw__jpg_ZigZag[i]] = (unsigned char) (uvti &lt; 1 ? 1 : uvti &gt; 255 ? 255 : uvti);\n   }\n\n   for(row = 0, k = 0; row &lt; 8; ++row) {\n      for(col = 0; col &lt; 8; ++col, ++k) {\n         fdtbl_Y[k]  = 1 / (YTable [stbiw__jpg_ZigZag[k]] * aasf[row] * aasf[col]);\n         fdtbl_UV[k] = 1 / (UVTable[stbiw__jpg_ZigZag[k]] * aasf[row] * aasf[col]);\n      }\n   }\n\n   // Write Headers\n   {\n      static const unsigned char head0[] = { 0xFF,0xD8,0xFF,0xE0,0,0x10,'J','F','I','F',0,1,1,0,0,1,0,1,0,0,0xFF,0xDB,0,0x84,0 };\n      static const unsigned char head2[] = { 0xFF,0xDA,0,0xC,3,1,0,2,0x11,3,0x11,0,0x3F,0 };\n      const unsigned char head1[] = { 0xFF,0xC0,0,0x11,8,(unsigned char)(height&gt;&gt;8),STBIW_UCHAR(height),(unsigned char)(width&gt;&gt;8),STBIW_UCHAR(width),\n                                      3,1,0x11,0,2,0x11,1,3,0x11,1,0xFF,0xC4,0x01,0xA2,0 };\n      s-&gt;func(s-&gt;context, (void*)head0, sizeof(head0));\n      s-&gt;func(s-&gt;context, (void*)YTable, sizeof(YTable));\n      stbiw__putc(s, 1);\n      s-&gt;func(s-&gt;context, UVTable, sizeof(UVTable));\n      s-&gt;func(s-&gt;context, (void*)head1, sizeof(head1));\n      s-&gt;func(s-&gt;context, (void*)(std_dc_luminance_nrcodes+1), sizeof(std_dc_luminance_nrcodes)-1);\n      s-&gt;func(s-&gt;context, (void*)std_dc_luminance_values, sizeof(std_dc_luminance_values));\n      stbiw__putc(s, 0x10); // HTYACinfo\n      s-&gt;func(s-&gt;context, (void*)(std_ac_luminance_nrcodes+1), sizeof(std_ac_luminance_nrcodes)-1);\n      s-&gt;func(s-&gt;context, (void*)std_ac_luminance_values, sizeof(std_ac_luminance_values));\n      stbiw__putc(s, 1); // HTUDCinfo\n      s-&gt;func(s-&gt;context, (void*)(std_dc_chrominance_nrcodes+1), sizeof(std_dc_chrominance_nrcodes)-1);\n      s-&gt;func(s-&gt;context, (void*)std_dc_chrominance_values, sizeof(std_dc_chrominance_values));\n      stbiw__putc(s, 0x11); // HTUACinfo\n      s-&gt;func(s-&gt;context, (void*)(std_ac_chrominance_nrcodes+1), sizeof(std_ac_chrominance_nrcodes)-1);\n      s-&gt;func(s-&gt;context, (void*)std_ac_chrominance_values, sizeof(std_ac_chrominance_values));\n      s-&gt;func(s-&gt;context, (void*)head2, sizeof(head2));\n   }\n\n   // Encode 8x8 macroblocks\n   {\n      static const unsigned short fillBits[] = {0x7F, 7};\n      const unsigned char *imageData = (const unsigned char *)data;\n      int DCY=0, DCU=0, DCV=0;\n      int bitBuf=0, bitCnt=0;\n      // comp == 2 is grey+alpha (alpha is ignored)\n      int ofsG = comp &gt; 2 ? 1 : 0, ofsB = comp &gt; 2 ? 2 : 0;\n      int x, y, pos;\n      for(y = 0; y &lt; height; y += 8) {\n         for(x = 0; x &lt; width; x += 8) {\n            float YDU[64], UDU[64], VDU[64];\n            for(row = y, pos = 0; row &lt; y+8; ++row) {\n               // row &gt;= height =&gt; use last input row\n               int clamped_row = (row &lt; height) ? row : height - 1;\n               int base_p = (stbi__flip_vertically_on_write ? (height-1-clamped_row) : clamped_row)*width*comp;\n               for(col = x; col &lt; x+8; ++col, ++pos) {\n                  float r, g, b;\n                  // if col &gt;= width =&gt; use pixel from last input column\n                  int p = base_p + ((col &lt; width) ? col : (width-1))*comp;\n\n                  r = imageData[p+0];\n                  g = imageData[p+ofsG];\n                  b = imageData[p+ofsB];\n                  YDU[pos]=+0.29900f*r+0.58700f*g+0.11400f*b-128;\n                  UDU[pos]=-0.16874f*r-0.33126f*g+0.50000f*b;\n                  VDU[pos]=+0.50000f*r-0.41869f*g-0.08131f*b;\n               }\n            }\n\n            DCY = stbiw__jpg_processDU(s, &amp;bitBuf, &amp;bitCnt, YDU, fdtbl_Y, DCY, YDC_HT, YAC_HT);\n            DCU = stbiw__jpg_processDU(s, &amp;bitBuf, &amp;bitCnt, UDU, fdtbl_UV, DCU, UVDC_HT, UVAC_HT);\n            DCV = stbiw__jpg_processDU(s, &amp;bitBuf, &amp;bitCnt, VDU, fdtbl_UV, DCV, UVDC_HT, UVAC_HT);\n         }\n      }\n\n      // Do the bit alignment of the EOI marker\n      stbiw__jpg_writeBits(s, &amp;bitBuf, &amp;bitCnt, fillBits);\n   }\n\n   // EOI\n   stbiw__putc(s, 0xFF);\n   stbiw__putc(s, 0xD9);\n\n   return 1;\n}\n\nSTBIWDEF int stbi_write_jpg_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void *data, int quality)\n{\n   stbi__write_context s;\n   stbi__start_write_callbacks(&amp;s, func, context);\n   return stbi_write_jpg_core(&amp;s, x, y, comp, (void *) data, quality);\n}\n\n\n#ifndef STBI_WRITE_NO_STDIO\nSTBIWDEF int stbi_write_jpg(char const *filename, int x, int y, int comp, const void *data, int quality)\n{\n   stbi__write_context s;\n   if (stbi__start_write_file(&amp;s,filename)) {\n      int r = stbi_write_jpg_core(&amp;s, x, y, comp, data, quality);\n      stbi__end_write_file(&amp;s);\n      return r;\n   } else\n      return 0;\n}\n#endif\n\n#endif // STB_IMAGE_WRITE_IMPLEMENTATION\n\n/* Revision history\n      1.11  (2019-08-11)\n\n      1.10  (2019-02-07)\n             support utf8 filenames in Windows; fix warnings and platform ifdefs \n      1.09  (2018-02-11)\n             fix typo in zlib quality API, improve STB_I_W_STATIC in C++\n      1.08  (2018-01-29)\n             add stbi__flip_vertically_on_write, external zlib, zlib quality, choose PNG filter\n      1.07  (2017-07-24)\n             doc fix\n      1.06 (2017-07-23)\n             writing JPEG (using Jon Olick's code)\n      1.05   ???\n      1.04 (2017-03-03)\n             monochrome BMP expansion\n      1.03   ???\n      1.02 (2016-04-02)\n             avoid allocating large structures on the stack\n      1.01 (2016-01-16)\n             STBIW_REALLOC_SIZED: support allocators with no realloc support\n             avoid race-condition in crc initialization\n             minor compile issues\n      1.00 (2015-09-14)\n             installable file IO function\n      0.99 (2015-09-13)\n             warning fixes; TGA rle support\n      0.98 (2015-04-08)\n             added STBIW_MALLOC, STBIW_ASSERT etc\n      0.97 (2015-01-18)\n             fixed HDR asserts, rewrote HDR rle logic\n      0.96 (2015-01-17)\n             add HDR output\n             fix monochrome BMP\n      0.95 (2014-08-17)\n               add monochrome TGA output\n      0.94 (2014-05-31)\n             rename private functions to avoid conflicts with stb_image.h\n      0.93 (2014-05-27)\n             warning fixes\n      0.92 (2010-08-01)\n             casts to unsigned char to fix warnings\n      0.91 (2010-07-17)\n             first public release\n      0.90   first internal release\n*/\n\n/*\n------------------------------------------------------------------------------\nThis software is available under 2 licenses -- choose whichever you prefer.\n------------------------------------------------------------------------------\nALTERNATIVE A - MIT License\nCopyright (c) 2017 Sean Barrett\nPermission is hereby granted, free of charge, to any person obtaining a copy of \nthis software and associated documentation files (the \"Software\"), to deal in \nthe Software without restriction, including without limitation the rights to \nuse, copy, modify, merge, publish, distribute, sublicense, and/or sell copies \nof the Software, and to permit persons to whom the Software is furnished to do \nso, subject to the following conditions:\nThe above copyright notice and this permission notice shall be included in all \ncopies or substantial portions of the Software.\nTHE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR \nIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, \nFITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE \nAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER \nLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, \nOUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE \nSOFTWARE.\n------------------------------------------------------------------------------\nALTERNATIVE B - Public Domain (www.unlicense.org)\nThis is free and unencumbered software released into the public domain.\nAnyone is free to copy, modify, publish, use, compile, sell, or distribute this \nsoftware, either in source code form or as a compiled binary, for any purpose, \ncommercial or non-commercial, and by any means.\nIn jurisdictions that recognize copyright laws, the author or authors of this \nsoftware dedicate any and all copyright interest in the software to the public \ndomain. We make this dedication for the benefit of the public at large and to \nthe detriment of our heirs and successors. We intend this dedication to be an \novert act of relinquishment in perpetuity of all present and future rights to \nthis software under copyright law.\nTHE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR \nIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, \nFITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE \nAUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN \nACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION \nWITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.\n------------------------------------------------------------------------------\n*/\n</code></pre>"},{"location":"api/dir_087fbdcd93b501a5d3f98df93e9f8cc4/","title":"Dir robot_dart/robots","text":"<p>FileList &gt; robot_dart &gt; robots</p>"},{"location":"api/dir_087fbdcd93b501a5d3f98df93e9f8cc4/#files","title":"Files","text":"Type Name file a1.cpp file a1.hpp file arm.hpp file franka.cpp file franka.hpp file hexapod.hpp file icub.cpp file icub.hpp file iiwa.cpp file iiwa.hpp file pendulum.hpp file talos.cpp file talos.hpp file tiago.cpp file tiago.hpp file ur3e.cpp file ur3e.hpp file vx300.hpp <p>The documentation for this class was generated from the following file <code>robot_dart/robots/</code></p>"},{"location":"api/a1_8cpp/","title":"File a1.cpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; a1.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robots/a1.hpp\"</code></li> <li><code>#include \"robot_dart/robot_dart_simu.hpp\"</code></li> </ul>"},{"location":"api/a1_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots <p>The documentation for this class was generated from the following file <code>robot_dart/robots/a1.cpp</code></p>"},{"location":"api/a1_8cpp_source/","title":"File a1.cpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; a1.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"robot_dart/robots/a1.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        A1::A1(size_t frequency, const std::string&amp; urdf, const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages)\n            : Robot(urdf, packages),\n              _imu(std::make_shared&lt;sensor::IMU&gt;(sensor::IMUConfig(body_node(\"imu_link\"), frequency)))\n        {\n            set_color_mode(\"material\");\n            set_self_collision(true);\n            set_position_enforced(true);\n\n            // put above ground\n            set_base_pose(robot_dart::make_vector({0., 0., 0., 0., 0., 0.5}));\n\n            // standing pose\n            auto names = dof_names(true, true, true);\n            names = std::vector&lt;std::string&gt;(names.begin() + 6, names.end());\n            set_positions(robot_dart::make_vector({0.0, 0.67, -1.3, -0.0, 0.67, -1.3, 0.0, 0.67, -1.3, -0.0, 0.67, -1.3}), names);\n        }\n\n        void A1::reset()\n        {\n            Robot::reset();\n\n            // put above ground\n            set_base_pose(robot_dart::make_vector({0., 0., 0., 0., 0., 0.5}));\n\n            // standing pose\n            auto names = dof_names(true, true, true);\n            names = std::vector&lt;std::string&gt;(names.begin() + 6, names.end());\n            set_positions(robot_dart::make_vector({0.0, 0.67, -1.3, -0.0, 0.67, -1.3, 0.0, 0.67, -1.3, -0.0, 0.67, -1.3}), names);\n        }\n    } // namespace robots\n} // namespace robot_dart\n</code></pre>"},{"location":"api/a1_8hpp/","title":"File a1.hpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; a1.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robot.hpp\"</code></li> <li><code>#include \"robot_dart/sensor/imu.hpp\"</code></li> </ul>"},{"location":"api/a1_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots"},{"location":"api/a1_8hpp/#classes","title":"Classes","text":"Type Name class A1 <p>The documentation for this class was generated from the following file <code>robot_dart/robots/a1.hpp</code></p>"},{"location":"api/a1_8hpp_source/","title":"File a1.hpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; a1.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_ROBOTS_A1_HPP\n#define ROBOT_DART_ROBOTS_A1_HPP\n\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/sensor/imu.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        class A1 : public Robot {\n        public:\n            A1(size_t frequency = 1000, const std::string&amp; urdf = \"unitree_a1/a1.urdf\", const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages = ('a1_description', 'unitree_a1/a1_description'));\n\n            void reset() override;\n\n            const sensor::IMU&amp; imu() const { return *_imu; }\n\n        protected:\n            std::shared_ptr&lt;sensor::IMU&gt; _imu;\n        };\n    } // namespace robots\n} // namespace robot_dart\n#endif\n</code></pre>"},{"location":"api/arm_8hpp/","title":"File arm.hpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; arm.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robot.hpp\"</code></li> </ul>"},{"location":"api/arm_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots"},{"location":"api/arm_8hpp/#classes","title":"Classes","text":"Type Name class Arm <p>The documentation for this class was generated from the following file <code>robot_dart/robots/arm.hpp</code></p>"},{"location":"api/arm_8hpp_source/","title":"File arm.hpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; arm.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_ROBOTS_ARM_HPP\n#define ROBOT_DART_ROBOTS_ARM_HPP\n\n#include \"robot_dart/robot.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        class Arm : public Robot {\n        public:\n            Arm(const std::string&amp; urdf = \"arm.urdf\") : Robot(urdf)\n            {\n                fix_to_world();\n                set_position_enforced(true);\n            }\n        };\n    } // namespace robots\n} // namespace robot_dart\n#endif\n</code></pre>"},{"location":"api/franka_8cpp/","title":"File franka.cpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; franka.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robots/franka.hpp\"</code></li> <li><code>#include \"robot_dart/robot_dart_simu.hpp\"</code></li> </ul>"},{"location":"api/franka_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots <p>The documentation for this class was generated from the following file <code>robot_dart/robots/franka.cpp</code></p>"},{"location":"api/franka_8cpp_source/","title":"File franka.cpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; franka.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"robot_dart/robots/franka.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        Franka::Franka(size_t frequency, const std::string&amp; urdf, const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages)\n            : Robot(urdf, packages),\n              _ft_wrist(std::make_shared&lt;sensor::ForceTorque&gt;(joint(\"panda_link7\"), frequency))\n        {\n            fix_to_world();\n            set_position_enforced(true);\n            set_color_mode(\"material\");\n        }\n\n        void Franka::_post_addition(RobotDARTSimu* simu)\n        {\n            // We do not want to add sensors if we are a ghost robot\n            if (ghost())\n                return;\n            simu-&gt;add_sensor(_ft_wrist);\n        }\n\n        void Franka::_post_removal(RobotDARTSimu* simu)\n        {\n            simu-&gt;remove_sensor(_ft_wrist);\n        }\n    } // namespace robots\n} // namespace robot_dart\n</code></pre>"},{"location":"api/franka_8hpp/","title":"File franka.hpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; franka.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robot.hpp\"</code></li> <li><code>#include \"robot_dart/sensor/force_torque.hpp\"</code></li> </ul>"},{"location":"api/franka_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots"},{"location":"api/franka_8hpp/#classes","title":"Classes","text":"Type Name class Franka <p>The documentation for this class was generated from the following file <code>robot_dart/robots/franka.hpp</code></p>"},{"location":"api/franka_8hpp_source/","title":"File franka.hpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; franka.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_ROBOTS_FRANKA_HPP\n#define ROBOT_DART_ROBOTS_FRANKA_HPP\n\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/sensor/force_torque.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        class Franka : public Robot {\n        public:\n            Franka(size_t frequency = 1000, const std::string&amp; urdf = \"franka/franka.urdf\", const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages = ('franka_description', 'franka/franka_description'));\n\n            const sensor::ForceTorque&amp; ft_wrist() const { return *_ft_wrist; }\n\n        protected:\n            std::shared_ptr&lt;sensor::ForceTorque&gt; _ft_wrist;\n            void _post_addition(RobotDARTSimu* simu) override;\n            void _post_removal(RobotDARTSimu* simu) override;\n        };\n    } // namespace robots\n} // namespace robot_dart\n#endif\n</code></pre>"},{"location":"api/hexapod_8hpp/","title":"File hexapod.hpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; hexapod.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robot.hpp\"</code></li> </ul>"},{"location":"api/hexapod_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots"},{"location":"api/hexapod_8hpp/#classes","title":"Classes","text":"Type Name class Hexapod <p>The documentation for this class was generated from the following file <code>robot_dart/robots/hexapod.hpp</code></p>"},{"location":"api/hexapod_8hpp_source/","title":"File hexapod.hpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; hexapod.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_ROBOTS_HEXAPOD_HPP\n#define ROBOT_DART_ROBOTS_HEXAPOD_HPP\n\n#include \"robot_dart/robot.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        class Hexapod : public Robot {\n        public:\n            Hexapod(const std::string&amp; urdf = \"pexod.urdf\") : Robot(urdf)\n            {\n                set_position_enforced(true);\n                skeleton()-&gt;enableSelfCollisionCheck();\n                set_base_pose(robot_dart::make_vector({0., 0., 0., 0., 0., 0.2}));\n            }\n\n            void reset() override\n            {\n                Robot::reset();\n                set_base_pose(robot_dart::make_vector({0., 0., 0., 0., 0., 0.2}));\n            }\n        };\n    } // namespace robots\n} // namespace robot_dart\n#endif\n</code></pre>"},{"location":"api/icub_8cpp/","title":"File icub.cpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; icub.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robots/icub.hpp\"</code></li> <li><code>#include \"robot_dart/robot_dart_simu.hpp\"</code></li> </ul>"},{"location":"api/icub_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots <p>The documentation for this class was generated from the following file <code>robot_dart/robots/icub.cpp</code></p>"},{"location":"api/icub_8cpp_source/","title":"File icub.cpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; icub.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"robot_dart/robots/icub.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        ICub::ICub(size_t frequency, const std::string&amp; urdf, const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages)\n            : Robot(urdf, packages),\n              _imu(std::make_shared&lt;sensor::IMU&gt;(sensor::IMUConfig(body_node(\"head\"), frequency))),\n              _ft_foot_left(std::make_shared&lt;sensor::ForceTorque&gt;(joint(\"l_ankle_roll\"), frequency)),\n              _ft_foot_right(std::make_shared&lt;sensor::ForceTorque&gt;(joint(\"r_ankle_roll\"), frequency))\n        {\n            set_color_mode(\"material\");\n\n            set_position_enforced(true);\n\n            // position iCub\n            set_base_pose(robot_dart::make_vector({0., 0., M_PI / 2., 0., 0., 0.46}));\n        }\n\n        void ICub::reset()\n        {\n            Robot::reset();\n\n            // position iCub\n            set_base_pose(robot_dart::make_vector({0., 0., M_PI / 2., 0., 0., 0.46}));\n        }\n\n        void ICub::_post_addition(RobotDARTSimu* simu)\n        {\n            // We do not want to add sensors if we are a ghost robot\n            if (ghost())\n                return;\n            simu-&gt;add_sensor(_imu);\n            simu-&gt;add_sensor(_ft_foot_left);\n            simu-&gt;add_sensor(_ft_foot_right);\n        }\n\n        void ICub::_post_removal(RobotDARTSimu* simu)\n        {\n            simu-&gt;remove_sensor(_imu);\n            simu-&gt;remove_sensor(_ft_foot_left);\n            simu-&gt;remove_sensor(_ft_foot_right);\n        }\n    } // namespace robots\n} // namespace robot_dart\n</code></pre>"},{"location":"api/icub_8hpp/","title":"File icub.hpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; icub.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robot.hpp\"</code></li> <li><code>#include \"robot_dart/sensor/force_torque.hpp\"</code></li> <li><code>#include \"robot_dart/sensor/imu.hpp\"</code></li> </ul>"},{"location":"api/icub_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots"},{"location":"api/icub_8hpp/#classes","title":"Classes","text":"Type Name class ICub <p>The documentation for this class was generated from the following file <code>robot_dart/robots/icub.hpp</code></p>"},{"location":"api/icub_8hpp_source/","title":"File icub.hpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; icub.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_ROBOTS_ICUB_HPP\n#define ROBOT_DART_ROBOTS_ICUB_HPP\n\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/sensor/force_torque.hpp\"\n#include \"robot_dart/sensor/imu.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        class ICub : public Robot {\n        public:\n            ICub(size_t frequency = 1000, const std::string&amp; urdf = \"icub/icub.urdf\", const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages = ('icub_description', 'icub/icub_description'));\n\n            void reset() override;\n\n            const sensor::IMU&amp; imu() const { return *_imu; }\n            const sensor::ForceTorque&amp; ft_foot_left() const { return *_ft_foot_left; }\n            const sensor::ForceTorque&amp; ft_foot_right() const { return *_ft_foot_right; }\n\n        protected:\n            std::shared_ptr&lt;sensor::IMU&gt; _imu;\n            std::shared_ptr&lt;sensor::ForceTorque&gt; _ft_foot_left;\n            std::shared_ptr&lt;sensor::ForceTorque&gt; _ft_foot_right;\n\n            void _post_addition(RobotDARTSimu* simu) override;\n            void _post_removal(RobotDARTSimu* simu) override;\n        };\n    } // namespace robots\n} // namespace robot_dart\n#endif\n</code></pre>"},{"location":"api/iiwa_8cpp/","title":"File iiwa.cpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; iiwa.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robots/iiwa.hpp\"</code></li> <li><code>#include \"robot_dart/robot_dart_simu.hpp\"</code></li> </ul>"},{"location":"api/iiwa_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots <p>The documentation for this class was generated from the following file <code>robot_dart/robots/iiwa.cpp</code></p>"},{"location":"api/iiwa_8cpp_source/","title":"File iiwa.cpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; iiwa.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"robot_dart/robots/iiwa.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        Iiwa::Iiwa(size_t frequency, const std::string&amp; urdf, const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages)\n            : Robot(urdf, packages),\n              _ft_wrist(std::make_shared&lt;sensor::ForceTorque&gt;(joint(\"iiwa_joint_ee\"), frequency))\n        {\n            fix_to_world();\n            set_position_enforced(true);\n        }\n\n        void Iiwa::_post_addition(RobotDARTSimu* simu)\n        {\n            // We do not want to add sensors if we are a ghost robot\n            if (ghost())\n                return;\n            simu-&gt;add_sensor(_ft_wrist);\n        }\n\n        void Iiwa::_post_removal(RobotDARTSimu* simu)\n        {\n            simu-&gt;remove_sensor(_ft_wrist);\n        }\n    } // namespace robots\n} // namespace robot_dart\n</code></pre>"},{"location":"api/iiwa_8hpp/","title":"File iiwa.hpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; iiwa.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robot.hpp\"</code></li> <li><code>#include \"robot_dart/sensor/force_torque.hpp\"</code></li> </ul>"},{"location":"api/iiwa_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots"},{"location":"api/iiwa_8hpp/#classes","title":"Classes","text":"Type Name class Iiwa <p>The documentation for this class was generated from the following file <code>robot_dart/robots/iiwa.hpp</code></p>"},{"location":"api/iiwa_8hpp_source/","title":"File iiwa.hpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; iiwa.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_ROBOTS_IIWA_HPP\n#define ROBOT_DART_ROBOTS_IIWA_HPP\n\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/sensor/force_torque.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        class Iiwa : public Robot {\n        public:\n            Iiwa(size_t frequency = 1000, const std::string&amp; urdf = \"iiwa/iiwa.urdf\", const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages = ('iiwa_description', 'iiwa/iiwa_description'));\n\n            const sensor::ForceTorque&amp; ft_wrist() const { return *_ft_wrist; }\n\n        protected:\n            std::shared_ptr&lt;sensor::ForceTorque&gt; _ft_wrist;\n            void _post_addition(RobotDARTSimu* simu) override;\n            void _post_removal(RobotDARTSimu* simu) override;\n        };\n    } // namespace robots\n} // namespace robot_dart\n#endif\n</code></pre>"},{"location":"api/pendulum_8hpp/","title":"File pendulum.hpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; pendulum.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robot.hpp\"</code></li> </ul>"},{"location":"api/pendulum_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots"},{"location":"api/pendulum_8hpp/#classes","title":"Classes","text":"Type Name class Pendulum <p>The documentation for this class was generated from the following file <code>robot_dart/robots/pendulum.hpp</code></p>"},{"location":"api/pendulum_8hpp_source/","title":"File pendulum.hpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; pendulum.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_ROBOTS_PENDULUM_HPP\n#define ROBOT_DART_ROBOTS_PENDULUM_HPP\n\n#include \"robot_dart/robot.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        class Pendulum : public Robot {\n        public:\n            Pendulum(const std::string&amp; urdf = \"pendulum.urdf\") : Robot(urdf)\n            {\n                fix_to_world();\n                set_position_enforced(true);\n                set_positions(robot_dart::make_vector({M_PI}));\n            }\n        };\n    } // namespace robots\n} // namespace robot_dart\n#endif\n</code></pre>"},{"location":"api/talos_8cpp/","title":"File talos.cpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; talos.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robots/talos.hpp\"</code></li> <li><code>#include \"robot_dart/robot_dart_simu.hpp\"</code></li> </ul>"},{"location":"api/talos_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots <p>The documentation for this class was generated from the following file <code>robot_dart/robots/talos.cpp</code></p>"},{"location":"api/talos_8cpp_source/","title":"File talos.cpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; talos.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"robot_dart/robots/talos.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        Talos::Talos(size_t frequency, const std::string&amp; urdf, const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages)\n            : Robot(urdf, packages),\n              _imu(std::make_shared&lt;sensor::IMU&gt;(sensor::IMUConfig(body_node(\"imu_link\"), frequency))),\n              _ft_foot_left(std::make_shared&lt;sensor::ForceTorque&gt;(joint(\"leg_left_6_joint\"), frequency, \"parent_to_child\")),\n              _ft_foot_right(std::make_shared&lt;sensor::ForceTorque&gt;(joint(\"leg_right_6_joint\"), frequency, \"parent_to_child\")),\n              _ft_wrist_left(std::make_shared&lt;sensor::ForceTorque&gt;(joint(\"wrist_left_ft_joint\"), frequency, \"parent_to_child\")),\n              _ft_wrist_right(std::make_shared&lt;sensor::ForceTorque&gt;(joint(\"wrist_right_ft_joint\"), frequency, \"parent_to_child\")),\n              _frequency(frequency)\n        {\n            // use position/torque limits\n            set_position_enforced(true);\n\n            // position Talos\n            set_base_pose(robot_dart::make_vector({0., 0., M_PI / 2., 0., 0., 1.1}));\n        }\n\n        void Talos::reset()\n        {\n            Robot::reset();\n\n            // position Talos\n            set_base_pose(robot_dart::make_vector({0., 0., M_PI / 2., 0., 0., 1.1}));\n        }\n\n        void Talos::_post_addition(RobotDARTSimu* simu)\n        {\n            // We do not want to add sensors if we are a ghost robot\n            if (ghost())\n                return;\n            simu-&gt;add_sensor(_imu);\n\n            simu-&gt;add_sensor(_ft_foot_left);\n            simu-&gt;add_sensor(_ft_foot_right);\n            simu-&gt;add_sensor(_ft_wrist_left);\n            simu-&gt;add_sensor(_ft_wrist_right);\n\n            // torques sensors\n            std::vector&lt;std::string&gt; joints = {\n                // torso\n                \"torso_1_joint\",\n                \"torso_2_joint\",\n                // arm_left\n                \"arm_left_1_joint\", \"arm_left_2_joint\",\n                \"arm_left_3_joint\", \"arm_left_4_joint\",\n                // arm_right\n                \"arm_right_1_joint\", \"arm_right_2_joint\",\n                \"arm_right_3_joint\", \"arm_right_4_joint\",\n                // leg_left\n                \"leg_left_1_joint\", \"leg_left_2_joint\", \"leg_left_3_joint\",\n                \"leg_left_4_joint\", \"leg_left_5_joint\", \"leg_left_6_joint\",\n                // leg_right\n                \"leg_right_1_joint\", \"leg_right_2_joint\", \"leg_right_3_joint\",\n                \"leg_right_4_joint\", \"leg_right_5_joint\", \"leg_right_6_joint\"\n\n            };\n            for (auto&amp; s : joints) {\n                auto t = std::make_shared&lt;sensor::Torque&gt;(joint(s), _frequency);\n                _torques[s] = t;\n                simu-&gt;add_sensor(t);\n            }\n        }\n\n        void Talos::_post_removal(RobotDARTSimu* simu)\n        {\n            simu-&gt;remove_sensor(_imu);\n\n            simu-&gt;remove_sensor(_ft_foot_left);\n            simu-&gt;remove_sensor(_ft_foot_right);\n            simu-&gt;remove_sensor(_ft_wrist_left);\n            simu-&gt;remove_sensor(_ft_wrist_right);\n\n            for (auto&amp; t : _torques) {\n                simu-&gt;remove_sensor(t.second);\n            }\n        }\n\n        void TalosFastCollision::_post_addition(RobotDARTSimu* simu)\n        {\n            Talos::_post_addition(simu);\n            auto vec = TalosFastCollision::collision_vec();\n            for (auto&amp; t : vec) {\n                simu-&gt;set_collision_masks(simu-&gt;robots().size() - 1, std::get&lt;0&gt;(t), std::get&lt;1&gt;(t), std::get&lt;2&gt;(t));\n            }\n        }\n\n        std::vector&lt;std::tuple&lt;std::string, uint32_t, uint32_t&gt;&gt; TalosFastCollision::collision_vec()\n        {\n            std::vector&lt;std::tuple&lt;std::string, uint32_t, uint32_t&gt;&gt; vec;\n            vec.push_back(std::make_tuple(\"leg_right_6_link\", 0x1, 0x1 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n            vec.push_back(std::make_tuple(\"leg_right_4_link\", 0x2, 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n            vec.push_back(std::make_tuple(\"leg_left_6_link\", 0x4, 0x1 | 0x2 | 0x4 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n            vec.push_back(std::make_tuple(\"leg_left_4_link\", 0x8, 0x1 | 0x2 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n            vec.push_back(std::make_tuple(\"leg_left_1_link\", 0x10, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x40 | 0x80 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n            vec.push_back(std::make_tuple(\"leg_left_3_link\", 0x20, 0x1 | 0x2 | 0x4 | 0x8 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n            vec.push_back(std::make_tuple(\"leg_right_1_link\", 0x40, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n            vec.push_back(std::make_tuple(\"leg_right_3_link\", 0x80, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x80 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n            vec.push_back(std::make_tuple(\"arm_left_7_link\", 0x100, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n            vec.push_back(std::make_tuple(\"arm_left_5_link\", 0x200, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n            vec.push_back(std::make_tuple(\"arm_right_7_link\", 0x400, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x400 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n            vec.push_back(std::make_tuple(\"arm_right_5_link\", 0x800, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n            vec.push_back(std::make_tuple(\"torso_2_link\", 0x1000, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x800 | 0x1000 | 0x4000 | 0x8000));\n            vec.push_back(std::make_tuple(\"base_link\", 0x2000, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x800 | 0x2000 | 0x10000));\n            vec.push_back(std::make_tuple(\"leg_right_2_link\", 0x4000, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x800 | 0x1000 | 0x4000 | 0x8000 | 0x10000));\n            vec.push_back(std::make_tuple(\"leg_left_2_link\", 0x8000, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x800 | 0x1000 | 0x4000 | 0x8000 | 0x10000));\n            vec.push_back(std::make_tuple(\"head_2_link\", 0x10000, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x800 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n            return vec;\n        }\n    } // namespace robots\n} // namespace robot_dart\n</code></pre>"},{"location":"api/talos_8hpp/","title":"File talos.hpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; talos.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robot.hpp\"</code></li> <li><code>#include \"robot_dart/sensor/force_torque.hpp\"</code></li> <li><code>#include \"robot_dart/sensor/imu.hpp\"</code></li> <li><code>#include \"robot_dart/sensor/torque.hpp\"</code></li> </ul>"},{"location":"api/talos_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots"},{"location":"api/talos_8hpp/#classes","title":"Classes","text":"Type Name class Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __ class TalosFastCollision class TalosLight <p>The documentation for this class was generated from the following file <code>robot_dart/robots/talos.hpp</code></p>"},{"location":"api/talos_8hpp_source/","title":"File talos.hpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; talos.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_ROBOTS_TALOS_HPP\n#define ROBOT_DART_ROBOTS_TALOS_HPP\n\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/sensor/force_torque.hpp\"\n#include \"robot_dart/sensor/imu.hpp\"\n#include \"robot_dart/sensor/torque.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        class Talos : public Robot {\n        public:\n            Talos(size_t frequency = 1000, const std::string&amp; urdf = \"talos/talos.urdf\", const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages = ('talos_description', 'talos/talos_description'));\n\n            void reset() override;\n\n            const sensor::IMU&amp; imu() const { return *_imu; }\n            const sensor::ForceTorque&amp; ft_foot_left() const { return *_ft_foot_left; }\n            const sensor::ForceTorque&amp; ft_foot_right() const { return *_ft_foot_right; }\n            const sensor::ForceTorque&amp; ft_wrist_left() const { return *_ft_wrist_left; }\n            const sensor::ForceTorque&amp; ft_wrist_right() const { return *_ft_wrist_right; }\n\n            using torque_map_t = std::unordered_map&lt;std::string, std::shared_ptr&lt;sensor::Torque&gt;&gt;;\n            const torque_map_t&amp; torques() const { return _torques; }\n\n        protected:\n            std::shared_ptr&lt;sensor::IMU&gt; _imu;\n            std::shared_ptr&lt;sensor::ForceTorque&gt; _ft_foot_left;\n            std::shared_ptr&lt;sensor::ForceTorque&gt; _ft_foot_right;\n            std::shared_ptr&lt;sensor::ForceTorque&gt; _ft_wrist_left;\n            std::shared_ptr&lt;sensor::ForceTorque&gt; _ft_wrist_right;\n            torque_map_t _torques;\n            size_t _frequency;\n\n            void _post_addition(RobotDARTSimu* simu) override;\n            void _post_removal(RobotDARTSimu* simu) override;\n        };\n\n        class TalosLight : public Talos {\n        public:\n            TalosLight(size_t frequency = 1000, const std::string&amp; urdf = \"talos/talos_fast.urdf\", const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages = ('talos_description', 'talos/talos_description')) : Talos(frequency, urdf, packages) {}\n        };\n\n        // for talos_fast_collision.urdf or talos_box.urdf which have simple box collision shapes\n        class TalosFastCollision : public Talos {\n        public:\n            TalosFastCollision(size_t frequency = 1000, const std::string&amp; urdf = \"talos/talos_fast_collision.urdf\", const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages = ('talos_description', 'talos/talos_description')) : Talos(frequency, urdf, packages) { set_self_collision(); }\n            static std::vector&lt;std::tuple&lt;std::string, uint32_t, uint32_t&gt;&gt; collision_vec();\n\n        protected:\n            void _post_addition(RobotDARTSimu* simu) override;\n        };\n    } // namespace robots\n} // namespace robot_dart\n#endif\n</code></pre>"},{"location":"api/tiago_8cpp/","title":"File tiago.cpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; tiago.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robots/tiago.hpp\"</code></li> <li><code>#include \"robot_dart/robot_dart_simu.hpp\"</code></li> </ul>"},{"location":"api/tiago_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots <p>The documentation for this class was generated from the following file <code>robot_dart/robots/tiago.cpp</code></p>"},{"location":"api/tiago_8cpp_source/","title":"File tiago.cpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; tiago.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"robot_dart/robots/tiago.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        Tiago::Tiago(size_t frequency, const std::string&amp; urdf, const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages)\n            : Robot(urdf, packages),\n              _ft_wrist(std::make_shared&lt;sensor::ForceTorque&gt;(joint(\"gripper_tool_joint\"), frequency))\n        {\n            set_position_enforced(true);\n            // We use servo actuators, but not for the caster joints\n            set_actuator_types(\"servo\");\n\n            // position Tiago\n            set_base_pose(robot_dart::make_vector({0., 0., M_PI / 2., 0., 0., 0.}));\n        }\n\n        void Tiago::reset()\n        {\n            Robot::reset();\n\n            // position Tiago\n            set_base_pose(robot_dart::make_vector({0., 0., M_PI / 2., 0., 0., 0.}));\n        }\n\n        void Tiago::set_actuator_types(const std::string&amp; type, const std::vector&lt;std::string&gt;&amp; joint_names, bool override_mimic, bool override_base, bool override_caster)\n        {\n            auto jt = joint_names;\n            if (!override_caster) {\n                if (joint_names.size() == 0)\n                    jt = Robot::joint_names();\n                for (const auto&amp; jnt : caster_joints()) {\n                    auto it = std::find(jt.begin(), jt.end(), jnt);\n                    if (it != jt.end()) {\n                        jt.erase(it);\n                    }\n                }\n            }\n            Robot::set_actuator_types(type, jt, override_mimic, override_base);\n        }\n\n        void Tiago::set_actuator_type(const std::string&amp; type, const std::string&amp; joint_name, bool override_mimic, bool override_base, bool override_caster)\n        {\n            set_actuator_types(type, {joint_name}, override_mimic, override_base, override_caster);\n        }\n\n        void Tiago::_post_addition(RobotDARTSimu* simu)\n        {\n            // We do not want to add sensors if we are a ghost robot\n            if (ghost())\n                return;\n            simu-&gt;add_sensor(_ft_wrist);\n        }\n\n        void Tiago::_post_removal(RobotDARTSimu* simu)\n        {\n            simu-&gt;remove_sensor(_ft_wrist);\n        }\n\n    } // namespace robots\n} // namespace robot_dart\n</code></pre>"},{"location":"api/tiago_8hpp/","title":"File tiago.hpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; tiago.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robot.hpp\"</code></li> <li><code>#include \"robot_dart/sensor/force_torque.hpp\"</code></li> </ul>"},{"location":"api/tiago_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots"},{"location":"api/tiago_8hpp/#classes","title":"Classes","text":"Type Name class Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __ <p>The documentation for this class was generated from the following file <code>robot_dart/robots/tiago.hpp</code></p>"},{"location":"api/tiago_8hpp_source/","title":"File tiago.hpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; tiago.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_ROBOTS_TIAGO_HPP\n#define ROBOT_DART_ROBOTS_TIAGO_HPP\n\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/sensor/force_torque.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        class Tiago : public Robot {\n        public:\n            Tiago(size_t frequency = 1000, const std::string&amp; urdf = \"tiago/tiago_steel.urdf\", const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages = ('tiago_description', 'tiago/tiago_description'));\n\n            void reset() override;\n\n            const sensor::ForceTorque&amp; ft_wrist() const { return *_ft_wrist; }\n\n            std::vector&lt;std::string&gt; caster_joints() const { return {\"caster_back_left_2_joint\", \"caster_back_left_1_joint\", \"caster_back_right_2_joint\", \"caster_back_right_1_joint\", \"caster_front_left_2_joint\", \"caster_front_left_1_joint\", \"caster_front_right_2_joint\", \"caster_front_right_1_joint\"}; }\n\n            void set_actuator_types(const std::string&amp; type, const std::vector&lt;std::string&gt;&amp; joint_names = {}, bool override_mimic = false, bool override_base = false, bool override_caster = false);\n            void set_actuator_type(const std::string&amp; type, const std::string&amp; joint_name, bool override_mimic = false, bool override_base = false, bool override_caster = false);\n\n        protected:\n            std::shared_ptr&lt;sensor::ForceTorque&gt; _ft_wrist;\n            void _post_addition(RobotDARTSimu* simu) override;\n            void _post_removal(RobotDARTSimu* simu) override;\n        };\n    } // namespace robots\n} // namespace robot_dart\n#endif\n</code></pre>"},{"location":"api/ur3e_8cpp/","title":"File ur3e.cpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; ur3e.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robots/ur3e.hpp\"</code></li> <li><code>#include \"robot_dart/robot_dart_simu.hpp\"</code></li> </ul>"},{"location":"api/ur3e_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots <p>The documentation for this class was generated from the following file <code>robot_dart/robots/ur3e.cpp</code></p>"},{"location":"api/ur3e_8cpp_source/","title":"File ur3e.cpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; ur3e.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"robot_dart/robots/ur3e.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        Ur3e::Ur3e(size_t frequency, const std::string&amp; urdf, const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages)\n            : Robot(urdf, packages),\n              _ft_wrist(std::make_shared&lt;sensor::ForceTorque&gt;(joint(\"wrist_3-flange\"), frequency))\n        {\n            fix_to_world();\n            set_position_enforced(true);\n            set_color_mode(\"material\");\n        }\n\n        void Ur3e::_post_addition(RobotDARTSimu* simu)\n        {\n            // We do not want to add sensors if we are a ghost robot\n            if (ghost())\n                return;\n            simu-&gt;add_sensor(_ft_wrist);\n        }\n\n        void Ur3e::_post_removal(RobotDARTSimu* simu)\n        {\n            simu-&gt;remove_sensor(_ft_wrist);\n        }\n    } // namespace robots\n} // namespace robot_dart\n</code></pre>"},{"location":"api/ur3e_8hpp/","title":"File ur3e.hpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; ur3e.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robot.hpp\"</code></li> <li><code>#include \"robot_dart/sensor/force_torque.hpp\"</code></li> </ul>"},{"location":"api/ur3e_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots"},{"location":"api/ur3e_8hpp/#classes","title":"Classes","text":"Type Name class Ur3e class Ur3eHand <p>The documentation for this class was generated from the following file <code>robot_dart/robots/ur3e.hpp</code></p>"},{"location":"api/ur3e_8hpp_source/","title":"File ur3e.hpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; ur3e.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_ROBOTS_UR3E_HPP\n#define ROBOT_DART_ROBOTS_UR3E_HPP\n\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/sensor/force_torque.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        class Ur3e : public Robot {\n        public:\n            Ur3e(size_t frequency = 1000, const std::string&amp; urdf = \"ur3e/ur3e.urdf\", const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages = ('ur3e_description', 'ur3e/ur3e_description'));\n\n            const sensor::ForceTorque&amp; ft_wrist() const { return *_ft_wrist; }\n\n        protected:\n            std::shared_ptr&lt;sensor::ForceTorque&gt; _ft_wrist;\n            void _post_addition(RobotDARTSimu* simu) override;\n            void _post_removal(RobotDARTSimu* simu) override;\n        };\n\n        class Ur3eHand : public Ur3e {\n        public:\n            Ur3eHand(size_t frequency = 1000, const std::string&amp; urdf = \"ur3e/ur3e_with_schunk_hand.urdf\", const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages = ('ur3e_description', 'ur3e/ur3e_description')) : Ur3e(frequency, urdf, packages) {}\n        };\n    } // namespace robots\n} // namespace robot_dart\n#endif\n</code></pre>"},{"location":"api/vx300_8hpp/","title":"File vx300.hpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; vx300.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robot.hpp\"</code></li> </ul>"},{"location":"api/vx300_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots"},{"location":"api/vx300_8hpp/#classes","title":"Classes","text":"Type Name class Vx300 <p>The documentation for this class was generated from the following file <code>robot_dart/robots/vx300.hpp</code></p>"},{"location":"api/vx300_8hpp_source/","title":"File vx300.hpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; vx300.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_ROBOTS_VX300_HPP\n#define ROBOT_DART_ROBOTS_VX300_HPP\n\n#include \"robot_dart/robot.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        class Vx300 : public Robot {\n        public:\n            Vx300(const std::string&amp; urdf = \"vx300/vx300.urdf\", const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages = ('interbotix_xsarm_descriptions', 'vx300')) : Robot(urdf, packages)\n            {\n                fix_to_world();\n                set_position_enforced(true);\n                set_color_mode(\"aspect\");\n            }\n        };\n    } // namespace robots\n} // namespace robot_dart\n#endif\n</code></pre>"},{"location":"api/dir_d1adb19f0b40b70b30ee0daf1901679b/","title":"Dir robot_dart/sensor","text":"<p>FileList &gt; robot_dart &gt; sensor</p>"},{"location":"api/dir_d1adb19f0b40b70b30ee0daf1901679b/#files","title":"Files","text":"Type Name file force_torque.cpp file force_torque.hpp file imu.cpp file imu.hpp file sensor.cpp file sensor.hpp file torque.cpp file torque.hpp <p>The documentation for this class was generated from the following file <code>robot_dart/sensor/</code></p>"},{"location":"api/force__torque_8cpp/","title":"File force_torque.cpp","text":"<p>FileList &gt; robot_dart &gt; sensor &gt; force_torque.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"force_torque.hpp\"</code></li> <li><code>#include &lt;robot_dart/utils_headers_dart_dynamics.hpp&gt;</code></li> </ul>"},{"location":"api/force__torque_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace sensor <p>The documentation for this class was generated from the following file <code>robot_dart/sensor/force_torque.cpp</code></p>"},{"location":"api/force__torque_8cpp_source/","title":"File force_torque.cpp","text":"<p>File List &gt; robot_dart &gt; sensor &gt; force_torque.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"force_torque.hpp\"\n\n#include &lt;robot_dart/utils_headers_dart_dynamics.hpp&gt;\n\nnamespace robot_dart {\n    namespace sensor {\n        ForceTorque::ForceTorque(dart::dynamics::Joint* joint, size_t frequency, const std::string&amp; direction) : Sensor(frequency), _direction(direction)\n        {\n            attach_to_joint(joint, Eigen::Isometry3d::Identity());\n        }\n\n        void ForceTorque::init()\n        {\n            _wrench.setZero();\n\n            attach_to_joint(_joint_attached, Eigen::Isometry3d::Identity());\n            _active = true;\n        }\n\n        void ForceTorque::calculate(double)\n        {\n            if (!_attached_to_joint)\n                return; // cannot compute anything if not attached to a joint\n\n            Eigen::Vector6d wrench = Eigen::Vector6d::Zero();\n            auto child_body = _joint_attached-&gt;getChildBodyNode();\n            ROBOT_DART_ASSERT(child_body != nullptr, \"Child BodyNode is nullptr\", );\n\n            wrench = -dart::math::dAdT(_joint_attached-&gt;getTransformFromChildBodyNode(), child_body-&gt;getBodyForce());\n\n            // We always compute things in SENSOR frame (aka joint frame)\n            if (_direction == \"parent_to_child\") {\n                _wrench = wrench;\n            }\n            else // \"child_to_parent\" (default)\n            {\n                _wrench = -wrench;\n            }\n        }\n\n        std::string ForceTorque::type() const { return \"ft\"; }\n\n        Eigen::Vector3d ForceTorque::force() const\n        {\n            return _wrench.tail(3);\n        }\n\n        Eigen::Vector3d ForceTorque::torque() const\n        {\n            return _wrench.head(3);\n        }\n\n        const Eigen::Vector6d&amp; ForceTorque::wrench() const\n        {\n            return _wrench;\n        }\n    } // namespace sensor\n} // namespace robot_dart\n</code></pre>"},{"location":"api/force__torque_8hpp/","title":"File force_torque.hpp","text":"<p>FileList &gt; robot_dart &gt; sensor &gt; force_torque.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/sensor/sensor.hpp&gt;</code></li> </ul>"},{"location":"api/force__torque_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace sensor"},{"location":"api/force__torque_8hpp/#classes","title":"Classes","text":"Type Name class ForceTorque <p>The documentation for this class was generated from the following file <code>robot_dart/sensor/force_torque.hpp</code></p>"},{"location":"api/force__torque_8hpp_source/","title":"File force_torque.hpp","text":"<p>File List &gt; robot_dart &gt; sensor &gt; force_torque.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_SENSOR_FORCE_TORQUE_HPP\n#define ROBOT_DART_SENSOR_FORCE_TORQUE_HPP\n\n#include &lt;robot_dart/sensor/sensor.hpp&gt;\n\nnamespace robot_dart {\n    namespace sensor {\n        class ForceTorque : public Sensor {\n        public:\n            ForceTorque(dart::dynamics::Joint* joint, size_t frequency = 1000, const std::string&amp; direction = \"child_to_parent\");\n            ForceTorque(const std::shared_ptr&lt;Robot&gt;&amp; robot, const std::string&amp; joint_name, size_t frequency = 1000, const std::string&amp; direction = \"child_to_parent\") : ForceTorque(robot-&gt;joint(joint_name), frequency, direction) {}\n\n            void init() override;\n\n            void calculate(double) override;\n\n            std::string type() const override;\n\n            Eigen::Vector3d force() const;\n            Eigen::Vector3d torque() const;\n            const Eigen::Vector6d&amp; wrench() const;\n\n            void attach_to_body(dart::dynamics::BodyNode*, const Eigen::Isometry3d&amp;) override\n            {\n                ROBOT_DART_WARNING(true, \"You cannot attach a force/torque sensor to a body!\");\n            }\n\n        protected:\n            std::string _direction;\n\n            Eigen::Vector6d _wrench;\n        };\n    } // namespace sensor\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/imu_8cpp/","title":"File imu.cpp","text":"<p>FileList &gt; robot_dart &gt; sensor &gt; imu.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"imu.hpp\"</code></li> <li><code>#include &lt;robot_dart/robot_dart_simu.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/utils_headers_dart_dynamics.hpp&gt;</code></li> </ul>"},{"location":"api/imu_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace sensor <p>The documentation for this class was generated from the following file <code>robot_dart/sensor/imu.cpp</code></p>"},{"location":"api/imu_8cpp_source/","title":"File imu.cpp","text":"<p>File List &gt; robot_dart &gt; sensor &gt; imu.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"imu.hpp\"\n\n#include &lt;robot_dart/robot_dart_simu.hpp&gt;\n#include &lt;robot_dart/utils_headers_dart_dynamics.hpp&gt;\n\nnamespace robot_dart {\n    namespace sensor {\n        IMU::IMU(const IMUConfig&amp; config) : Sensor(config.frequency), _config(config) {}\n\n        void IMU::init()\n        {\n            _angular_vel.setZero();\n            _linear_accel.setZero();\n\n            attach_to_body(_config.body, Eigen::Isometry3d::Identity());\n            if (_simu)\n                _active = true;\n        }\n\n        void IMU::calculate(double)\n        {\n            if (!_attached_to_body)\n                return; // cannot compute anything if not attached to a link\n            ROBOT_DART_EXCEPTION_ASSERT(_simu, \"Simulation pointer is null!\");\n\n            Eigen::Vector3d tmp = dart::math::logMap(_body_attached-&gt;getTransform(dart::dynamics::Frame::World(), _body_attached).linear().matrix());\n            _angular_pos = Eigen::AngleAxisd(tmp.norm(), tmp.normalized());\n            _angular_vel = _body_attached-&gt;getSpatialVelocity().head(3); // angular velocity with respect to the world, in local coordinates\n            _linear_accel = _body_attached-&gt;getSpatialAcceleration().tail(3); // linear acceleration with respect to the world, in local coordinates\n\n            // add biases\n            _angular_vel += _config.gyro_bias;\n            _linear_accel += _config.accel_bias;\n\n            // add gravity to acceleration\n            _linear_accel -= _world_pose.linear().transpose() * _simu-&gt;gravity();\n        }\n\n        std::string IMU::type() const { return \"imu\"; }\n\n        const Eigen::AngleAxisd&amp; IMU::angular_position() const\n        {\n            return _angular_pos;\n        }\n\n        Eigen::Vector3d IMU::angular_position_vec() const\n        {\n            return _angular_pos.angle() * _angular_pos.axis();\n        }\n\n        const Eigen::Vector3d&amp; IMU::angular_velocity() const\n        {\n            return _angular_vel;\n        }\n\n        const Eigen::Vector3d&amp; IMU::linear_acceleration() const\n        {\n            return _linear_accel;\n        }\n    } // namespace sensor\n} // namespace robot_dart\n</code></pre>"},{"location":"api/imu_8hpp/","title":"File imu.hpp","text":"<p>FileList &gt; robot_dart &gt; sensor &gt; imu.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/sensor/sensor.hpp&gt;</code></li> </ul>"},{"location":"api/imu_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace sensor"},{"location":"api/imu_8hpp/#classes","title":"Classes","text":"Type Name class IMU struct IMUConfig <p>The documentation for this class was generated from the following file <code>robot_dart/sensor/imu.hpp</code></p>"},{"location":"api/imu_8hpp_source/","title":"File imu.hpp","text":"<p>File List &gt; robot_dart &gt; sensor &gt; imu.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_SENSOR_IMU_HPP\n#define ROBOT_DART_SENSOR_IMU_HPP\n\n#include &lt;robot_dart/sensor/sensor.hpp&gt;\n\nnamespace robot_dart {\n    namespace sensor {\n        // TO-DO: Implement some noise models (e.g., https://github.com/ethz-asl/kalibr/wiki/IMU-Noise-Model)\n        struct IMUConfig {\n            IMUConfig(dart::dynamics::BodyNode* b, size_t f) : gyro_bias(Eigen::Vector3d::Zero()), accel_bias(Eigen::Vector3d::Zero()), body(b), frequency(f){};\n            IMUConfig(const Eigen::Vector3d&amp; gyro_bias, const Eigen::Vector3d&amp; accel_bias, dart::dynamics::BodyNode* b, size_t f) : gyro_bias(gyro_bias), accel_bias(accel_bias), body(b), frequency(f){};\n            IMUConfig() : gyro_bias(Eigen::Vector3d::Zero()), accel_bias(Eigen::Vector3d::Zero()), body(nullptr), frequency(200) {}\n\n            // We assume fixed bias; TO-DO: Make this time-dependent\n            Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero();\n            Eigen::Vector3d accel_bias = Eigen::Vector3d::Zero();\n\n            // // We assume white Gaussian noise // TO-DO: Implement this\n            // Eigen::Vector3d _gyro_std = Eigen::Vector3d::Zero();\n            // Eigen::Vector3d _accel_std = Eigen::Vector3d::Zero();\n\n            // BodyNode/Link attached to\n            dart::dynamics::BodyNode* body = nullptr;\n            // Eigen::Isometry3d _tf = Eigen::Isometry3d::Identity();\n\n            // Frequency\n            size_t frequency = 200;\n        };\n\n        class IMU : public Sensor {\n        public:\n            IMU(const IMUConfig&amp; config);\n\n            void init() override;\n\n            void calculate(double) override;\n\n            std::string type() const override;\n\n            const Eigen::AngleAxisd&amp; angular_position() const;\n            Eigen::Vector3d angular_position_vec() const;\n            const Eigen::Vector3d&amp; angular_velocity() const;\n            const Eigen::Vector3d&amp; linear_acceleration() const;\n\n            void attach_to_joint(dart::dynamics::Joint*, const Eigen::Isometry3d&amp;) override\n            {\n                ROBOT_DART_WARNING(true, \"You cannot attach an IMU sensor to a joint!\");\n            }\n\n        protected:\n            // double _prev_time = 0.;\n            IMUConfig _config;\n\n            Eigen::AngleAxisd _angular_pos; // TO-DO: Check how to do this as close as possible to real sensors\n            Eigen::Vector3d _angular_vel;\n            Eigen::Vector3d _linear_accel;\n        };\n    } // namespace sensor\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/sensor_8cpp/","title":"File sensor.cpp","text":"<p>FileList &gt; robot_dart &gt; sensor &gt; sensor.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"sensor.hpp\"</code></li> <li><code>#include \"robot_dart/robot_dart_simu.hpp\"</code></li> <li><code>#include \"robot_dart/utils.hpp\"</code></li> <li><code>#include \"robot_dart/utils_headers_dart_dynamics.hpp\"</code></li> </ul>"},{"location":"api/sensor_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace sensor <p>The documentation for this class was generated from the following file <code>robot_dart/sensor/sensor.cpp</code></p>"},{"location":"api/sensor_8cpp_source/","title":"File sensor.cpp","text":"<p>File List &gt; robot_dart &gt; sensor &gt; sensor.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"sensor.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n#include \"robot_dart/utils.hpp\"\n#include \"robot_dart/utils_headers_dart_dynamics.hpp\"\n\nnamespace robot_dart {\n    namespace sensor {\n        Sensor::Sensor(size_t freq) : _active(false), _frequency(freq), _world_pose(Eigen::Isometry3d::Identity()), _attaching_to_body(false), _attached_to_body(false), _attaching_to_joint(false), _attached_to_joint(false) {}\n\n        void Sensor::activate(bool enable)\n        {\n            _active = false;\n            if (enable) {\n                init();\n            }\n        }\n\n        bool Sensor::active() const\n        {\n            return _active;\n        }\n\n        void Sensor::set_simu(RobotDARTSimu* simu)\n        {\n            ROBOT_DART_EXCEPTION_ASSERT(simu, \"Simulation pointer is null!\");\n            _simu = simu;\n            bool check = static_cast&lt;int&gt;(_frequency) &gt; simu-&gt;physics_freq();\n            ROBOT_DART_WARNING(check, \"Sensor frequency is bigger than simulation physics. Setting it to simulation rate!\");\n            if (check)\n                _frequency = simu-&gt;physics_freq();\n        }\n\n        const RobotDARTSimu* Sensor::simu() const\n        {\n            return _simu;\n        }\n\n        size_t Sensor::frequency() const { return _frequency; }\n        void Sensor::set_frequency(size_t freq) { _frequency = freq; }\n\n        void Sensor::set_pose(const Eigen::Isometry3d&amp; tf) { _world_pose = tf; }\n        const Eigen::Isometry3d&amp; Sensor::pose() const { return _world_pose; }\n\n        void Sensor::detach()\n        {\n            _attached_to_body = false;\n            _attached_to_joint = false;\n            _body_attached = nullptr;\n            _joint_attached = nullptr;\n            _active = false;\n        }\n\n        void Sensor::refresh(double t)\n        {\n            if (!_active)\n                return;\n            if (_attaching_to_body &amp;&amp; !_attached_to_body) {\n                attach_to_body(_body_attached, _attached_tf);\n            }\n            else if (_attaching_to_joint &amp;&amp; !_attached_to_joint) {\n                attach_to_joint(_joint_attached, _attached_tf);\n            }\n\n            if (_attached_to_body &amp;&amp; _body_attached) {\n                _world_pose = _body_attached-&gt;getWorldTransform() * _attached_tf;\n            }\n            else if (_attached_to_joint &amp;&amp; _joint_attached) {\n                dart::dynamics::BodyNode* body = nullptr;\n                Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();\n\n                if (_joint_attached-&gt;getParentBodyNode()) {\n                    body = _joint_attached-&gt;getParentBodyNode();\n                    tf = _joint_attached-&gt;getTransformFromParentBodyNode();\n                }\n                else if (_joint_attached-&gt;getChildBodyNode()) {\n                    body = _joint_attached-&gt;getChildBodyNode();\n                    tf = _joint_attached-&gt;getTransformFromChildBodyNode();\n                }\n\n                if (body)\n                    _world_pose = body-&gt;getWorldTransform() * tf * _attached_tf;\n            }\n            calculate(t);\n        }\n\n        void Sensor::attach_to_body(dart::dynamics::BodyNode* body, const Eigen::Isometry3d&amp; tf)\n        {\n            _body_attached = body;\n            _attached_tf = tf;\n\n            if (_body_attached) {\n                _attaching_to_body = false;\n                _attached_to_body = true;\n\n                _attaching_to_joint = false;\n                _attached_to_joint = false;\n                _joint_attached = nullptr;\n            }\n            else { // we cannot keep attaching to a null BodyNode\n                _attaching_to_body = false;\n                _attached_to_body = false;\n            }\n        }\n\n        void Sensor::attach_to_joint(dart::dynamics::Joint* joint, const Eigen::Isometry3d&amp; tf)\n        {\n            _joint_attached = joint;\n            _attached_tf = tf;\n\n            if (_joint_attached) {\n                _attaching_to_joint = false;\n                _attached_to_joint = true;\n\n                _attaching_to_body = false;\n                _attached_to_body = false;\n            }\n            else { // we cannot keep attaching to a null Joint\n                _attaching_to_joint = false;\n                _attached_to_joint = false;\n            }\n        }\n        const std::string&amp; Sensor::attached_to() const\n        {\n            ROBOT_DART_EXCEPTION_ASSERT(_attached_to_body || _attached_to_joint, \"Joint is not attached to anything\");\n            if (_attached_to_body)\n                return _body_attached-&gt;getName();\n            // attached to joint\n            return _joint_attached-&gt;getName();\n        }\n    } // namespace sensor\n} // namespace robot_dart\n</code></pre>"},{"location":"api/sensor_8hpp/","title":"File sensor.hpp","text":"<p>FileList &gt; robot_dart &gt; sensor &gt; sensor.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/robot.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/utils.hpp&gt;</code></li> <li><code>#include &lt;memory&gt;</code></li> <li><code>#include &lt;vector&gt;</code></li> </ul>"},{"location":"api/sensor_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace dart namespace dynamics namespace robot_dart namespace sensor"},{"location":"api/sensor_8hpp/#classes","title":"Classes","text":"Type Name class Sensor <p>The documentation for this class was generated from the following file <code>robot_dart/sensor/sensor.hpp</code></p>"},{"location":"api/sensor_8hpp_source/","title":"File sensor.hpp","text":"<p>File List &gt; robot_dart &gt; sensor &gt; sensor.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_SENSOR_SENSOR_HPP\n#define ROBOT_DART_SENSOR_SENSOR_HPP\n\n#include &lt;robot_dart/robot.hpp&gt;\n#include &lt;robot_dart/utils.hpp&gt;\n\n#include &lt;memory&gt;\n#include &lt;vector&gt;\n\nnamespace dart {\n    namespace dynamics {\n        class BodyNode;\n        class Joint;\n    } // namespace dynamics\n} // namespace dart\n\nnamespace robot_dart {\n    class RobotDARTSimu;\n\n    namespace sensor {\n        class Sensor {\n        public:\n            Sensor(size_t freq = 40);\n            virtual ~Sensor() {}\n\n            void activate(bool enable = true);\n            bool active() const;\n\n            void set_simu(RobotDARTSimu* simu);\n            const RobotDARTSimu* simu() const;\n\n            size_t frequency() const;\n            void set_frequency(size_t freq);\n\n            void set_pose(const Eigen::Isometry3d&amp; tf);\n            const Eigen::Isometry3d&amp; pose() const;\n\n            void refresh(double t);\n\n            virtual void init() = 0;\n            // TO-DO: Maybe make this const?\n            virtual void calculate(double) = 0;\n\n            virtual std::string type() const = 0;\n\n            virtual void attach_to_body(dart::dynamics::BodyNode* body, const Eigen::Isometry3d&amp; tf = Eigen::Isometry3d::Identity());\n            void attach_to_body(const std::shared_ptr&lt;Robot&gt;&amp; robot, const std::string&amp; body_name, const Eigen::Isometry3d&amp; tf = Eigen::Isometry3d::Identity()) { attach_to_body(robot-&gt;body_node(body_name), tf); }\n\n            virtual void attach_to_joint(dart::dynamics::Joint* joint, const Eigen::Isometry3d&amp; tf = Eigen::Isometry3d::Identity());\n            void attach_to_joint(const std::shared_ptr&lt;Robot&gt;&amp; robot, const std::string&amp; joint_name, const Eigen::Isometry3d&amp; tf = Eigen::Isometry3d::Identity()) { attach_to_joint(robot-&gt;joint(joint_name), tf); }\n\n            void detach();\n            const std::string&amp; attached_to() const;\n\n        protected:\n            RobotDARTSimu* _simu = nullptr;\n            bool _active;\n            size_t _frequency;\n\n            Eigen::Isometry3d _world_pose;\n\n            bool _attaching_to_body = false, _attached_to_body = false;\n            bool _attaching_to_joint = false, _attached_to_joint = false;\n            Eigen::Isometry3d _attached_tf;\n            dart::dynamics::BodyNode* _body_attached;\n            dart::dynamics::Joint* _joint_attached;\n        };\n    } // namespace sensor\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/torque_8cpp/","title":"File torque.cpp","text":"<p>FileList &gt; robot_dart &gt; sensor &gt; torque.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"torque.hpp\"</code></li> <li><code>#include &lt;robot_dart/robot_dart_simu.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/utils_headers_dart_dynamics.hpp&gt;</code></li> </ul>"},{"location":"api/torque_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace sensor <p>The documentation for this class was generated from the following file <code>robot_dart/sensor/torque.cpp</code></p>"},{"location":"api/torque_8cpp_source/","title":"File torque.cpp","text":"<p>File List &gt; robot_dart &gt; sensor &gt; torque.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"torque.hpp\"\n\n#include &lt;robot_dart/robot_dart_simu.hpp&gt;\n#include &lt;robot_dart/utils_headers_dart_dynamics.hpp&gt;\n\nnamespace robot_dart {\n    namespace sensor {\n        Torque::Torque(dart::dynamics::Joint* joint, size_t frequency) : Sensor(frequency), _torques(joint-&gt;getNumDofs())\n        {\n            attach_to_joint(joint, Eigen::Isometry3d::Identity());\n        }\n\n        void Torque::init()\n        {\n            _torques.setZero();\n\n            attach_to_joint(_joint_attached, Eigen::Isometry3d::Identity());\n            _active = true;\n        }\n\n        void Torque::calculate(double)\n        {\n            if (!_attached_to_joint)\n                return; // cannot compute anything if not attached to a joint\n\n            Eigen::Vector6d wrench = Eigen::Vector6d::Zero();\n            auto child_body = _joint_attached-&gt;getChildBodyNode();\n            ROBOT_DART_ASSERT(child_body != nullptr, \"Child BodyNode is nullptr\", );\n\n            wrench = child_body-&gt;getBodyForce();\n\n            // get forces for only the only degrees of freedom in this joint\n            _torques = _joint_attached-&gt;getRelativeJacobian().transpose() * wrench;\n        }\n\n        std::string Torque::type() const { return \"t\"; }\n\n        const Eigen::VectorXd&amp; Torque::torques() const\n        {\n            return _torques;\n        }\n    } // namespace sensor\n} // namespace robot_dart\n</code></pre>"},{"location":"api/torque_8hpp/","title":"File torque.hpp","text":"<p>FileList &gt; robot_dart &gt; sensor &gt; torque.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/sensor/sensor.hpp&gt;</code></li> </ul>"},{"location":"api/torque_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace sensor"},{"location":"api/torque_8hpp/#classes","title":"Classes","text":"Type Name class Torque <p>The documentation for this class was generated from the following file <code>robot_dart/sensor/torque.hpp</code></p>"},{"location":"api/torque_8hpp_source/","title":"File torque.hpp","text":"<p>File List &gt; robot_dart &gt; sensor &gt; torque.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_SENSOR_TORQUE_HPP\n#define ROBOT_DART_SENSOR_TORQUE_HPP\n\n#include &lt;robot_dart/sensor/sensor.hpp&gt;\n\nnamespace robot_dart {\n    namespace sensor {\n        class Torque : public Sensor {\n        public:\n            Torque(dart::dynamics::Joint* joint, size_t frequency = 1000);\n            Torque(const std::shared_ptr&lt;Robot&gt;&amp; robot, const std::string&amp; joint_name, size_t frequency = 1000) : Torque(robot-&gt;joint(joint_name), frequency) {}\n\n            void init() override;\n\n            void calculate(double) override;\n\n            std::string type() const override;\n\n            const Eigen::VectorXd&amp; torques() const;\n\n            void attach_to_body(dart::dynamics::BodyNode*, const Eigen::Isometry3d&amp;) override\n            {\n                ROBOT_DART_WARNING(true, \"You cannot attach a torque sensor to a body!\");\n            }\n\n        protected:\n            Eigen::VectorXd _torques;\n        };\n    } // namespace sensor\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/robot__dart__simu_8cpp/","title":"File robot_dart_simu.cpp","text":"<p>FileList &gt; robot_dart &gt; robot_dart_simu.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart_simu.hpp\"</code></li> <li><code>#include \"gui_data.hpp\"</code></li> <li><code>#include \"utils.hpp\"</code></li> <li><code>#include \"utils_headers_dart_collision.hpp\"</code></li> <li><code>#include \"utils_headers_dart_dynamics.hpp\"</code></li> <li><code>#include &lt;sstream&gt;</code></li> </ul>"},{"location":"api/robot__dart__simu_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace collision_filter"},{"location":"api/robot__dart__simu_8cpp/#classes","title":"Classes","text":"Type Name class BitmaskContactFilter struct Masks <p>The documentation for this class was generated from the following file <code>robot_dart/robot_dart_simu.cpp</code></p>"},{"location":"api/robot__dart__simu_8cpp_source/","title":"File robot_dart_simu.cpp","text":"<p>File List &gt; robot_dart &gt; robot_dart_simu.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"robot_dart_simu.hpp\"\n#include \"gui_data.hpp\"\n#include \"utils.hpp\"\n#include \"utils_headers_dart_collision.hpp\"\n#include \"utils_headers_dart_dynamics.hpp\"\n\n#include &lt;sstream&gt;\n\nnamespace robot_dart {\n    namespace collision_filter {\n        // This is inspired from Swift: https://developer.apple.com/documentation/spritekit/skphysicsbody#//apple_ref/occ/instp/SKPhysicsBody/collisionBitMask\n        // https://stackoverflow.com/questions/39063949/cant-understand-how-collision-bit-mask-works\n        class BitmaskContactFilter : public dart::collision::BodyNodeCollisionFilter {\n        public:\n            using DartCollisionConstPtr = const dart::collision::CollisionObject*;\n            using DartShapeConstPtr = const dart::dynamics::ShapeNode*;\n\n            struct Masks {\n                uint32_t collision_mask = 0xffffffff;\n                uint32_t category_mask = 0xffffffff;\n            };\n\n            virtual ~BitmaskContactFilter() = default;\n\n            // This function follows DART's coding style as it needs to override a function\n            bool ignoresCollision(DartCollisionConstPtr object1, DartCollisionConstPtr object2) const override\n            {\n                auto shape_node1 = object1-&gt;getShapeFrame()-&gt;asShapeNode();\n                auto shape_node2 = object2-&gt;getShapeFrame()-&gt;asShapeNode();\n\n                if (dart::collision::BodyNodeCollisionFilter::ignoresCollision(object1, object2))\n                    return true;\n\n                auto shape1_iter = _bitmask_map.find(shape_node1);\n                auto shape2_iter = _bitmask_map.find(shape_node2);\n                if (shape1_iter != _bitmask_map.end() &amp;&amp; shape2_iter != _bitmask_map.end()) {\n                    auto col_mask1 = shape1_iter-&gt;second.collision_mask;\n                    auto cat_mask1 = shape1_iter-&gt;second.category_mask;\n\n                    auto col_mask2 = shape2_iter-&gt;second.collision_mask;\n                    auto cat_mask2 = shape2_iter-&gt;second.category_mask;\n\n                    if ((col_mask1 &amp; cat_mask2) == 0 &amp;&amp; (col_mask2 &amp; cat_mask1) == 0)\n                        return true;\n                }\n\n                return false;\n            }\n\n            void add_to_map(DartShapeConstPtr shape, uint32_t col_mask, uint32_t cat_mask)\n            {\n                _bitmask_map[shape] = {col_mask, cat_mask};\n            }\n\n            void add_to_map(dart::dynamics::SkeletonPtr skel, uint32_t col_mask, uint32_t cat_mask)\n            {\n                for (std::size_t i = 0; i &lt; skel-&gt;getNumShapeNodes(); ++i) {\n                    auto shape = skel-&gt;getShapeNode(i);\n                    this-&gt;add_to_map(shape, col_mask, cat_mask);\n                }\n            }\n\n            void remove_from_map(DartShapeConstPtr shape)\n            {\n                auto shape_iter = _bitmask_map.find(shape);\n                if (shape_iter != _bitmask_map.end())\n                    _bitmask_map.erase(shape_iter);\n            }\n\n            void remove_from_map(dart::dynamics::SkeletonPtr skel)\n            {\n                for (std::size_t i = 0; i &lt; skel-&gt;getNumShapeNodes(); ++i) {\n                    auto shape = skel-&gt;getShapeNode(i);\n                    this-&gt;remove_from_map(shape);\n                }\n            }\n\n            void clear_all() { _bitmask_map.clear(); }\n\n            Masks mask(DartShapeConstPtr shape) const\n            {\n                auto shape_iter = _bitmask_map.find(shape);\n                if (shape_iter != _bitmask_map.end())\n                    return shape_iter-&gt;second;\n                return {0xffffffff, 0xffffffff};\n            }\n\n        private:\n            // We need ShapeNodes and not BodyNodes, since in DART collision checking is performed in ShapeNode-level\n            // in RobotDARTSimu, we only allow setting one mask per BodyNode; maybe we can improve the performance of this slightly\n            std::unordered_map&lt;DartShapeConstPtr, Masks&gt; _bitmask_map;\n        };\n    } // namespace collision_filter\n\n    RobotDARTSimu::RobotDARTSimu(double timestep) : _world(std::make_shared&lt;dart::simulation::World&gt;()),\n                                                    _old_index(0),\n                                                    _break(false),\n                                                    _scheduler(timestep),\n                                                    _physics_freq(std::round(1. / timestep)),\n                                                    _control_freq(_physics_freq)\n    {\n        _world-&gt;getConstraintSolver()-&gt;setCollisionDetector(dart::collision::DARTCollisionDetector::create());\n        _world-&gt;getConstraintSolver()-&gt;getCollisionOption().collisionFilter = std::make_shared&lt;collision_filter::BitmaskContactFilter&gt;();\n        _world-&gt;setTimeStep(timestep);\n        _world-&gt;setTime(0.0);\n        _graphics = std::make_shared&lt;gui::Base&gt;();\n\n        _gui_data.reset(new simu::GUIData());\n    }\n\n    RobotDARTSimu::~RobotDARTSimu()\n    {\n        _robots.clear();\n        _sensors.clear();\n    }\n\n    void RobotDARTSimu::run(double max_duration, bool reset_commands, bool force_position_bounds)\n    {\n        _break = false;\n        double old_time = _world-&gt;getTime();\n        double factor = _world-&gt;getTimeStep() / 2.;\n\n        while ((_world-&gt;getTime() - old_time - max_duration) &lt; -factor) {\n            if (step(reset_commands, force_position_bounds))\n                break;\n        }\n    }\n\n    bool RobotDARTSimu::step_world(bool reset_commands, bool force_position_bounds)\n    {\n        if (_scheduler(_physics_freq)) {\n            _world-&gt;step(reset_commands);\n            if (force_position_bounds)\n                for (auto&amp; r : _robots)\n                    r-&gt;force_position_bounds();\n        }\n\n        // Update graphics\n        if (_scheduler(_graphics_freq)) {\n            // Update default texts\n            if (_text_panel) { // Need to re-transform as the size of the window might have changed\n                Eigen::Affine2d tf = Eigen::Affine2d::Identity();\n                tf.translate(Eigen::Vector2d(-static_cast&lt;double&gt;(_graphics-&gt;width()) / 2., _graphics-&gt;height() / 2.));\n                // tf.translate(Eigen::Vector2d(-static_cast&lt;double&gt;(_graphics-&gt;width()) / 2., 0.));\n                _text_panel-&gt;transformation = tf;\n            }\n            if (_status_bar) {\n                _status_bar-&gt;text = status_bar_text(); // this is dynamic text (timings)\n                Eigen::Affine2d tf = Eigen::Affine2d::Identity();\n                tf.translate(Eigen::Vector2d(-static_cast&lt;double&gt;(_graphics-&gt;width()) / 2., -static_cast&lt;double&gt;(_graphics-&gt;height() / 2.)));\n                // tf.translate(Eigen::Vector2d(-static_cast&lt;double&gt;(_graphics-&gt;width()) / 2., 0.));\n                _status_bar-&gt;transformation = tf;\n            }\n\n            // Update robot-specific GUI data\n            for (auto&amp; robot : _robots) {\n                _gui_data-&gt;update_robot(robot);\n            }\n\n            _graphics-&gt;refresh();\n        }\n\n        // update sensors\n        for (auto&amp; sensor : _sensors) {\n            if (sensor-&gt;active() &amp;&amp; _scheduler(sensor-&gt;frequency())) {\n                sensor-&gt;refresh(_world-&gt;getTime());\n            }\n        }\n\n        _old_index++;\n        _scheduler.step();\n\n        return _break || _graphics-&gt;done();\n    }\n\n    bool RobotDARTSimu::step(bool reset_commands, bool force_position_bounds)\n    {\n        if (_scheduler(_control_freq)) {\n            for (auto&amp; robot : _robots) {\n                robot-&gt;update(_world-&gt;getTime());\n            }\n        }\n\n        return step_world(reset_commands, force_position_bounds);\n    }\n\n    std::shared_ptr&lt;gui::Base&gt; RobotDARTSimu::graphics() const\n    {\n        return _graphics;\n    }\n\n    void RobotDARTSimu::set_graphics(const std::shared_ptr&lt;gui::Base&gt;&amp; graphics)\n    {\n        _graphics = graphics;\n        _graphics-&gt;set_simu(this);\n        _graphics-&gt;set_fps(_graphics_freq);\n    }\n\n    dart::simulation::WorldPtr RobotDARTSimu::world()\n    {\n        return _world;\n    }\n\n    void RobotDARTSimu::add_sensor(const std::shared_ptr&lt;sensor::Sensor&gt;&amp; sensor)\n    {\n        _sensors.push_back(sensor);\n        sensor-&gt;set_simu(this);\n        sensor-&gt;init();\n    }\n\n    std::vector&lt;std::shared_ptr&lt;sensor::Sensor&gt;&gt; RobotDARTSimu::sensors() const\n    {\n        return _sensors;\n    }\n\n    std::shared_ptr&lt;sensor::Sensor&gt; RobotDARTSimu::sensor(size_t index) const\n    {\n        ROBOT_DART_ASSERT(index &lt; _sensors.size(), \"Sensor index out of bounds\", nullptr);\n        return _sensors[index];\n    }\n\n    void RobotDARTSimu::remove_sensor(const std::shared_ptr&lt;sensor::Sensor&gt;&amp; sensor)\n    {\n        auto it = std::find(_sensors.begin(), _sensors.end(), sensor);\n        if (it != _sensors.end()) {\n            _sensors.erase(it);\n        }\n    }\n\n    void RobotDARTSimu::remove_sensor(size_t index)\n    {\n        ROBOT_DART_ASSERT(index &lt; _sensors.size(), \"Sensor index out of bounds\", );\n        _sensors.erase(_sensors.begin() + index);\n    }\n\n    void RobotDARTSimu::remove_sensors(const std::string&amp; type)\n    {\n        for (int i = 0; i &lt; static_cast&lt;int&gt;(_sensors.size()); i++) {\n            auto&amp; sensor = _sensors[i];\n            if (sensor-&gt;type() == type) {\n                _sensors.erase(_sensors.begin() + i);\n                i--;\n            }\n        }\n    }\n\n    void RobotDARTSimu::clear_sensors()\n    {\n        _sensors.clear();\n    }\n\n    double RobotDARTSimu::timestep() const\n    {\n        return _world-&gt;getTimeStep();\n    }\n\n    void RobotDARTSimu::set_timestep(double timestep, bool update_control_freq)\n    {\n        _world-&gt;setTimeStep(timestep);\n        _physics_freq = std::round(1. / timestep);\n        if (update_control_freq)\n            _control_freq = _physics_freq;\n\n        _scheduler.reset(timestep, _scheduler.sync(), _scheduler.current_time(), _scheduler.real_time());\n    }\n\n    Eigen::Vector3d RobotDARTSimu::gravity() const\n    {\n        return _world-&gt;getGravity();\n    }\n\n    void RobotDARTSimu::set_gravity(const Eigen::Vector3d&amp; gravity)\n    {\n        _world-&gt;setGravity(gravity);\n    }\n\n    void RobotDARTSimu::stop_sim(bool disable)\n    {\n        _break = disable;\n    }\n\n    bool RobotDARTSimu::halted_sim() const\n    {\n        return _break;\n    }\n\n    size_t RobotDARTSimu::num_robots() const\n    {\n        return _robots.size();\n    }\n\n    const std::vector&lt;std::shared_ptr&lt;Robot&gt;&gt;&amp; RobotDARTSimu::robots() const\n    {\n        return _robots;\n    }\n\n    std::shared_ptr&lt;Robot&gt; RobotDARTSimu::robot(size_t index) const\n    {\n        ROBOT_DART_ASSERT(index &lt; _robots.size(), \"Robot index out of bounds\", nullptr);\n        return _robots[index];\n    }\n\n    int RobotDARTSimu::robot_index(const std::shared_ptr&lt;Robot&gt;&amp; robot) const\n    {\n        auto it = std::find(_robots.begin(), _robots.end(), robot);\n        ROBOT_DART_ASSERT(it != _robots.end(), \"Robot index out of bounds\", -1);\n        return std::distance(_robots.begin(), it);\n    }\n\n    void RobotDARTSimu::add_robot(const std::shared_ptr&lt;Robot&gt;&amp; robot)\n    {\n        if (robot-&gt;skeleton()) {\n            _robots.push_back(robot);\n            _world-&gt;addSkeleton(robot-&gt;skeleton());\n\n            robot-&gt;_post_addition(this);\n\n            _gui_data-&gt;update_robot(robot);\n        }\n    }\n\n    void RobotDARTSimu::add_visual_robot(const std::shared_ptr&lt;Robot&gt;&amp; robot)\n    {\n        if (robot-&gt;skeleton()) {\n            // make robot a pure visual one -- assuming that the color is already set\n            // visual robots do not do physics updates\n            robot-&gt;skeleton()-&gt;setMobile(false);\n            for (auto&amp; bd : robot-&gt;skeleton()-&gt;getBodyNodes()) {\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n                // visual robots do not have collisions\n                bd-&gt;eachShapeNodeWith&lt;dart::dynamics::CollisionAspect&gt;([](dart::dynamics::ShapeNode* shape) {\n                    shape-&gt;removeAspect&lt;dart::dynamics::CollisionAspect&gt;();\n                });\n#else\n                auto&amp; collision_shapes = bd-&gt;getShapeNodesWith&lt;dart::dynamics::CollisionAspect&gt;();\n                for (auto&amp; shape : collision_shapes) {\n                    shape-&gt;removeAspect&lt;dart::dynamics::CollisionAspect&gt;();\n                }\n#endif\n            }\n\n            // visual robots, by default, use the color from the VisualAspect\n            robot-&gt;set_color_mode(\"aspect\");\n\n            // visual robots do not cast shadows\n            robot-&gt;set_cast_shadows(false);\n            // set the ghost/visual flag\n            robot-&gt;set_ghost(true);\n            robot-&gt;_post_addition(this);\n\n            _robots.push_back(robot);\n            _world-&gt;addSkeleton(robot-&gt;skeleton());\n\n            _gui_data-&gt;update_robot(robot);\n        }\n    }\n\n    void RobotDARTSimu::remove_robot(const std::shared_ptr&lt;Robot&gt;&amp; robot)\n    {\n        auto it = std::find(_robots.begin(), _robots.end(), robot);\n        if (it != _robots.end()) {\n            robot-&gt;_post_removal(this);\n            _gui_data-&gt;remove_robot(robot);\n            _world-&gt;removeSkeleton(robot-&gt;skeleton());\n            _robots.erase(it);\n        }\n    }\n\n    void RobotDARTSimu::remove_robot(size_t index)\n    {\n        ROBOT_DART_ASSERT(index &lt; _robots.size(), \"Robot index out of bounds\", );\n        _robots[index]-&gt;_post_removal(this);\n        _gui_data-&gt;remove_robot(_robots[index]);\n        _world-&gt;removeSkeleton(_robots[index]-&gt;skeleton());\n        _robots.erase(_robots.begin() + index);\n    }\n\n    void RobotDARTSimu::clear_robots()\n    {\n        for (auto&amp; robot : _robots) {\n            robot-&gt;_post_removal(this);\n            _gui_data-&gt;remove_robot(robot);\n            _world-&gt;removeSkeleton(robot-&gt;skeleton());\n        }\n        _robots.clear();\n    }\n\n    simu::GUIData* RobotDARTSimu::gui_data() { return &amp;(*_gui_data); }\n\n    void RobotDARTSimu::enable_text_panel(bool enable, double font_size)\n    {\n        _enable(_text_panel, enable, font_size);\n        if (enable) {\n            _text_panel-&gt;alignment = 3 &lt;&lt; 2; // alignment of status bar should be LineTop; TO-DO: Check how to get types automatically from Magnum?\n            // _text_panel-&gt;draw_background = true; // we want to draw a background\n            // _text_panel-&gt;background_color = Eigen::Vector4d(0, 0, 0, 0.75); // black-transparent bar\n        }\n    }\n\n    void RobotDARTSimu::enable_status_bar(bool enable, double font_size)\n    {\n        _enable(_status_bar, enable, font_size);\n        if (enable) {\n            _status_bar-&gt;alignment = 1 &lt;&lt; 2; // alignment of status bar should be LineBottom; TO-DO: Check how to get types automatically from Magnum?\n            _status_bar-&gt;draw_background = true; // we want to draw a background\n            _status_bar-&gt;background_color = Eigen::Vector4d(0, 0, 0, 0.75); // black-transparent bar\n        }\n    }\n\n    void RobotDARTSimu::_enable(std::shared_ptr&lt;simu::TextData&gt;&amp; text, bool enable, double font_size)\n    {\n        if (!text &amp;&amp; enable) {\n            text = add_text(\"\");\n        }\n        else if (!enable) {\n            if (text)\n                _gui_data-&gt;remove_text(text);\n            text = nullptr;\n        }\n        if (text &amp;&amp; font_size &gt; 0)\n            text-&gt;font_size = font_size;\n    }\n\n    void RobotDARTSimu::set_text_panel(const std::string&amp; str)\n    {\n        ROBOT_DART_ASSERT(_text_panel, \"Panel text object not created. Use enable_text_panel() to create it.\", );\n        _text_panel-&gt;text = str;\n    }\n\n    std::string RobotDARTSimu::text_panel_text() const\n    {\n        ROBOT_DART_ASSERT(_text_panel, \"Panel text object not created. Returning empty string.\", \"\");\n        return _text_panel-&gt;text;\n    }\n\n    std::string RobotDARTSimu::status_bar_text() const\n    {\n        std::ostringstream out;\n        out.precision(3);\n        double rt = _scheduler.real_time();\n\n        out &lt;&lt; std::fixed &lt;&lt; \"[simulation time: \" &lt;&lt; _world-&gt;getTime()\n            &lt;&lt; \"s ] [\"\n            &lt;&lt; \"wall time: \" &lt;&lt; rt &lt;&lt; \"s] [\";\n        out.precision(1);\n        out &lt;&lt; _scheduler.real_time_factor() &lt;&lt; \"x]\";\n        out &lt;&lt; \" [it: \" &lt;&lt; _scheduler.it_duration() * 1e3 &lt;&lt; \" ms]\";\n        out &lt;&lt; (_scheduler.sync() ? \" [sync]\" : \" [no-sync]\");\n\n        return out.str();\n    }\n\n    std::shared_ptr&lt;simu::TextData&gt; RobotDARTSimu::add_text(const std::string&amp; text, const Eigen::Affine2d&amp; tf, Eigen::Vector4d color, std::uint8_t alignment, bool draw_bg, Eigen::Vector4d bg_color, double font_size)\n    {\n        return _gui_data-&gt;add_text(text, tf, color, alignment, draw_bg, bg_color, font_size);\n    }\n\n    std::shared_ptr&lt;Robot&gt; RobotDARTSimu::add_floor(double floor_width, double floor_height, const Eigen::Isometry3d&amp; tf, const std::string&amp; floor_name)\n    {\n        ROBOT_DART_ASSERT((_world-&gt;getSkeleton(floor_name) == nullptr), \"We cannot have 2 floors with the name '\" + floor_name + \"'\", nullptr);\n        ROBOT_DART_ASSERT((floor_width &gt; 0. &amp;&amp; floor_height &gt; 0.), \"Floor dimensions should be bigger than zero!\", nullptr);\n\n        dart::dynamics::SkeletonPtr floor_skel = dart::dynamics::Skeleton::create(floor_name);\n\n        // Give the floor a body\n        dart::dynamics::BodyNodePtr body = floor_skel-&gt;createJointAndBodyNodePair&lt;dart::dynamics::WeldJoint&gt;(nullptr).second;\n\n        // Give the body a shape\n        auto box = std::make_shared&lt;dart::dynamics::BoxShape&gt;(Eigen::Vector3d(floor_width, floor_width, floor_height));\n        auto box_node = body-&gt;createShapeNodeWith&lt;dart::dynamics::VisualAspect, dart::dynamics::CollisionAspect, dart::dynamics::DynamicsAspect&gt;(box);\n        box_node-&gt;getVisualAspect()-&gt;setColor(dart::Color::Gray());\n\n        // Put the body into position\n        Eigen::Isometry3d new_tf = tf;\n        new_tf.translate(Eigen::Vector3d(0., 0., -floor_height / 2.0));\n        body-&gt;getParentJoint()-&gt;setTransformFromParentBodyNode(new_tf);\n\n        auto floor_robot = std::make_shared&lt;Robot&gt;(floor_skel, floor_name);\n        add_robot(floor_robot);\n        return floor_robot;\n    }\n\n    std::shared_ptr&lt;Robot&gt; RobotDARTSimu::add_checkerboard_floor(double floor_width, double floor_height, double size, const Eigen::Isometry3d&amp; tf, const std::string&amp; floor_name, const Eigen::Vector4d&amp; first_color, const Eigen::Vector4d&amp; second_color)\n    {\n        ROBOT_DART_ASSERT((_world-&gt;getSkeleton(floor_name) == nullptr), \"We cannot have 2 floors with the name '\" + floor_name + \"'\", nullptr);\n        ROBOT_DART_ASSERT((floor_width &gt; 0. &amp;&amp; floor_height &gt; 0. &amp;&amp; size &gt; 0.), \"Floor dimensions should be bigger than zero!\", nullptr);\n\n        // Add main floor skeleton\n        dart::dynamics::SkeletonPtr main_floor_skel = dart::dynamics::Skeleton::create(floor_name + \"_main\");\n\n        // Give the floor a body\n        dart::dynamics::BodyNodePtr main_body = main_floor_skel-&gt;createJointAndBodyNodePair&lt;dart::dynamics::WeldJoint&gt;(nullptr).second;\n\n        // Give the body a shape\n        auto box = std::make_shared&lt;dart::dynamics::BoxShape&gt;(Eigen::Vector3d(floor_width, floor_width, floor_height));\n        // No visual shape for this one; only collision and dynamics\n        main_body-&gt;createShapeNodeWith&lt;dart::dynamics::CollisionAspect, dart::dynamics::DynamicsAspect&gt;(box);\n\n        // Put the body into position\n        Eigen::Isometry3d new_tf = tf;\n        new_tf.translate(Eigen::Vector3d(0., 0., -floor_height / 2.0));\n        main_body-&gt;getParentJoint()-&gt;setTransformFromParentBodyNode(new_tf);\n\n        // Add visual bodies just for visualization\n        int step = std::ceil(floor_width / size);\n        int c = 0;\n        for (int i = 0; i &lt; step; i++) {\n            c = i;\n            for (int j = 0; j &lt; step; j++) {\n                Eigen::Vector3d init_pose;\n                init_pose &lt;&lt; -floor_width / 2. + size / 2 + i * size, -floor_width / 2. + size / 2 + j * size, 0.;\n                int id = i * step + j;\n\n                dart::dynamics::WeldJoint::Properties properties;\n                properties.mName = \"joint_\" + std::to_string(id);\n                dart::dynamics::BodyNode::Properties bd_properties;\n                bd_properties.mName = \"body_\" + std::to_string(id);\n                dart::dynamics::BodyNodePtr body = main_body-&gt;createChildJointAndBodyNodePair&lt;dart::dynamics::WeldJoint&gt;(properties, bd_properties).second;\n\n                auto box = std::make_shared&lt;dart::dynamics::BoxShape&gt;(Eigen::Vector3d(size, size, floor_height));\n                // no collision/dynamics for these ones; only visual shape\n                auto box_node = body-&gt;createShapeNodeWith&lt;dart::dynamics::VisualAspect&gt;(box);\n                if (c % 2 == 0)\n                    box_node-&gt;getVisualAspect()-&gt;setColor(second_color);\n                else\n                    box_node-&gt;getVisualAspect()-&gt;setColor(first_color);\n\n                // Put the body into position\n                Eigen::Isometry3d tf(Eigen::Isometry3d::Identity());\n                tf.translation() = init_pose;\n                body-&gt;getParentJoint()-&gt;setTransformFromParentBodyNode(tf);\n\n                c++;\n            }\n        }\n\n        auto floor_robot = std::make_shared&lt;Robot&gt;(main_floor_skel, floor_name);\n        add_robot(floor_robot);\n        return floor_robot;\n    }\n\n    void RobotDARTSimu::set_collision_detector(const std::string&amp; collision_detector)\n    {\n        std::string coll = collision_detector;\n        for (auto&amp; c : coll)\n            c = tolower(c);\n\n        if (coll == \"dart\")\n            _world-&gt;getConstraintSolver()-&gt;setCollisionDetector(dart::collision::DARTCollisionDetector::create());\n        else if (coll == \"fcl\")\n            _world-&gt;getConstraintSolver()-&gt;setCollisionDetector(dart::collision::FCLCollisionDetector::create());\n        else if (coll == \"bullet\") {\n#if (HAVE_BULLET == 1)\n            _world-&gt;getConstraintSolver()-&gt;setCollisionDetector(dart::collision::BulletCollisionDetector::create());\n#else\n            ROBOT_DART_WARNING(true, \"DART is not installed with Bullet! Cannot set BulletCollisionDetector!\");\n#endif\n        }\n        else if (coll == \"ode\") {\n#if (HAVE_ODE == 1)\n            _world-&gt;getConstraintSolver()-&gt;setCollisionDetector(dart::collision::OdeCollisionDetector::create());\n#else\n            ROBOT_DART_WARNING(true, \"DART is not installed with ODE! Cannot set OdeCollisionDetector!\");\n#endif\n        }\n    }\n\n    const std::string&amp; RobotDARTSimu::collision_detector() const { return _world-&gt;getConstraintSolver()-&gt;getCollisionDetector()-&gt;getType(); }\n\n    void RobotDARTSimu::set_collision_masks(size_t robot_index, uint32_t category_mask, uint32_t collision_mask)\n    {\n        ROBOT_DART_ASSERT(robot_index &lt; _robots.size(), \"Robot index out of bounds\", );\n        auto coll_filter = std::static_pointer_cast&lt;collision_filter::BitmaskContactFilter&gt;(_world-&gt;getConstraintSolver()-&gt;getCollisionOption().collisionFilter);\n        coll_filter-&gt;add_to_map(_robots[robot_index]-&gt;skeleton(), collision_mask, category_mask);\n    }\n\n    void RobotDARTSimu::set_collision_masks(size_t robot_index, const std::string&amp; body_name, uint32_t category_mask, uint32_t collision_mask)\n    {\n        ROBOT_DART_ASSERT(robot_index &lt; _robots.size(), \"Robot index out of bounds\", );\n        auto bd = _robots[robot_index]-&gt;skeleton()-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n        auto coll_filter = std::static_pointer_cast&lt;collision_filter::BitmaskContactFilter&gt;(_world-&gt;getConstraintSolver()-&gt;getCollisionOption().collisionFilter);\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n        bd-&gt;eachShapeNode([coll_filter, collision_mask, category_mask](dart::dynamics::ShapeNode* shape) { coll_filter-&gt;add_to_map(shape, collision_mask, category_mask); });\n#else\n        for (auto&amp; shape : bd-&gt;getShapeNodes())\n            coll_filter-&gt;add_to_map(shape, collision_mask, category_mask);\n#endif\n    }\n\n    void RobotDARTSimu::set_collision_masks(size_t robot_index, size_t body_index, uint32_t category_mask, uint32_t collision_mask)\n    {\n        ROBOT_DART_ASSERT(robot_index &lt; _robots.size(), \"Robot index out of bounds\", );\n        auto skel = _robots[robot_index]-&gt;skeleton();\n        ROBOT_DART_ASSERT(body_index &lt; skel-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", );\n        auto bd = skel-&gt;getBodyNode(body_index);\n        auto coll_filter = std::static_pointer_cast&lt;collision_filter::BitmaskContactFilter&gt;(_world-&gt;getConstraintSolver()-&gt;getCollisionOption().collisionFilter);\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n        bd-&gt;eachShapeNode([coll_filter, collision_mask, category_mask](dart::dynamics::ShapeNode* shape) { coll_filter-&gt;add_to_map(shape, collision_mask, category_mask); });\n#else\n        for (auto&amp; shape : bd-&gt;getShapeNodes())\n            coll_filter-&gt;add_to_map(shape, collision_mask, category_mask);\n#endif\n    }\n\n    uint32_t RobotDARTSimu::collision_mask(size_t robot_index, const std::string&amp; body_name)\n    {\n        ROBOT_DART_ASSERT(robot_index &lt; _robots.size(), \"Robot index out of bounds\", 0xffffffff);\n        auto bd = _robots[robot_index]-&gt;skeleton()-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", 0xffffffff);\n        auto coll_filter = std::static_pointer_cast&lt;collision_filter::BitmaskContactFilter&gt;(_world-&gt;getConstraintSolver()-&gt;getCollisionOption().collisionFilter);\n\n        uint32_t mask = 0xffffffff;\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n        bd-&gt;eachShapeNode([coll_filter, &amp;mask](dart::dynamics::ShapeNode* shape) { mask &amp;= coll_filter-&gt;mask(shape).collision_mask; });\n#else\n        for (auto&amp; shape : bd-&gt;getShapeNodes())\n            mask &amp;= coll_filter-&gt;mask(shape).collision_mask;\n#endif\n\n        return mask;\n    }\n\n    uint32_t RobotDARTSimu::collision_mask(size_t robot_index, size_t body_index)\n    {\n        ROBOT_DART_ASSERT(robot_index &lt; _robots.size(), \"Robot index out of bounds\", 0xffffffff);\n        auto skel = _robots[robot_index]-&gt;skeleton();\n        ROBOT_DART_ASSERT(body_index &lt; skel-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", 0xffffffff);\n        auto bd = skel-&gt;getBodyNode(body_index);\n        auto coll_filter = std::static_pointer_cast&lt;collision_filter::BitmaskContactFilter&gt;(_world-&gt;getConstraintSolver()-&gt;getCollisionOption().collisionFilter);\n\n        uint32_t mask = 0xffffffff;\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n        bd-&gt;eachShapeNode([coll_filter, &amp;mask](dart::dynamics::ShapeNode* shape) { mask &amp;= coll_filter-&gt;mask(shape).collision_mask; });\n#else\n        for (auto&amp; shape : bd-&gt;getShapeNodes())\n            mask &amp;= coll_filter-&gt;mask(shape).collision_mask;\n#endif\n\n        return mask;\n    }\n\n    uint32_t RobotDARTSimu::collision_category(size_t robot_index, const std::string&amp; body_name)\n    {\n        ROBOT_DART_ASSERT(robot_index &lt; _robots.size(), \"Robot index out of bounds\", 0xffffffff);\n        auto bd = _robots[robot_index]-&gt;skeleton()-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", 0xffffffff);\n        auto coll_filter = std::static_pointer_cast&lt;collision_filter::BitmaskContactFilter&gt;(_world-&gt;getConstraintSolver()-&gt;getCollisionOption().collisionFilter);\n\n        uint32_t mask = 0xffffffff;\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n        bd-&gt;eachShapeNode([coll_filter, &amp;mask](dart::dynamics::ShapeNode* shape) { mask &amp;= coll_filter-&gt;mask(shape).category_mask; });\n#else\n        for (auto&amp; shape : bd-&gt;getShapeNodes())\n            mask &amp;= coll_filter-&gt;mask(shape).category_mask;\n#endif\n\n        return mask;\n    }\n\n    uint32_t RobotDARTSimu::collision_category(size_t robot_index, size_t body_index)\n    {\n        ROBOT_DART_ASSERT(robot_index &lt; _robots.size(), \"Robot index out of bounds\", 0xffffffff);\n        auto skel = _robots[robot_index]-&gt;skeleton();\n        ROBOT_DART_ASSERT(body_index &lt; skel-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", 0xffffffff);\n        auto bd = skel-&gt;getBodyNode(body_index);\n        auto coll_filter = std::static_pointer_cast&lt;collision_filter::BitmaskContactFilter&gt;(_world-&gt;getConstraintSolver()-&gt;getCollisionOption().collisionFilter);\n\n        uint32_t mask = 0xffffffff;\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n        bd-&gt;eachShapeNode([coll_filter, &amp;mask](dart::dynamics::ShapeNode* shape) { mask &amp;= coll_filter-&gt;mask(shape).category_mask; });\n#else\n        for (auto&amp; shape : bd-&gt;getShapeNodes())\n            mask &amp;= coll_filter-&gt;mask(shape).category_mask;\n#endif\n\n        return mask;\n    }\n\n    std::pair&lt;uint32_t, uint32_t&gt; RobotDARTSimu::collision_masks(size_t robot_index, const std::string&amp; body_name)\n    {\n        std::pair&lt;uint32_t, uint32_t&gt; mask = {0xffffffff, 0xffffffff};\n        ROBOT_DART_ASSERT(robot_index &lt; _robots.size(), \"Robot index out of bounds\", mask);\n        auto bd = _robots[robot_index]-&gt;skeleton()-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", mask);\n        auto coll_filter = std::static_pointer_cast&lt;collision_filter::BitmaskContactFilter&gt;(_world-&gt;getConstraintSolver()-&gt;getCollisionOption().collisionFilter);\n\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n        bd-&gt;eachShapeNode([coll_filter, &amp;mask](dart::dynamics::ShapeNode* shape) {\n            mask.first &amp;= coll_filter-&gt;mask(shape).collision_mask;\n            mask.second &amp;= coll_filter-&gt;mask(shape).category_mask;\n        });\n#else\n        for (auto&amp; shape : bd-&gt;getShapeNodes()) {\n            mask.first &amp;= coll_filter-&gt;mask(shape).collision_mask;\n            mask.second &amp;= coll_filter-&gt;mask(shape).category_mask;\n        }\n#endif\n\n        return mask;\n    }\n\n    std::pair&lt;uint32_t, uint32_t&gt; RobotDARTSimu::collision_masks(size_t robot_index, size_t body_index)\n    {\n        std::pair&lt;uint32_t, uint32_t&gt; mask = {0xffffffff, 0xffffffff};\n        ROBOT_DART_ASSERT(robot_index &lt; _robots.size(), \"Robot index out of bounds\", mask);\n        auto skel = _robots[robot_index]-&gt;skeleton();\n        ROBOT_DART_ASSERT(body_index &lt; skel-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", mask);\n        auto bd = skel-&gt;getBodyNode(body_index);\n        auto coll_filter = std::static_pointer_cast&lt;collision_filter::BitmaskContactFilter&gt;(_world-&gt;getConstraintSolver()-&gt;getCollisionOption().collisionFilter);\n\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n        bd-&gt;eachShapeNode([coll_filter, &amp;mask](dart::dynamics::ShapeNode* shape) {\n            mask.first &amp;= coll_filter-&gt;mask(shape).collision_mask;\n            mask.second &amp;= coll_filter-&gt;mask(shape).category_mask;\n        });\n#else\n        for (auto&amp; shape : bd-&gt;getShapeNodes()) {\n            mask.first &amp;= coll_filter-&gt;mask(shape).collision_mask;\n            mask.second &amp;= coll_filter-&gt;mask(shape).category_mask;\n        }\n#endif\n\n        return mask;\n    }\n\n    void RobotDARTSimu::remove_collision_masks(size_t robot_index)\n    {\n        ROBOT_DART_ASSERT(robot_index &lt; _robots.size(), \"Robot index out of bounds\", );\n        auto coll_filter = std::static_pointer_cast&lt;collision_filter::BitmaskContactFilter&gt;(_world-&gt;getConstraintSolver()-&gt;getCollisionOption().collisionFilter);\n        coll_filter-&gt;remove_from_map(_robots[robot_index]-&gt;skeleton());\n    }\n\n    void RobotDARTSimu::remove_collision_masks(size_t robot_index, const std::string&amp; body_name)\n    {\n        ROBOT_DART_ASSERT(robot_index &lt; _robots.size(), \"Robot index out of bounds\", );\n        auto bd = _robots[robot_index]-&gt;skeleton()-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n        auto coll_filter = std::static_pointer_cast&lt;collision_filter::BitmaskContactFilter&gt;(_world-&gt;getConstraintSolver()-&gt;getCollisionOption().collisionFilter);\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n        bd-&gt;eachShapeNode([coll_filter](dart::dynamics::ShapeNode* shape) { coll_filter-&gt;remove_from_map(shape); });\n#else\n        for (auto&amp; shape : bd-&gt;getShapeNodes())\n            coll_filter-&gt;remove_from_map(shape);\n#endif\n    }\n\n    void RobotDARTSimu::remove_collision_masks(size_t robot_index, size_t body_index)\n    {\n        ROBOT_DART_ASSERT(robot_index &lt; _robots.size(), \"Robot index out of bounds\", );\n        auto skel = _robots[robot_index]-&gt;skeleton();\n        ROBOT_DART_ASSERT(body_index &lt; skel-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", );\n        auto bd = skel-&gt;getBodyNode(body_index);\n        auto coll_filter = std::static_pointer_cast&lt;collision_filter::BitmaskContactFilter&gt;(_world-&gt;getConstraintSolver()-&gt;getCollisionOption().collisionFilter);\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n        bd-&gt;eachShapeNode([coll_filter](dart::dynamics::ShapeNode* shape) { coll_filter-&gt;remove_from_map(shape); });\n#else\n        for (auto&amp; shape : bd-&gt;getShapeNodes())\n            coll_filter-&gt;remove_from_map(shape);\n#endif\n    }\n\n    void RobotDARTSimu::remove_all_collision_masks()\n    {\n        auto coll_filter = std::static_pointer_cast&lt;collision_filter::BitmaskContactFilter&gt;(_world-&gt;getConstraintSolver()-&gt;getCollisionOption().collisionFilter);\n        coll_filter-&gt;clear_all();\n    }\n} // namespace robot_dart\n</code></pre>"},{"location":"api/robot__dart__simu_8hpp/","title":"File robot_dart_simu.hpp","text":"<p>FileList &gt; robot_dart &gt; robot_dart_simu.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/base.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/robot.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/scheduler.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/sensor/sensor.hpp&gt;</code></li> </ul>"},{"location":"api/robot__dart__simu_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace simu"},{"location":"api/robot__dart__simu_8hpp/#classes","title":"Classes","text":"Type Name class RobotDARTSimu struct TextData <p>The documentation for this class was generated from the following file <code>robot_dart/robot_dart_simu.hpp</code></p>"},{"location":"api/robot__dart__simu_8hpp_source/","title":"File robot_dart_simu.hpp","text":"<p>File List &gt; robot_dart &gt; robot_dart_simu.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_SIMU_HPP\n#define ROBOT_DART_SIMU_HPP\n\n#include &lt;robot_dart/gui/base.hpp&gt;\n#include &lt;robot_dart/robot.hpp&gt;\n#include &lt;robot_dart/scheduler.hpp&gt;\n#include &lt;robot_dart/sensor/sensor.hpp&gt;\n\nnamespace robot_dart {\n    namespace simu {\n        struct GUIData;\n\n        // We use the Abode Source Sans Pro font: https://github.com/adobe-fonts/source-sans-pro\n        // This font is licensed under SIL Open Font License 1.1: https://github.com/adobe-fonts/source-sans-pro/blob/release/LICENSE.md\n        struct TextData {\n            std::string text;\n            Eigen::Affine2d transformation;\n            Eigen::Vector4d color;\n            std::uint8_t alignment;\n            bool draw_background;\n            Eigen::Vector4d background_color;\n            double font_size = 28.;\n        };\n    } // namespace simu\n\n    class RobotDARTSimu {\n    public:\n        using robot_t = std::shared_ptr&lt;Robot&gt;;\n\n        RobotDARTSimu(double timestep = 0.015);\n\n        ~RobotDARTSimu();\n\n        void run(double max_duration = 5.0, bool reset_commands = false, bool force_position_bounds = true);\n        bool step_world(bool reset_commands = false, bool force_position_bounds = true);\n        bool step(bool reset_commands = false, bool force_position_bounds = true);\n\n        Scheduler&amp; scheduler() { return _scheduler; }\n        const Scheduler&amp; scheduler() const { return _scheduler; }\n        bool schedule(int freq) { return _scheduler(freq); }\n\n        int physics_freq() const { return _physics_freq; }\n        int control_freq() const { return _control_freq; }\n\n        void set_control_freq(int frequency)\n        {\n            ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(\n                frequency &lt;= _physics_freq &amp;&amp; \"Control frequency needs to be less than physics frequency\");\n            _control_freq = frequency;\n        }\n\n        int graphics_freq() const { return _graphics_freq; }\n\n        void set_graphics_freq(int frequency)\n        {\n            ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(\n                frequency &lt;= _physics_freq &amp;&amp; \"Graphics frequency needs to be less than physics frequency\");\n            _graphics_freq = frequency;\n            _graphics-&gt;set_fps(_graphics_freq);\n        }\n\n        std::shared_ptr&lt;gui::Base&gt; graphics() const;\n        void set_graphics(const std::shared_ptr&lt;gui::Base&gt;&amp; graphics);\n\n        dart::simulation::WorldPtr world();\n\n        template &lt;typename T, typename... Args&gt;\n        std::shared_ptr&lt;T&gt; add_sensor(Args&amp;&amp;... args)\n        {\n            add_sensor(std::make_shared&lt;T&gt;(std::forward&lt;Args&gt;(args)...));\n            return std::static_pointer_cast&lt;T&gt;(_sensors.back());\n        }\n\n        void add_sensor(const std::shared_ptr&lt;sensor::Sensor&gt;&amp; sensor);\n        std::vector&lt;std::shared_ptr&lt;sensor::Sensor&gt;&gt; sensors() const;\n        std::shared_ptr&lt;sensor::Sensor&gt; sensor(size_t index) const;\n\n        void remove_sensor(const std::shared_ptr&lt;sensor::Sensor&gt;&amp; sensor);\n        void remove_sensor(size_t index);\n        void remove_sensors(const std::string&amp; type);\n        void clear_sensors();\n\n        double timestep() const;\n        void set_timestep(double timestep, bool update_control_freq = true);\n\n        Eigen::Vector3d gravity() const;\n        void set_gravity(const Eigen::Vector3d&amp; gravity);\n\n        void stop_sim(bool disable = true);\n        bool halted_sim() const;\n\n        size_t num_robots() const;\n        const std::vector&lt;robot_t&gt;&amp; robots() const;\n        robot_t robot(size_t index) const;\n        int robot_index(const robot_t&amp; robot) const;\n\n        void add_robot(const robot_t&amp; robot);\n        void add_visual_robot(const robot_t&amp; robot);\n        void remove_robot(const robot_t&amp; robot);\n        void remove_robot(size_t index);\n        void clear_robots();\n\n        simu::GUIData* gui_data();\n\n        void enable_text_panel(bool enable = true, double font_size = -1);\n        std::string text_panel_text() const;\n        void set_text_panel(const std::string&amp; str);\n\n        void enable_status_bar(bool enable = true, double font_size = -1);\n        std::string status_bar_text() const;\n\n        std::shared_ptr&lt;simu::TextData&gt; add_text(const std::string&amp; text, const Eigen::Affine2d&amp; tf = Eigen::Affine2d::Identity(), Eigen::Vector4d color = Eigen::Vector4d(1, 1, 1, 1), std::uint8_t alignment = 2 &lt;&lt; 2, bool draw_bg = false, Eigen::Vector4d bg_color = Eigen::Vector4d(0, 0, 0, 0.75), double font_size = 28);\n\n        std::shared_ptr&lt;Robot&gt; add_floor(double floor_width = 10.0, double floor_height = 0.1, const Eigen::Isometry3d&amp; tf = Eigen::Isometry3d::Identity(), const std::string&amp; floor_name = \"floor\");\n        std::shared_ptr&lt;Robot&gt; add_checkerboard_floor(double floor_width = 10.0, double floor_height = 0.1, double size = 1., const Eigen::Isometry3d&amp; tf = Eigen::Isometry3d::Identity(), const std::string&amp; floor_name = \"checkerboard_floor\", const Eigen::Vector4d&amp; first_color = dart::Color::White(1.), const Eigen::Vector4d&amp; second_color = dart::Color::Gray(1.));\n\n        void set_collision_detector(const std::string&amp; collision_detector); // collision_detector can be \"DART\", \"FCL\", \"Ode\" or \"Bullet\" (case does not matter)\n        const std::string&amp; collision_detector() const;\n\n        // Bitmask collision filtering\n        void set_collision_masks(size_t robot_index, uint32_t category_mask, uint32_t collision_mask);\n        void set_collision_masks(size_t robot_index, const std::string&amp; body_name, uint32_t category_mask, uint32_t collision_mask);\n        void set_collision_masks(size_t robot_index, size_t body_index, uint32_t category_mask, uint32_t collision_mask);\n\n        uint32_t collision_mask(size_t robot_index, const std::string&amp; body_name);\n        uint32_t collision_mask(size_t robot_index, size_t body_index);\n\n        uint32_t collision_category(size_t robot_index, const std::string&amp; body_name);\n        uint32_t collision_category(size_t robot_index, size_t body_index);\n\n        std::pair&lt;uint32_t, uint32_t&gt; collision_masks(size_t robot_index, const std::string&amp; body_name);\n        std::pair&lt;uint32_t, uint32_t&gt; collision_masks(size_t robot_index, size_t body_index);\n\n        void remove_collision_masks(size_t robot_index);\n        void remove_collision_masks(size_t robot_index, const std::string&amp; body_name);\n        void remove_collision_masks(size_t robot_index, size_t body_index);\n\n        void remove_all_collision_masks();\n\n    protected:\n        void _enable(std::shared_ptr&lt;simu::TextData&gt;&amp; text, bool enable, double font_size);\n\n        dart::simulation::WorldPtr _world;\n        size_t _old_index;\n        bool _break;\n\n        std::vector&lt;std::shared_ptr&lt;sensor::Sensor&gt;&gt; _sensors;\n        std::vector&lt;robot_t&gt; _robots;\n        std::shared_ptr&lt;gui::Base&gt; _graphics;\n        std::unique_ptr&lt;simu::GUIData&gt; _gui_data;\n        std::shared_ptr&lt;simu::TextData&gt; _text_panel = nullptr;\n        std::shared_ptr&lt;simu::TextData&gt; _status_bar = nullptr;\n\n        Scheduler _scheduler;\n        int _physics_freq = -1, _control_freq = -1, _graphics_freq = 40;\n    };\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/robot__pool_8cpp/","title":"File robot_pool.cpp","text":"<p>FileList &gt; robot_dart &gt; robot_pool.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/robot_pool.hpp&gt;</code></li> </ul>"},{"location":"api/robot__pool_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart <p>The documentation for this class was generated from the following file <code>robot_dart/robot_pool.cpp</code></p>"},{"location":"api/robot__pool_8cpp_source/","title":"File robot_pool.cpp","text":"<p>File List &gt; robot_dart &gt; robot_pool.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include &lt;robot_dart/robot_pool.hpp&gt;\n\nnamespace robot_dart {\n    RobotPool::RobotPool(const std::function&lt;std::shared_ptr&lt;Robot&gt;()&gt;&amp; robot_creator, size_t pool_size, bool verbose) : _robot_creator(robot_creator), _pool_size(pool_size), _verbose(verbose)\n    {\n        if (_verbose) {\n            std::cout &lt;&lt; \"Creating a pool of \" &lt;&lt; pool_size &lt;&lt; \" robots: \";\n            std::cout.flush();\n        }\n\n        for (size_t i = 0; i &lt; _pool_size; ++i) {\n            if (_verbose) {\n                std::cout &lt;&lt; \"[\" &lt;&lt; i &lt;&lt; \"]\";\n                std::cout.flush();\n            }\n            auto robot = robot_creator();\n            _model_filename = robot-&gt;model_filename();\n            _reset_robot(robot);\n            _skeletons.push_back(robot-&gt;skeleton());\n        }\n        for (size_t i = 0; i &lt; _pool_size; i++)\n            _free.push_back(true);\n\n        if (_verbose)\n            std::cout &lt;&lt; std::endl;\n    }\n\n    std::shared_ptr&lt;Robot&gt; RobotPool::get_robot(const std::string&amp; name)\n    {\n        while (true) {\n            std::lock_guard&lt;std::mutex&gt; lock(_skeleton_mutex);\n            for (size_t i = 0; i &lt; _pool_size; i++)\n                if (_free[i]) {\n                    _free[i] = false;\n                    return std::make_shared&lt;Robot&gt;(_skeletons[i], name);\n                }\n        }\n    }\n\n    void RobotPool::free_robot(const std::shared_ptr&lt;Robot&gt;&amp; robot)\n    {\n        std::lock_guard&lt;std::mutex&gt; lock(_skeleton_mutex);\n        for (size_t i = 0; i &lt; _pool_size; i++) {\n            if (_skeletons[i] == robot-&gt;skeleton()) {\n                _reset_robot(robot);\n                _free[i] = true;\n                break;\n            }\n        }\n    }\n\n    void RobotPool::_reset_robot(const std::shared_ptr&lt;Robot&gt;&amp; robot)\n    {\n        robot-&gt;reset();\n    }\n} // namespace robot_dart\n</code></pre>"},{"location":"api/robot__pool_8hpp/","title":"File robot_pool.hpp","text":"<p>FileList &gt; robot_dart &gt; robot_pool.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;functional&gt;</code></li> <li><code>#include &lt;memory&gt;</code></li> <li><code>#include &lt;mutex&gt;</code></li> <li><code>#include &lt;vector&gt;</code></li> <li><code>#include &lt;robot_dart/robot.hpp&gt;</code></li> </ul>"},{"location":"api/robot__pool_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart"},{"location":"api/robot__pool_8hpp/#classes","title":"Classes","text":"Type Name class RobotPool <p>The documentation for this class was generated from the following file <code>robot_dart/robot_pool.hpp</code></p>"},{"location":"api/robot__pool_8hpp_source/","title":"File robot_pool.hpp","text":"<p>File List &gt; robot_dart &gt; robot_pool.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_ROBOT_POOL\n#define ROBOT_DART_ROBOT_POOL\n\n#include &lt;functional&gt;\n#include &lt;memory&gt;\n#include &lt;mutex&gt;\n#include &lt;vector&gt;\n\n#include &lt;robot_dart/robot.hpp&gt;\n\nnamespace robot_dart {\n    class RobotPool {\n    public:\n        using robot_creator_t = std::function&lt;std::shared_ptr&lt;Robot&gt;()&gt;;\n\n        RobotPool(const robot_creator_t&amp; robot_creator, size_t pool_size = 32, bool verbose = true);\n        virtual ~RobotPool() {}\n\n        RobotPool(const RobotPool&amp;) = delete;\n        void operator=(const RobotPool&amp;) = delete;\n\n        virtual std::shared_ptr&lt;Robot&gt; get_robot(const std::string&amp; name = \"robot\");\n        virtual void free_robot(const std::shared_ptr&lt;Robot&gt;&amp; robot);\n\n        const std::string&amp; model_filename() const { return _model_filename; }\n\n    protected:\n        robot_creator_t _robot_creator;\n        size_t _pool_size;\n        bool _verbose;\n        std::vector&lt;dart::dynamics::SkeletonPtr&gt; _skeletons;\n        std::vector&lt;bool&gt; _free;\n        std::mutex _skeleton_mutex;\n        std::string _model_filename;\n\n        virtual void _reset_robot(const std::shared_ptr&lt;Robot&gt;&amp; robot);\n    };\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/scheduler_8cpp/","title":"File scheduler.cpp","text":"<p>FileList &gt; robot_dart &gt; scheduler.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/scheduler.hpp&gt;</code></li> </ul>"},{"location":"api/scheduler_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart <p>The documentation for this class was generated from the following file <code>robot_dart/scheduler.cpp</code></p>"},{"location":"api/scheduler_8cpp_source/","title":"File scheduler.cpp","text":"<p>File List &gt; robot_dart &gt; scheduler.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include &lt;robot_dart/scheduler.hpp&gt;\n\nnamespace robot_dart {\n    bool Scheduler::schedule(int frequency)\n    {\n        if (_max_frequency == -1) {\n            _start_time = clock_t::now();\n            _last_iteration_time = _start_time;\n        }\n\n        _max_frequency = std::max(_max_frequency, frequency);\n        double period = std::round((1. / frequency) / _dt);\n\n        ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(\n            period &gt;= 1. &amp;&amp; \"Time-step is too big for required frequency.\");\n\n        if (_current_step % int(period) == 0)\n            return true;\n\n        return false;\n    }\n\n    void Scheduler::reset(double dt, bool sync, double current_time, double real_time)\n    {\n        ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(dt &gt; 0. &amp;&amp; \"Time-step needs to be bigger than zero.\");\n\n        _current_time = 0.;\n        _real_time = 0.;\n        _simu_start_time = current_time;\n        _real_start_time = real_time;\n        _current_step = 0;\n        _max_frequency = -1;\n        _average_it_duration = 0.;\n\n        _dt = dt;\n        _sync = sync;\n    }\n\n    double Scheduler::step()\n    {\n        _current_time += _dt;\n        _current_step += 1;\n\n        auto end = clock_t::now();\n        _it_duration = std::chrono::duration&lt;double, std::micro&gt;(end - _last_iteration_time).count();\n        _last_iteration_time = end;\n        _average_it_duration = _average_it_duration + (_it_duration - _average_it_duration) / _current_step;\n        std::chrono::duration&lt;double, std::micro&gt; real = end - _start_time;\n        if (_sync) {\n            auto expected = std::chrono::microseconds(int(_current_time * 1e6));\n            std::chrono::duration&lt;double, std::micro&gt; adjust = expected - real;\n            if (adjust.count() &gt; 0)\n                std::this_thread::sleep_for(adjust);\n        }\n\n        _real_time = real.count() * 1e-6;\n        return _real_start_time + _real_time;\n    }\n\n} // namespace robot_dart\n</code></pre>"},{"location":"api/scheduler_8hpp/","title":"File scheduler.hpp","text":"<p>FileList &gt; robot_dart &gt; scheduler.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/utils.hpp&gt;</code></li> <li><code>#include &lt;chrono&gt;</code></li> <li><code>#include &lt;thread&gt;</code></li> </ul>"},{"location":"api/scheduler_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart"},{"location":"api/scheduler_8hpp/#classes","title":"Classes","text":"Type Name class Scheduler <p>The documentation for this class was generated from the following file <code>robot_dart/scheduler.hpp</code></p>"},{"location":"api/scheduler_8hpp_source/","title":"File scheduler.hpp","text":"<p>File List &gt; robot_dart &gt; scheduler.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_SCHEDULER_HPP\n#define ROBOT_DART_SCHEDULER_HPP\n\n#include &lt;robot_dart/utils.hpp&gt;\n\n#include &lt;chrono&gt;\n#include &lt;thread&gt;\n\nnamespace robot_dart {\n    class Scheduler {\n    protected:\n        using clock_t = std::chrono::high_resolution_clock;\n\n    public:\n        Scheduler(double dt, bool sync = false) : _dt(dt), _sync(sync)\n        {\n            ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(_dt &gt; 0. &amp;&amp; \"Time-step needs to be bigger than zero.\");\n        }\n\n        bool operator()(int frequency) { return schedule(frequency); };\n        bool schedule(int frequency);\n\n        double step();\n\n        void reset(double dt, bool sync = false, double current_time = 0., double real_time = 0.);\n\n        void set_sync(bool enable) { _sync = enable; }\n        bool sync() const { return _sync; }\n\n        double current_time() const { return _simu_start_time + _current_time; }\n        double next_time() const { return _simu_start_time + _current_time + _dt; }\n        double real_time() const { return _real_start_time + _real_time; }\n        double dt() const { return _dt; }\n        // 0.8x =&gt; we are simulating at 80% of real time\n        double real_time_factor() const { return _dt / it_duration(); }\n        // time for a single iteration (wall-clock)\n        double it_duration() const { return _average_it_duration * 1e-6; }\n        // time of the last iteration (wall-clock)\n        double last_it_duration() const { return _it_duration * 1e-6; }\n\n    protected:\n        double _current_time = 0., _simu_start_time = 0., _real_time = 0., _real_start_time = 0., _it_duration = 0.;\n        double _average_it_duration = 0.;\n        double _dt;\n        int _current_step = 0;\n        bool _sync;\n        int _max_frequency = -1;\n        clock_t::time_point _start_time;\n        clock_t::time_point _last_iteration_time;\n    };\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/utils_8hpp/","title":"File utils.hpp","text":"<p>FileList &gt; robot_dart &gt; utils.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;exception&gt;</code></li> <li><code>#include &lt;iostream&gt;</code></li> <li><code>#include &lt;robot_dart/utils_headers_external.hpp&gt;</code></li> </ul>"},{"location":"api/utils_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart"},{"location":"api/utils_8hpp/#classes","title":"Classes","text":"Type Name class Assertion"},{"location":"api/utils_8hpp/#macros","title":"Macros","text":"Type Name define M_PIf  static_cast&lt;float&gt;(M_PI) define ROBOT_DART_ASSERT (condition, message, returnValue)  define ROBOT_DART_EXCEPTION_ASSERT (condition, message)  define ROBOT_DART_EXCEPTION_INTERNAL_ASSERT (condition)  define ROBOT_DART_INTERNAL_ASSERT (condition)  define ROBOT_DART_SHOW_WARNINGS  true define ROBOT_DART_UNUSED_VARIABLE (var) (void)(var) define ROBOT_DART_WARNING (condition, message)"},{"location":"api/utils_8hpp/#macro-definition-documentation","title":"Macro Definition Documentation","text":""},{"location":"api/utils_8hpp/#define-m_pif","title":"define M_PIf","text":"<pre><code>#define M_PIf static_cast&lt;float&gt;(M_PI)\n</code></pre>"},{"location":"api/utils_8hpp/#define-robot_dart_assert","title":"define ROBOT_DART_ASSERT","text":"<pre><code>#define ROBOT_DART_ASSERT (\n    condition,\n    message,\n    returnValue\n) do {                                                                                                             \\\n        if (!(condition)) {                                                                                          \\\n            std::cerr &lt;&lt; __LINE__ &lt;&lt; \" \" &lt;&lt; __FILE__ &lt;&lt; \" -&gt; robot_dart assertion failed: \" &lt;&lt; message &lt;&lt; std::endl; \\\n            return returnValue;                                                                                      \\\n        }                                                                                                            \\\n    } while (false)\n</code></pre>"},{"location":"api/utils_8hpp/#define-robot_dart_exception_assert","title":"define ROBOT_DART_EXCEPTION_ASSERT","text":"<pre><code>#define ROBOT_DART_EXCEPTION_ASSERT (\n    condition,\n    message\n) do {                                                \\\n        if (!(condition)) {                             \\\n            throw robot_dart::Assertion (message);       \\\n        }                                               \\\n    } while (false)\n</code></pre>"},{"location":"api/utils_8hpp/#define-robot_dart_exception_internal_assert","title":"define ROBOT_DART_EXCEPTION_INTERNAL_ASSERT","text":"<pre><code>#define ROBOT_DART_EXCEPTION_INTERNAL_ASSERT (\n    condition\n) do {                                                \\\n        if (!(condition)) {                             \\\n            throw robot_dart::Assertion (#condition);    \\\n        }                                               \\\n    } while (false)\n</code></pre>"},{"location":"api/utils_8hpp/#define-robot_dart_internal_assert","title":"define ROBOT_DART_INTERNAL_ASSERT","text":"<pre><code>#define ROBOT_DART_INTERNAL_ASSERT (\n    condition\n) do {                                                                                                                      \\\n        if (!(condition)) {                                                                                                   \\\n            std::cerr &lt;&lt; \"Assertion '\" &lt;&lt; #condition &lt;&lt; \"' failed in '\" &lt;&lt; __FILE__ &lt;&lt; \"' on line \" &lt;&lt; __LINE__ &lt;&lt; std::endl; \\\n            std::abort();                                                                                                     \\\n        }                                                                                                                     \\\n    } while (false)\n</code></pre>"},{"location":"api/utils_8hpp/#define-robot_dart_show_warnings","title":"define ROBOT_DART_SHOW_WARNINGS","text":"<pre><code>#define ROBOT_DART_SHOW_WARNINGS true\n</code></pre>"},{"location":"api/utils_8hpp/#define-robot_dart_unused_variable","title":"define ROBOT_DART_UNUSED_VARIABLE","text":"<pre><code>#define ROBOT_DART_UNUSED_VARIABLE (\n    var\n) (void)(var)\n</code></pre>"},{"location":"api/utils_8hpp/#define-robot_dart_warning","title":"define ROBOT_DART_WARNING","text":"<pre><code>#define ROBOT_DART_WARNING (\n    condition,\n    message\n) if (ROBOT_DART_SHOW_WARNINGS &amp;&amp; (condition)) {                               \\\n        std::cerr &lt;&lt; \"[robot_dart WARNING]: \\\"\" &lt;&lt; message &lt;&lt; \"\\\"\" &lt;&lt; std::endl; \\\n    }\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/utils.hpp</code></p>"},{"location":"api/utils_8hpp_source/","title":"File utils.hpp","text":"<p>File List &gt; robot_dart &gt; utils.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_UTILS_HPP\n#define ROBOT_DART_UTILS_HPP\n\n#include &lt;exception&gt;\n#include &lt;iostream&gt;\n\n#include &lt;robot_dart/utils_headers_external.hpp&gt;\n\n#ifndef ROBOT_DART_SHOW_WARNINGS\n#define ROBOT_DART_SHOW_WARNINGS true\n#endif\n\n#ifndef M_PIf\n#define M_PIf static_cast&lt;float&gt;(M_PI)\n#endif\n\nnamespace robot_dart {\n\n    inline Eigen::VectorXd make_vector(std::initializer_list&lt;double&gt; args)\n    {\n        return Eigen::VectorXd::Map(args.begin(), args.size());\n    }\n\n    inline Eigen::Isometry3d make_tf(const Eigen::Matrix3d&amp; R, const Eigen::Vector3d&amp; t)\n    {\n        Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();\n        tf.linear().matrix() = R;\n        tf.translation() = t;\n\n        return tf;\n    }\n\n    inline Eigen::Isometry3d make_tf(const Eigen::Matrix3d&amp; R)\n    {\n        Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();\n        tf.linear().matrix() = R;\n\n        return tf;\n    }\n\n    inline Eigen::Isometry3d make_tf(const Eigen::Vector3d&amp; t)\n    {\n        Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();\n        tf.translation() = t;\n\n        return tf;\n    }\n\n    inline Eigen::Isometry3d make_tf(std::initializer_list&lt;double&gt; args)\n    {\n        Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();\n        tf.translation() = make_vector(args);\n\n        return tf;\n    }\n\n    class Assertion : public std::exception {\n    public:\n        Assertion(const std::string&amp; msg = \"\") : _msg(_make_message(msg)) {}\n\n        const char* what() const throw()\n        {\n            return _msg.c_str();\n        }\n\n    private:\n        std::string _msg;\n\n        std::string _make_message(const std::string&amp; msg) const\n        {\n            std::string message = \"robot_dart assertion failed\";\n            if (msg != \"\")\n                message += \": '\" + msg + \"'\";\n            return message;\n        }\n    };\n} // namespace robot_dart\n\n#define ROBOT_DART_UNUSED_VARIABLE(var) (void)(var)\n\n#define ROBOT_DART_WARNING(condition, message)                                   \\\n    if (ROBOT_DART_SHOW_WARNINGS &amp;&amp; (condition)) {                               \\\n        std::cerr &lt;&lt; \"[robot_dart WARNING]: \\\"\" &lt;&lt; message &lt;&lt; \"\\\"\" &lt;&lt; std::endl; \\\n    }\n\n#define ROBOT_DART_ASSERT(condition, message, returnValue)                                                           \\\n    do {                                                                                                             \\\n        if (!(condition)) {                                                                                          \\\n            std::cerr &lt;&lt; __LINE__ &lt;&lt; \" \" &lt;&lt; __FILE__ &lt;&lt; \" -&gt; robot_dart assertion failed: \" &lt;&lt; message &lt;&lt; std::endl; \\\n            return returnValue;                                                                                      \\\n        }                                                                                                            \\\n    } while (false)\n\n#define ROBOT_DART_EXCEPTION_ASSERT(condition, message) \\\n    do {                                                \\\n        if (!(condition)) {                             \\\n            throw robot_dart::Assertion(message);       \\\n        }                                               \\\n    } while (false)\n\n#define ROBOT_DART_INTERNAL_ASSERT(condition)                                                                                 \\\n    do {                                                                                                                      \\\n        if (!(condition)) {                                                                                                   \\\n            std::cerr &lt;&lt; \"Assertion '\" &lt;&lt; #condition &lt;&lt; \"' failed in '\" &lt;&lt; __FILE__ &lt;&lt; \"' on line \" &lt;&lt; __LINE__ &lt;&lt; std::endl; \\\n            std::abort();                                                                                                     \\\n        }                                                                                                                     \\\n    } while (false)\n\n#define ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(condition) \\\n    do {                                                \\\n        if (!(condition)) {                             \\\n            throw robot_dart::Assertion(#condition);    \\\n        }                                               \\\n    } while (false)\n\n#endif\n</code></pre>"},{"location":"api/utils__headers__dart__collision_8hpp/","title":"File utils_headers_dart_collision.hpp","text":"<p>FileList &gt; robot_dart &gt; utils_headers_dart_collision.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;dart/config.hpp&gt;</code></li> <li><code>#include &lt;dart/collision/CollisionFilter.hpp&gt;</code></li> <li><code>#include &lt;dart/collision/CollisionObject.hpp&gt;</code></li> <li><code>#include &lt;dart/collision/dart/DARTCollisionDetector.hpp&gt;</code></li> <li><code>#include &lt;dart/collision/fcl/FCLCollisionDetector.hpp&gt;</code></li> <li><code>#include &lt;dart/constraint/ConstraintSolver.hpp&gt;</code></li> </ul> <p>The documentation for this class was generated from the following file <code>robot_dart/utils_headers_dart_collision.hpp</code></p>"},{"location":"api/utils__headers__dart__collision_8hpp_source/","title":"File utils_headers_dart_collision.hpp","text":"<p>File List &gt; robot_dart &gt; utils_headers_dart_collision.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_UTILS_HEADERS_DART_COLLISION_HPP\n#define ROBOT_DART_UTILS_HEADERS_DART_COLLISION_HPP\n\n#pragma GCC system_header\n\n#include &lt;dart/config.hpp&gt;\n\n#include &lt;dart/collision/CollisionFilter.hpp&gt;\n#include &lt;dart/collision/CollisionObject.hpp&gt;\n#include &lt;dart/collision/dart/DARTCollisionDetector.hpp&gt;\n#include &lt;dart/collision/fcl/FCLCollisionDetector.hpp&gt;\n#include &lt;dart/constraint/ConstraintSolver.hpp&gt;\n\n#if (HAVE_BULLET == 1)\n#include &lt;dart/collision/bullet/BulletCollisionDetector.hpp&gt;\n#endif\n\n#if (HAVE_ODE == 1)\n#include &lt;dart/collision/ode/OdeCollisionDetector.hpp&gt;\n#endif\n\n#endif\n</code></pre>"},{"location":"api/utils__headers__dart__dynamics_8hpp/","title":"File utils_headers_dart_dynamics.hpp","text":"<p>FileList &gt; robot_dart &gt; utils_headers_dart_dynamics.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;dart/dynamics/BallJoint.hpp&gt;</code></li> <li><code>#include &lt;dart/dynamics/BodyNode.hpp&gt;</code></li> <li><code>#include &lt;dart/dynamics/BoxShape.hpp&gt;</code></li> <li><code>#include &lt;dart/dynamics/DegreeOfFreedom.hpp&gt;</code></li> <li><code>#include &lt;dart/dynamics/EllipsoidShape.hpp&gt;</code></li> <li><code>#include &lt;dart/dynamics/EulerJoint.hpp&gt;</code></li> <li><code>#include &lt;dart/dynamics/FreeJoint.hpp&gt;</code></li> <li><code>#include &lt;dart/dynamics/MeshShape.hpp&gt;</code></li> <li><code>#include &lt;dart/dynamics/RevoluteJoint.hpp&gt;</code></li> <li><code>#include &lt;dart/dynamics/ShapeNode.hpp&gt;</code></li> <li><code>#include &lt;dart/dynamics/SoftBodyNode.hpp&gt;</code></li> <li><code>#include &lt;dart/dynamics/SoftMeshShape.hpp&gt;</code></li> <li><code>#include &lt;dart/dynamics/WeldJoint.hpp&gt;</code></li> </ul> <p>The documentation for this class was generated from the following file <code>robot_dart/utils_headers_dart_dynamics.hpp</code></p>"},{"location":"api/utils__headers__dart__dynamics_8hpp_source/","title":"File utils_headers_dart_dynamics.hpp","text":"<p>File List &gt; robot_dart &gt; utils_headers_dart_dynamics.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_UTILS_HEADERS_DART_DYNAMICS_HPP\n#define ROBOT_DART_UTILS_HEADERS_DART_DYNAMICS_HPP\n\n#pragma GCC system_header\n\n#include &lt;dart/dynamics/BallJoint.hpp&gt;\n#include &lt;dart/dynamics/BodyNode.hpp&gt;\n#include &lt;dart/dynamics/BoxShape.hpp&gt;\n#include &lt;dart/dynamics/DegreeOfFreedom.hpp&gt;\n#include &lt;dart/dynamics/EllipsoidShape.hpp&gt;\n#include &lt;dart/dynamics/EulerJoint.hpp&gt;\n#include &lt;dart/dynamics/FreeJoint.hpp&gt;\n#include &lt;dart/dynamics/MeshShape.hpp&gt;\n#include &lt;dart/dynamics/RevoluteJoint.hpp&gt;\n#include &lt;dart/dynamics/ShapeNode.hpp&gt;\n#include &lt;dart/dynamics/SoftBodyNode.hpp&gt;\n#include &lt;dart/dynamics/SoftMeshShape.hpp&gt;\n#include &lt;dart/dynamics/WeldJoint.hpp&gt;\n\n#endif\n</code></pre>"},{"location":"api/utils__headers__dart__io_8hpp/","title":"File utils_headers_dart_io.hpp","text":"<p>FileList &gt; robot_dart &gt; utils_headers_dart_io.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;dart/config.hpp&gt;</code></li> <li><code>#include &lt;dart/utils/SkelParser.hpp&gt;</code></li> <li><code>#include &lt;dart/utils/sdf/SdfParser.hpp&gt;</code></li> <li><code>#include &lt;dart/utils/urdf/urdf.hpp&gt;</code></li> </ul>"},{"location":"api/utils__headers__dart__io_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace dart <p>The documentation for this class was generated from the following file <code>robot_dart/utils_headers_dart_io.hpp</code></p>"},{"location":"api/utils__headers__dart__io_8hpp_source/","title":"File utils_headers_dart_io.hpp","text":"<p>File List &gt; robot_dart &gt; utils_headers_dart_io.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_UTILS_HEADERS_DART_IO_HPP\n#define ROBOT_DART_UTILS_HEADERS_DART_IO_HPP\n\n#pragma GCC system_header\n\n#include &lt;dart/config.hpp&gt;\n\n#if DART_VERSION_AT_LEAST(7, 0, 0)\n#include &lt;dart/io/SkelParser.hpp&gt;\n#include &lt;dart/io/sdf/SdfParser.hpp&gt;\n#include &lt;dart/io/urdf/urdf.hpp&gt;\n#else\n#include &lt;dart/utils/SkelParser.hpp&gt;\n#include &lt;dart/utils/sdf/SdfParser.hpp&gt;\n#include &lt;dart/utils/urdf/urdf.hpp&gt;\n\n// namespace alias for compatibility\nnamespace dart {\n    namespace io = utils;\n}\n#endif\n\n#endif\n</code></pre>"},{"location":"api/utils__headers__external_8hpp/","title":"File utils_headers_external.hpp","text":"<p>FileList &gt; robot_dart &gt; utils_headers_external.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;Eigen/Core&gt;</code></li> <li><code>#include &lt;Eigen/Geometry&gt;</code></li> <li><code>#include &lt;dart/config.hpp&gt;</code></li> <li><code>#include &lt;dart/dynamics/MeshShape.hpp&gt;</code></li> <li><code>#include &lt;dart/dynamics/Skeleton.hpp&gt;</code></li> <li><code>#include &lt;dart/simulation/World.hpp&gt;</code></li> </ul> <p>The documentation for this class was generated from the following file <code>robot_dart/utils_headers_external.hpp</code></p>"},{"location":"api/utils__headers__external_8hpp_source/","title":"File utils_headers_external.hpp","text":"<p>File List &gt; robot_dart &gt; utils_headers_external.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_UTILS_HEADERS_EXTERNAL_HPP\n#define ROBOT_DART_UTILS_HEADERS_EXTERNAL_HPP\n\n#pragma GCC system_header\n\n#include &lt;Eigen/Core&gt;\n#include &lt;Eigen/Geometry&gt;\n\n#include &lt;dart/config.hpp&gt;\n#include &lt;dart/dynamics/MeshShape.hpp&gt;\n#include &lt;dart/dynamics/Skeleton.hpp&gt;\n#include &lt;dart/simulation/World.hpp&gt;\n\n#endif\n</code></pre>"},{"location":"api/utils__headers__external__gui_8hpp/","title":"File utils_headers_external_gui.hpp","text":"<p>FileList &gt; robot_dart &gt; utils_headers_external_gui.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/utils_headers_external.hpp&gt;</code></li> <li><code>#include &lt;Magnum/DartIntegration/World.h&gt;</code></li> </ul> <p>The documentation for this class was generated from the following file <code>robot_dart/utils_headers_external_gui.hpp</code></p>"},{"location":"api/utils__headers__external__gui_8hpp_source/","title":"File utils_headers_external_gui.hpp","text":"<p>File List &gt; robot_dart &gt; utils_headers_external_gui.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_UTILS_HEADERS_EXTERNAL_GUI_HPP\n#define ROBOT_DART_UTILS_HEADERS_EXTERNAL_GUI_HPP\n\n#pragma GCC system_header\n\n#include &lt;robot_dart/utils_headers_external.hpp&gt;\n\n#include &lt;Magnum/DartIntegration/World.h&gt;\n\n#endif\n</code></pre>"},{"location":"api/namespaces/","title":"Namespace List","text":"<p>Here is a list of all namespaces with brief descriptions:</p> <ul> <li>namespace Magnum <ul> <li>namespace GL </li> <li>namespace Platform </li> <li>namespace SceneGraph </li> <li>namespace Shaders <ul> <li>namespace Implementation </li> </ul> </li> </ul> </li> <li>namespace TinyProcessLib </li> <li>namespace dart <ul> <li>namespace collision </li> <li>namespace dynamics </li> </ul> </li> <li>namespace robot_dart <ul> <li>namespace collision_filter </li> <li>namespace control </li> <li>namespace detail </li> <li>namespace gui <ul> <li>namespace magnum <ul> <li>namespace gs </li> <li>namespace sensor </li> </ul> </li> </ul> </li> <li>namespace robots </li> <li>namespace sensor </li> <li>namespace simu </li> </ul> </li> <li>namespace gs </li> <li>namespace std </li> </ul>"},{"location":"api/classes/","title":"Class Index","text":""},{"location":"api/classes/#a","title":"a","text":"<ul> <li>A1 (robot_dart::robots)</li> <li>Arm (robot_dart::robots)</li> <li>Assertion (robot_dart)</li> </ul>"},{"location":"api/classes/#b","title":"b","text":"<ul> <li>Base (robot_dart::gui)</li> <li>BaseApplication (robot_dart::gui::magnum)</li> <li>BaseGraphics (robot_dart::gui::magnum)</li> <li>BitmaskContactFilter (robot_dart::collision_filter)</li> </ul>"},{"location":"api/classes/#c","title":"c","text":"<ul> <li>Camera (robot_dart::gui::magnum::gs)</li> <li>Camera (robot_dart::gui::magnum::sensor)</li> <li>CubeMap (robot_dart::gui::magnum::gs)</li> <li>CubeMapColor (robot_dart::gui::magnum::gs)</li> <li>CubeMapShadowedColorObject (robot_dart::gui::magnum)</li> <li>CubeMapShadowedObject (robot_dart::gui::magnum)</li> </ul>"},{"location":"api/classes/#d","title":"d","text":"<ul> <li>DebugDrawData (robot_dart::gui::magnum)</li> <li>DepthImage (robot_dart::gui)</li> <li>DrawableObject (robot_dart::gui::magnum)</li> </ul>"},{"location":"api/classes/#f","title":"f","text":"<ul> <li>ForceTorque (robot_dart::sensor)</li> <li>Franka (robot_dart::robots)</li> </ul>"},{"location":"api/classes/#g","title":"g","text":"<ul> <li>GlfwApplication (robot_dart::gui::magnum)</li> <li>GlobalData (robot_dart::gui::magnum)</li> <li>Graphics (robot_dart::gui::magnum)</li> <li>GraphicsConfiguration (robot_dart::gui::magnum)</li> <li>GrayscaleImage (robot_dart::gui)</li> <li>GUIData (robot_dart::simu)</li> </ul>"},{"location":"api/classes/#h","title":"h","text":"<ul> <li>Hexapod (robot_dart::robots)</li> </ul>"},{"location":"api/classes/#i","title":"i","text":"<ul> <li>ICub (robot_dart::robots)</li> <li>Iiwa (robot_dart::robots)</li> <li>Image (robot_dart::gui)</li> <li>IMU (robot_dart::sensor)</li> <li>IMUConfig (robot_dart::sensor)</li> </ul>"},{"location":"api/classes/#l","title":"l","text":"<ul> <li>Light (robot_dart::gui::magnum::gs)</li> </ul>"},{"location":"api/classes/#m","title":"m","text":"<ul> <li>Masks (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>Material (robot_dart::gui::magnum::gs)</li> </ul>"},{"location":"api/classes/#o","title":"o","text":"<ul> <li>ObjectStruct (robot_dart::gui::magnum)</li> </ul>"},{"location":"api/classes/#p","title":"p","text":"<ul> <li>PDControl (robot_dart::control)</li> <li>Pendulum (robot_dart::robots)</li> <li>PhongMultiLight (robot_dart::gui::magnum::gs)</li> <li>PolicyControl (robot_dart::control)</li> </ul>"},{"location":"api/classes/#r","title":"r","text":"<ul> <li>Robot (robot_dart)</li> <li>RobotControl (robot_dart::control)</li> <li>RobotDARTSimu (robot_dart)</li> <li>RobotData</li> <li>RobotPool (robot_dart)</li> </ul>"},{"location":"api/classes/#s","title":"s","text":"<ul> <li>Scheduler (robot_dart)</li> <li>Sensor (robot_dart::sensor)</li> <li>ShadowData (robot_dart::gui::magnum)</li> <li>ShadowedColorObject (robot_dart::gui::magnum)</li> <li>ShadowedObject (robot_dart::gui::magnum)</li> <li>ShadowMap (robot_dart::gui::magnum::gs)</li> <li>ShadowMapColor (robot_dart::gui::magnum::gs)</li> <li>SimpleControl (robot_dart::control)</li> </ul>"},{"location":"api/classes/#t","title":"t","text":"<ul> <li>Talos (robot_dart::robots)</li> <li>TalosFastCollision (robot_dart::robots)</li> <li>TalosLight (robot_dart::robots)</li> <li>TextData (robot_dart::simu)</li> <li>Tiago (robot_dart::robots)</li> <li>Torque (robot_dart::sensor)</li> </ul>"},{"location":"api/classes/#u","title":"u","text":"<ul> <li>Ur3e (robot_dart::robots)</li> <li>Ur3eHand (robot_dart::robots)</li> </ul>"},{"location":"api/classes/#v","title":"v","text":"<ul> <li>Vx300 (robot_dart::robots)</li> </ul>"},{"location":"api/classes/#w","title":"w","text":"<ul> <li>WindowlessGLApplication (robot_dart::gui::magnum)</li> <li>WindowlessGraphics (robot_dart::gui::magnum)</li> </ul>"},{"location":"api/hierarchy/","title":"Class Hierarchy","text":"<p>This inheritance list is sorted roughly, but not completely, alphabetically:</p> <ul> <li>class robot_dart::RobotDARTSimu </li> <li>class robot_dart::RobotPool </li> <li>class robot_dart::Scheduler </li> <li>class robot_dart::control::RobotControl <ul> <li>class robot_dart::control::PDControl </li> <li>class robot_dart::control::PolicyControl </li> <li>class robot_dart::control::SimpleControl </li> </ul> </li> <li>class robot_dart::gui::Base <ul> <li>class robot_dart::gui::magnum::BaseGraphics </li> <li>class robot_dart::gui::magnum::BaseGraphics </li> <li>class robot_dart::gui::magnum::BaseGraphics </li> </ul> </li> <li>class robot_dart::gui::magnum::BaseApplication <ul> <li>class robot_dart::gui::magnum::GlfwApplication </li> <li>class robot_dart::gui::magnum::WindowlessGLApplication </li> </ul> </li> <li>class robot_dart::gui::magnum::Light </li> <li>class robot_dart::gui::magnum::Material </li> <li>class robot_dart::sensor::Sensor <ul> <li>class robot_dart::gui::magnum::sensor::Camera </li> <li>class robot_dart::sensor::ForceTorque </li> <li>class robot_dart::sensor::IMU </li> <li>class robot_dart::sensor::Torque </li> </ul> </li> <li>struct robot_dart::collision_filter::BitmaskContactFilter::Masks </li> <li>struct robot_dart::gui::DepthImage </li> <li>struct robot_dart::gui::GrayscaleImage </li> <li>struct robot_dart::gui::Image </li> <li>struct robot_dart::gui::magnum::DebugDrawData </li> <li>struct robot_dart::gui::magnum::GlobalData </li> <li>struct robot_dart::gui::magnum::GraphicsConfiguration </li> <li>struct robot_dart::gui::magnum::ObjectStruct </li> <li>struct robot_dart::gui::magnum::ShadowData </li> <li>struct robot_dart::sensor::IMUConfig </li> <li>struct robot_dart::simu::GUIData </li> <li>struct robot_dart::simu::TextData </li> <li>struct robot_dart::simu::GUIData::RobotData </li> <li>class std::exception <ul> <li>class robot_dart::Assertion </li> </ul> </li> <li>class std::enable_shared_from_this&lt; Robot &gt; <ul> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> </ul> </li> <li>class dart::BodyNodeCollisionFilter <ul> <li>class robot_dart::collision_filter::BitmaskContactFilter </li> </ul> </li> <li>class Object3D <ul> <li>class robot_dart::gui::magnum::CubeMapShadowedColorObject </li> <li>class robot_dart::gui::magnum::CubeMapShadowedObject </li> <li>class robot_dart::gui::magnum::DrawableObject </li> <li>class robot_dart::gui::magnum::ShadowedColorObject </li> <li>class robot_dart::gui::magnum::ShadowedObject </li> <li>class robot_dart::gui::magnum::Camera </li> </ul> </li> <li>class Magnum::SceneGraph::Drawable3D <ul> <li>class robot_dart::gui::magnum::CubeMapShadowedColorObject </li> <li>class robot_dart::gui::magnum::CubeMapShadowedObject </li> <li>class robot_dart::gui::magnum::DrawableObject </li> <li>class robot_dart::gui::magnum::ShadowedColorObject </li> <li>class robot_dart::gui::magnum::ShadowedObject </li> </ul> </li> <li>class Magnum::Platform::Application <ul> <li>class robot_dart::gui::magnum::GlfwApplication </li> </ul> </li> <li>class Magnum::Platform::WindowlessApplication <ul> <li>class robot_dart::gui::magnum::WindowlessGLApplication </li> </ul> </li> <li>class Magnum::GL::AbstractShaderProgram <ul> <li>class robot_dart::gui::magnum::CubeMap </li> <li>class robot_dart::gui::magnum::CubeMapColor </li> <li>class robot_dart::gui::magnum::PhongMultiLight </li> <li>class robot_dart::gui::magnum::ShadowMap </li> <li>class robot_dart::gui::magnum::ShadowMapColor </li> </ul> </li> </ul>"},{"location":"api/modules/","title":"Modules","text":"<p>No modules found.</p>"},{"location":"api/pages/","title":"Related Pages","text":"<p>Here is a list of all related documentation pages:</p>"},{"location":"api/class_members/","title":"Class Members","text":""},{"location":"api/class_members/#a","title":"a","text":"<ul> <li>Assertion (robot_dart::Assertion)</li> <li>acceleration_lower_limits (robot_dart::Robot)</li> <li>acceleration_upper_limits (robot_dart::Robot)</li> <li>accelerations (robot_dart::Robot)</li> <li>active_controllers (robot_dart::Robot)</li> <li>actuator_type (robot_dart::Robot)</li> <li>actuator_types (robot_dart::Robot)</li> <li>add_body_mass (robot_dart::Robot)</li> <li>add_controller (robot_dart::Robot)</li> <li>add_external_force (robot_dart::Robot)</li> <li>add_external_torque (robot_dart::Robot)</li> <li>adjacent_colliding (robot_dart::Robot)</li> <li>aug_mass_matrix (robot_dart::Robot)</li> <li>add_checkerboard_floor (robot_dart::RobotDARTSimu)</li> <li>add_floor (robot_dart::RobotDARTSimu)</li> <li>add_robot (robot_dart::RobotDARTSimu)</li> <li>add_sensor (robot_dart::RobotDARTSimu)</li> <li>add_text (robot_dart::RobotDARTSimu, robot_dart::simu::GUIData)</li> <li>add_visual_robot (robot_dart::RobotDARTSimu)</li> <li>add_to_map (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>activate (robot_dart::control::RobotControl, robot_dart::sensor::Sensor)</li> <li>active (robot_dart::control::RobotControl, robot_dart::sensor::Sensor)</li> <li>add_light (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>attach_camera (robot_dart::gui::magnum::BaseApplication)</li> <li>axes_mesh (robot_dart::gui::magnum::DebugDrawData)</li> <li>axes_shader (robot_dart::gui::magnum::DebugDrawData)</li> <li>attenuation (robot_dart::gui::magnum::Light)</li> <li>ambient_color (robot_dart::gui::magnum::Material)</li> <li>ambient_texture (robot_dart::gui::magnum::Material)</li> <li>attach_to_body (robot_dart::gui::magnum::sensor::Camera, robot_dart::sensor::ForceTorque, robot_dart::sensor::Sensor, robot_dart::sensor::Torque)</li> <li>attach_to_joint (robot_dart::gui::magnum::sensor::Camera, robot_dart::sensor::IMU, robot_dart::sensor::Sensor)</li> <li>A1 (robot_dart::robots::A1)</li> <li>Arm (robot_dart::robots::Arm)</li> <li>angular_position (robot_dart::sensor::IMU)</li> <li>angular_position_vec (robot_dart::sensor::IMU)</li> <li>angular_velocity (robot_dart::sensor::IMU)</li> <li>accel_bias (robot_dart::sensor::IMUConfig)</li> <li>attached_to (robot_dart::sensor::Sensor)</li> <li>alignment (robot_dart::simu::TextData)</li> </ul>"},{"location":"api/class_members/#b","title":"b","text":"<ul> <li>base_pose (robot_dart::Robot)</li> <li>base_pose_vec (robot_dart::Robot)</li> <li>body_acceleration (robot_dart::Robot)</li> <li>body_index (robot_dart::Robot)</li> <li>body_mass (robot_dart::Robot)</li> <li>body_name (robot_dart::Robot)</li> <li>body_names (robot_dart::Robot)</li> <li>body_node (robot_dart::Robot)</li> <li>body_pose (robot_dart::Robot)</li> <li>body_pose_vec (robot_dart::Robot)</li> <li>body_velocity (robot_dart::Robot)</li> <li>Base (robot_dart::gui::Base)</li> <li>BaseApplication (robot_dart::gui::magnum::BaseApplication)</li> <li>BaseGraphics (robot_dart::gui::magnum::BaseGraphics)</li> <li>background_mesh (robot_dart::gui::magnum::DebugDrawData)</li> <li>background_shader (robot_dart::gui::magnum::DebugDrawData)</li> <li>bg_color (robot_dart::gui::magnum::GraphicsConfiguration)</li> <li>bind_cube_map_texture (robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight)</li> <li>bind_cube_map_color_texture (robot_dart::gui::magnum::PhongMultiLight)</li> <li>bind_shadow_color_texture (robot_dart::gui::magnum::PhongMultiLight)</li> <li>bind_shadow_texture (robot_dart::gui::magnum::PhongMultiLight)</li> <li>body (robot_dart::sensor::IMUConfig)</li> <li>background_color (robot_dart::simu::TextData)</li> </ul>"},{"location":"api/class_members/#c","title":"c","text":"<ul> <li>cast_shadows (robot_dart::Robot, robot_dart::simu::GUIData)</li> <li>clear_controllers (robot_dart::Robot)</li> <li>clear_external_forces (robot_dart::Robot)</li> <li>clear_internal_forces (robot_dart::Robot)</li> <li>clone (robot_dart::Robot, robot_dart::control::PDControl, robot_dart::control::PolicyControl, robot_dart::control::RobotControl, robot_dart::control::SimpleControl)</li> <li>clone_ghost (robot_dart::Robot)</li> <li>com (robot_dart::Robot)</li> <li>com_acceleration (robot_dart::Robot)</li> <li>com_jacobian (robot_dart::Robot)</li> <li>com_jacobian_deriv (robot_dart::Robot)</li> <li>com_velocity (robot_dart::Robot)</li> <li>commands (robot_dart::Robot)</li> <li>constraint_forces (robot_dart::Robot)</li> <li>controller (robot_dart::Robot)</li> <li>controllers (robot_dart::Robot)</li> <li>coriolis_forces (robot_dart::Robot)</li> <li>coriolis_gravity_forces (robot_dart::Robot)</li> <li>coulomb_coeffs (robot_dart::Robot)</li> <li>create_box (robot_dart::Robot)</li> <li>create_ellipsoid (robot_dart::Robot)</li> <li>clear_robots (robot_dart::RobotDARTSimu)</li> <li>clear_sensors (robot_dart::RobotDARTSimu)</li> <li>collision_category (robot_dart::RobotDARTSimu)</li> <li>collision_detector (robot_dart::RobotDARTSimu)</li> <li>collision_mask (robot_dart::RobotDARTSimu, robot_dart::collision_filter::BitmaskContactFilter::Masks)</li> <li>collision_masks (robot_dart::RobotDARTSimu)</li> <li>control_freq (robot_dart::RobotDARTSimu)</li> <li>clock_t (robot_dart::Scheduler)</li> <li>current_time (robot_dart::Scheduler)</li> <li>clear_all (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>category_mask (robot_dart::collision_filter::BitmaskContactFilter::Masks)</li> <li>calculate (robot_dart::control::PDControl, robot_dart::control::PolicyControl, robot_dart::control::RobotControl, robot_dart::control::SimpleControl, robot_dart::gui::magnum::sensor::Camera, robot_dart::sensor::ForceTorque, robot_dart::sensor::IMU, robot_dart::sensor::Sensor, robot_dart::sensor::Torque)</li> <li>configure (robot_dart::control::PDControl, robot_dart::control::PolicyControl, robot_dart::control::RobotControl, robot_dart::control::SimpleControl)</li> <li>controllable_dofs (robot_dart::control::RobotControl)</li> <li>channels (robot_dart::gui::Image)</li> <li>camera (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>clear_lights (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>camera_extrinsic_matrix (robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::sensor::Camera)</li> <li>camera_intrinsic_matrix (robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::sensor::Camera)</li> <li>CubeMapShadowedColorObject (robot_dart::gui::magnum::CubeMapShadowedColorObject)</li> <li>CubeMapShadowedObject (robot_dart::gui::magnum::CubeMapShadowedObject)</li> <li>cache (robot_dart::gui::magnum::DebugDrawData)</li> <li>cubemapped (robot_dart::gui::magnum::ObjectStruct)</li> <li>cubemapped_color (robot_dart::gui::magnum::ObjectStruct)</li> <li>Camera (robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>camera_object (robot_dart::gui::magnum::Camera)</li> <li>CubeMap (robot_dart::gui::magnum::CubeMap)</li> <li>CubeMapColor (robot_dart::gui::magnum::CubeMapColor)</li> <li>casts_shadows (robot_dart::gui::magnum::Light)</li> <li>collision_vec (robot_dart::robots::TalosFastCollision)</li> <li>caster_joints (robot_dart::robots::Tiago)</li> <li>color (robot_dart::simu::TextData)</li> <li>casting_shadows (robot_dart::simu::GUIData::RobotData)</li> </ul>"},{"location":"api/class_members/#d","title":"d","text":"<ul> <li>damping_coeffs (robot_dart::Robot)</li> <li>dof (robot_dart::Robot)</li> <li>dof_index (robot_dart::Robot)</li> <li>dof_map (robot_dart::Robot)</li> <li>dof_name (robot_dart::Robot)</li> <li>dof_names (robot_dart::Robot)</li> <li>drawing_axes (robot_dart::Robot, robot_dart::simu::GUIData)</li> <li>dt (robot_dart::Scheduler)</li> <li>DartCollisionConstPtr (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>DartShapeConstPtr (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>depth_array (robot_dart::gui::Base, robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::sensor::Camera)</li> <li>depth_image (robot_dart::gui::Base, robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>done (robot_dart::gui::Base, robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>data (robot_dart::gui::DepthImage, robot_dart::gui::GrayscaleImage, robot_dart::gui::Image)</li> <li>debug_draw_data (robot_dart::gui::magnum::BaseApplication)</li> <li>drawables (robot_dart::gui::magnum::BaseApplication)</li> <li>draw (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject, robot_dart::gui::magnum::Camera)</li> <li>DrawableObject (robot_dart::gui::magnum::DrawableObject)</li> <li>drawEvent (robot_dart::gui::magnum::GlfwApplication)</li> <li>default_configuration (robot_dart::gui::magnum::Graphics, robot_dart::gui::magnum::WindowlessGraphics)</li> <li>draw_debug (robot_dart::gui::magnum::GraphicsConfiguration, robot_dart::gui::magnum::sensor::Camera)</li> <li>draw_main_camera (robot_dart::gui::magnum::GraphicsConfiguration)</li> <li>draw_text (robot_dart::gui::magnum::GraphicsConfiguration)</li> <li>drawable (robot_dart::gui::magnum::ObjectStruct)</li> <li>diffuse_color (robot_dart::gui::magnum::Material)</li> <li>diffuse_texture (robot_dart::gui::magnum::Material)</li> <li>drawing_debug (robot_dart::gui::magnum::sensor::Camera)</li> <li>detach (robot_dart::sensor::Sensor)</li> <li>drawing_texts (robot_dart::simu::GUIData)</li> <li>draw_background (robot_dart::simu::TextData)</li> </ul>"},{"location":"api/class_members/#e","title":"e","text":"<ul> <li>external_forces (robot_dart::Robot)</li> <li>enable_status_bar (robot_dart::RobotDARTSimu)</li> <li>enable_text_panel (robot_dart::RobotDARTSimu)</li> <li>enable_shadows (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>exitEvent (robot_dart::gui::magnum::GlfwApplication)</li> <li>exec (robot_dart::gui::magnum::WindowlessGLApplication)</li> <li>extrinsic_matrix (robot_dart::gui::magnum::Camera)</li> </ul>"},{"location":"api/class_members/#f","title":"f","text":"<ul> <li>fix_to_world (robot_dart::Robot)</li> <li>fixed (robot_dart::Robot)</li> <li>force_lower_limits (robot_dart::Robot)</li> <li>force_position_bounds (robot_dart::Robot)</li> <li>force_torque (robot_dart::Robot)</li> <li>force_upper_limits (robot_dart::Robot)</li> <li>forces (robot_dart::Robot)</li> <li>free (robot_dart::Robot)</li> <li>free_from_world (robot_dart::Robot)</li> <li>friction_coeff (robot_dart::Robot)</li> <li>friction_dir (robot_dart::Robot)</li> <li>free_robot (robot_dart::RobotPool)</li> <li>font (robot_dart::gui::magnum::DebugDrawData)</li> <li>free_gl_context (robot_dart::gui::magnum::GlobalData)</li> <li>far_plane (robot_dart::gui::magnum::Camera)</li> <li>forward (robot_dart::gui::magnum::Camera)</li> <li>fov (robot_dart::gui::magnum::Camera)</li> <li>Flag (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>Flags (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>flags (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>Franka (robot_dart::robots::Franka)</li> <li>ft_wrist (robot_dart::robots::Franka, robot_dart::robots::Iiwa, robot_dart::robots::Tiago, robot_dart::robots::Ur3e)</li> <li>ft_foot_left (robot_dart::robots::ICub, robot_dart::robots::Talos)</li> <li>ft_foot_right (robot_dart::robots::ICub, robot_dart::robots::Talos)</li> <li>ft_wrist_left (robot_dart::robots::Talos)</li> <li>ft_wrist_right (robot_dart::robots::Talos)</li> <li>ForceTorque (robot_dart::sensor::ForceTorque)</li> <li>force (robot_dart::sensor::ForceTorque)</li> <li>frequency (robot_dart::sensor::IMUConfig, robot_dart::sensor::Sensor)</li> <li>font_size (robot_dart::simu::TextData)</li> </ul>"},{"location":"api/class_members/#g","title":"g","text":"<ul> <li>ghost (robot_dart::Robot, robot_dart::simu::GUIData)</li> <li>gravity_forces (robot_dart::Robot)</li> <li>graphics (robot_dart::RobotDARTSimu)</li> <li>graphics_freq (robot_dart::RobotDARTSimu)</li> <li>gravity (robot_dart::RobotDARTSimu)</li> <li>gui_data (robot_dart::RobotDARTSimu)</li> <li>get_robot (robot_dart::RobotPool)</li> <li>GlfwApplication (robot_dart::gui::magnum::GlfwApplication)</li> <li>GlobalData (robot_dart::gui::magnum::GlobalData)</li> <li>gl_context (robot_dart::gui::magnum::GlobalData)</li> <li>Graphics (robot_dart::gui::magnum::Graphics)</li> <li>gyro_bias (robot_dart::sensor::IMUConfig)</li> </ul>"},{"location":"api/class_members/#h","title":"h","text":"<ul> <li>halted_sim (robot_dart::RobotDARTSimu)</li> <li>h_params (robot_dart::control::PolicyControl)</li> <li>height (robot_dart::gui::Base, robot_dart::gui::DepthImage, robot_dart::gui::GrayscaleImage, robot_dart::gui::Image, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::GraphicsConfiguration, robot_dart::gui::magnum::Camera)</li> <li>has_ambient_texture (robot_dart::gui::magnum::Material)</li> <li>has_diffuse_texture (robot_dart::gui::magnum::Material)</li> <li>has_specular_texture (robot_dart::gui::magnum::Material)</li> <li>Hexapod (robot_dart::robots::Hexapod)</li> </ul>"},{"location":"api/class_members/#i","title":"i","text":"<ul> <li>inv_aug_mass_matrix (robot_dart::Robot)</li> <li>inv_mass_matrix (robot_dart::Robot)</li> <li>it_duration (robot_dart::Scheduler)</li> <li>ignoresCollision (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>init (robot_dart::control::RobotControl, robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::sensor::Camera, robot_dart::sensor::ForceTorque, robot_dart::sensor::IMU, robot_dart::sensor::Sensor, robot_dart::sensor::Torque)</li> <li>image (robot_dart::gui::Base, robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>instance (robot_dart::gui::magnum::GlobalData)</li> <li>intrinsic_matrix (robot_dart::gui::magnum::Camera)</li> <li>imu (robot_dart::robots::A1, robot_dart::robots::ICub, robot_dart::robots::Talos)</li> <li>ICub (robot_dart::robots::ICub)</li> <li>Iiwa (robot_dart::robots::Iiwa)</li> <li>IMU (robot_dart::sensor::IMU)</li> <li>IMUConfig (robot_dart::sensor::IMUConfig)</li> <li>is_ghost (robot_dart::simu::GUIData::RobotData)</li> </ul>"},{"location":"api/class_members/#j","title":"j","text":"<ul> <li>jacobian (robot_dart::Robot)</li> <li>jacobian_deriv (robot_dart::Robot)</li> <li>joint (robot_dart::Robot)</li> <li>joint_index (robot_dart::Robot)</li> <li>joint_map (robot_dart::Robot)</li> <li>joint_name (robot_dart::Robot)</li> <li>joint_names (robot_dart::Robot)</li> </ul>"},{"location":"api/class_members/#k","title":"k","text":"<ul> <li>keyPressEvent (robot_dart::gui::magnum::GlfwApplication)</li> <li>keyReleaseEvent (robot_dart::gui::magnum::GlfwApplication)</li> </ul>"},{"location":"api/class_members/#l","title":"l","text":"<ul> <li>locked_dof_names (robot_dart::Robot)</li> <li>last_it_duration (robot_dart::Scheduler)</li> <li>light (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>lights (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>look_at (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>Light (robot_dart::gui::magnum::Light)</li> <li>linear_acceleration (robot_dart::sensor::IMU)</li> </ul>"},{"location":"api/class_members/#m","title":"m","text":"<ul> <li>mass_matrix (robot_dart::Robot)</li> <li>mimic_dof_names (robot_dart::Robot)</li> <li>model_filename (robot_dart::Robot, robot_dart::RobotPool)</li> <li>model_packages (robot_dart::Robot)</li> <li>mask (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>magnum_app (robot_dart::gui::magnum::BaseGraphics)</li> <li>magnum_image (robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::sensor::Camera)</li> <li>materials (robot_dart::gui::magnum::DrawableObject)</li> <li>mouseMoveEvent (robot_dart::gui::magnum::GlfwApplication)</li> <li>mouseScrollEvent (robot_dart::gui::magnum::GlfwApplication)</li> <li>max_lights (robot_dart::gui::magnum::GraphicsConfiguration, robot_dart::gui::magnum::PhongMultiLight)</li> <li>move (robot_dart::gui::magnum::Camera)</li> <li>material (robot_dart::gui::magnum::Light)</li> <li>Material (robot_dart::gui::magnum::Material)</li> <li>magnum_depth_image (robot_dart::gui::magnum::sensor::Camera)</li> </ul>"},{"location":"api/class_members/#n","title":"n","text":"<ul> <li>name (robot_dart::Robot)</li> <li>num_bodies (robot_dart::Robot)</li> <li>num_controllers (robot_dart::Robot)</li> <li>num_dofs (robot_dart::Robot)</li> <li>num_joints (robot_dart::Robot)</li> <li>num_robots (robot_dart::RobotDARTSimu)</li> <li>next_time (robot_dart::Scheduler)</li> <li>num_lights (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>near_plane (robot_dart::gui::magnum::Camera)</li> <li>Normal (robot_dart::gui::magnum::PhongMultiLight)</li> </ul>"},{"location":"api/class_members/#o","title":"o","text":"<ul> <li>operator= (robot_dart::RobotPool, robot_dart::gui::magnum::GlobalData)</li> <li>operator() (robot_dart::Scheduler)</li> </ul>"},{"location":"api/class_members/#p","title":"p","text":"<ul> <li>passive_dof_names (robot_dart::Robot)</li> <li>position_enforced (robot_dart::Robot)</li> <li>position_lower_limits (robot_dart::Robot)</li> <li>position_upper_limits (robot_dart::Robot)</li> <li>positions (robot_dart::Robot)</li> <li>physics_freq (robot_dart::RobotDARTSimu)</li> <li>PDControl (robot_dart::control::PDControl)</li> <li>pd (robot_dart::control::PDControl)</li> <li>PolicyControl (robot_dart::control::PolicyControl)</li> <li>parameters (robot_dart::control::RobotControl)</li> <li>Position (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>position (robot_dart::gui::magnum::Light)</li> <li>PhongMultiLight (robot_dart::gui::magnum::PhongMultiLight)</li> <li>Pendulum (robot_dart::robots::Pendulum)</li> <li>pose (robot_dart::sensor::Sensor)</li> </ul>"},{"location":"api/class_members/#r","title":"r","text":"<ul> <li>Robot (robot_dart::Robot)</li> <li>reinit_controllers (robot_dart::Robot)</li> <li>remove_all_drawing_axis (robot_dart::Robot)</li> <li>remove_controller (robot_dart::Robot)</li> <li>reset (robot_dart::Robot, robot_dart::Scheduler, robot_dart::robots::A1, robot_dart::robots::Hexapod, robot_dart::robots::ICub, robot_dart::robots::Talos, robot_dart::robots::Tiago)</li> <li>reset_commands (robot_dart::Robot)</li> <li>restitution_coeff (robot_dart::Robot)</li> <li>RobotDARTSimu (robot_dart::RobotDARTSimu)</li> <li>remove_all_collision_masks (robot_dart::RobotDARTSimu)</li> <li>remove_collision_masks (robot_dart::RobotDARTSimu)</li> <li>remove_robot (robot_dart::RobotDARTSimu, robot_dart::simu::GUIData)</li> <li>remove_sensor (robot_dart::RobotDARTSimu)</li> <li>remove_sensors (robot_dart::RobotDARTSimu)</li> <li>robot (robot_dart::RobotDARTSimu, robot_dart::control::RobotControl)</li> <li>robot_index (robot_dart::RobotDARTSimu)</li> <li>robot_t (robot_dart::RobotDARTSimu)</li> <li>robots (robot_dart::RobotDARTSimu)</li> <li>run (robot_dart::RobotDARTSimu)</li> <li>RobotPool (robot_dart::RobotPool)</li> <li>robot_creator_t (robot_dart::RobotPool)</li> <li>real_time (robot_dart::Scheduler)</li> <li>real_time_factor (robot_dart::Scheduler)</li> <li>remove_from_map (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>RobotControl (robot_dart::control::RobotControl)</li> <li>raw_depth_image (robot_dart::gui::Base, robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::sensor::Camera)</li> <li>refresh (robot_dart::gui::Base, robot_dart::gui::magnum::BaseGraphics, robot_dart::sensor::Sensor)</li> <li>record_video (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>render (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::GlfwApplication, robot_dart::gui::magnum::WindowlessGLApplication)</li> <li>render_shadows (robot_dart::gui::magnum::BaseApplication)</li> <li>record (robot_dart::gui::magnum::Camera)</li> <li>recording (robot_dart::gui::magnum::Camera)</li> <li>recording_depth (robot_dart::gui::magnum::Camera)</li> <li>root_object (robot_dart::gui::magnum::Camera)</li> <li>remove_text (robot_dart::simu::GUIData)</li> <li>robot_axes (robot_dart::simu::GUIData)</li> <li>robot_data (robot_dart::simu::GUIData)</li> </ul>"},{"location":"api/class_members/#s","title":"s","text":"<ul> <li>secondary_friction_coeff (robot_dart::Robot)</li> <li>self_colliding (robot_dart::Robot)</li> <li>set_acceleration_lower_limits (robot_dart::Robot)</li> <li>set_acceleration_upper_limits (robot_dart::Robot)</li> <li>set_accelerations (robot_dart::Robot)</li> <li>set_actuator_type (robot_dart::Robot, robot_dart::robots::Tiago)</li> <li>set_actuator_types (robot_dart::Robot, robot_dart::robots::Tiago)</li> <li>set_base_pose (robot_dart::Robot)</li> <li>set_body_mass (robot_dart::Robot)</li> <li>set_body_name (robot_dart::Robot)</li> <li>set_cast_shadows (robot_dart::Robot)</li> <li>set_color_mode (robot_dart::Robot)</li> <li>set_commands (robot_dart::Robot)</li> <li>set_coulomb_coeffs (robot_dart::Robot)</li> <li>set_damping_coeffs (robot_dart::Robot)</li> <li>set_draw_axis (robot_dart::Robot)</li> <li>set_external_force (robot_dart::Robot)</li> <li>set_external_torque (robot_dart::Robot)</li> <li>set_force_lower_limits (robot_dart::Robot)</li> <li>set_force_upper_limits (robot_dart::Robot)</li> <li>set_forces (robot_dart::Robot)</li> <li>set_friction_coeff (robot_dart::Robot)</li> <li>set_friction_coeffs (robot_dart::Robot)</li> <li>set_friction_dir (robot_dart::Robot)</li> <li>set_ghost (robot_dart::Robot)</li> <li>set_joint_name (robot_dart::Robot)</li> <li>set_mimic (robot_dart::Robot)</li> <li>set_position_enforced (robot_dart::Robot)</li> <li>set_position_lower_limits (robot_dart::Robot)</li> <li>set_position_upper_limits (robot_dart::Robot)</li> <li>set_positions (robot_dart::Robot)</li> <li>set_restitution_coeff (robot_dart::Robot)</li> <li>set_restitution_coeffs (robot_dart::Robot)</li> <li>set_secondary_friction_coeff (robot_dart::Robot)</li> <li>set_secondary_friction_coeffs (robot_dart::Robot)</li> <li>set_self_collision (robot_dart::Robot)</li> <li>set_spring_stiffnesses (robot_dart::Robot)</li> <li>set_velocities (robot_dart::Robot)</li> <li>set_velocity_lower_limits (robot_dart::Robot)</li> <li>set_velocity_upper_limits (robot_dart::Robot)</li> <li>skeleton (robot_dart::Robot)</li> <li>spring_stiffnesses (robot_dart::Robot)</li> <li>schedule (robot_dart::RobotDARTSimu, robot_dart::Scheduler)</li> <li>scheduler (robot_dart::RobotDARTSimu)</li> <li>sensor (robot_dart::RobotDARTSimu)</li> <li>sensors (robot_dart::RobotDARTSimu)</li> <li>set_collision_detector (robot_dart::RobotDARTSimu)</li> <li>set_collision_masks (robot_dart::RobotDARTSimu)</li> <li>set_control_freq (robot_dart::RobotDARTSimu)</li> <li>set_graphics (robot_dart::RobotDARTSimu)</li> <li>set_graphics_freq (robot_dart::RobotDARTSimu)</li> <li>set_gravity (robot_dart::RobotDARTSimu)</li> <li>set_text_panel (robot_dart::RobotDARTSimu)</li> <li>set_timestep (robot_dart::RobotDARTSimu)</li> <li>status_bar_text (robot_dart::RobotDARTSimu)</li> <li>step (robot_dart::RobotDARTSimu, robot_dart::Scheduler)</li> <li>step_world (robot_dart::RobotDARTSimu)</li> <li>stop_sim (robot_dart::RobotDARTSimu)</li> <li>Scheduler (robot_dart::Scheduler)</li> <li>set_sync (robot_dart::Scheduler)</li> <li>sync (robot_dart::Scheduler)</li> <li>set_pd (robot_dart::control::PDControl)</li> <li>set_use_angular_errors (robot_dart::control::PDControl)</li> <li>set_h_params (robot_dart::control::PolicyControl)</li> <li>set_parameters (robot_dart::control::RobotControl)</li> <li>set_robot (robot_dart::control::RobotControl)</li> <li>set_weight (robot_dart::control::RobotControl)</li> <li>SimpleControl (robot_dart::control::SimpleControl)</li> <li>set_enable (robot_dart::gui::Base, robot_dart::gui::magnum::BaseGraphics)</li> <li>set_fps (robot_dart::gui::Base, robot_dart::gui::magnum::BaseGraphics)</li> <li>set_render_period (robot_dart::gui::Base)</li> <li>set_simu (robot_dart::gui::Base, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::Graphics, robot_dart::gui::magnum::WindowlessGraphics, robot_dart::sensor::Sensor)</li> <li>simu (robot_dart::gui::Base, robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject, robot_dart::sensor::Sensor)</li> <li>scene (robot_dart::gui::magnum::BaseApplication)</li> <li>shadowed (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::GraphicsConfiguration, robot_dart::gui::magnum::ObjectStruct)</li> <li>set_materials (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject)</li> <li>set_meshes (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject)</li> <li>set_scalings (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject)</li> <li>shape (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject)</li> <li>set_color_shader (robot_dart::gui::magnum::DrawableObject)</li> <li>set_soft_bodies (robot_dart::gui::magnum::DrawableObject)</li> <li>set_texture_shader (robot_dart::gui::magnum::DrawableObject)</li> <li>set_transparent (robot_dart::gui::magnum::DrawableObject)</li> <li>set_max_contexts (robot_dart::gui::magnum::GlobalData)</li> <li>shadow_map_size (robot_dart::gui::magnum::GraphicsConfiguration)</li> <li>specular_strength (robot_dart::gui::magnum::GraphicsConfiguration)</li> <li>shadowed_color (robot_dart::gui::magnum::ObjectStruct)</li> <li>shadow_color_framebuffer (robot_dart::gui::magnum::ShadowData)</li> <li>shadow_framebuffer (robot_dart::gui::magnum::ShadowData)</li> <li>ShadowedColorObject (robot_dart::gui::magnum::ShadowedColorObject)</li> <li>ShadowedObject (robot_dart::gui::magnum::ShadowedObject)</li> <li>set_camera_params (robot_dart::gui::magnum::Camera)</li> <li>set_far_plane (robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight)</li> <li>set_fov (robot_dart::gui::magnum::Camera)</li> <li>set_near_plane (robot_dart::gui::magnum::Camera)</li> <li>set_speed (robot_dart::gui::magnum::Camera)</li> <li>set_viewport (robot_dart::gui::magnum::Camera)</li> <li>speed (robot_dart::gui::magnum::Camera)</li> <li>strafe (robot_dart::gui::magnum::Camera)</li> <li>set_light_index (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor)</li> <li>set_light_position (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor)</li> <li>set_material (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::Light, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>set_shadow_matrices (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor)</li> <li>set_transformation_matrix (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>set_attenuation (robot_dart::gui::magnum::Light)</li> <li>set_casts_shadows (robot_dart::gui::magnum::Light)</li> <li>set_position (robot_dart::gui::magnum::Light)</li> <li>set_shadow_matrix (robot_dart::gui::magnum::Light)</li> <li>set_spot_cut_off (robot_dart::gui::magnum::Light)</li> <li>set_spot_direction (robot_dart::gui::magnum::Light)</li> <li>set_spot_exponent (robot_dart::gui::magnum::Light)</li> <li>set_transformed_position (robot_dart::gui::magnum::Light)</li> <li>set_transformed_spot_direction (robot_dart::gui::magnum::Light)</li> <li>shadow_matrix (robot_dart::gui::magnum::Light)</li> <li>spot_cut_off (robot_dart::gui::magnum::Light)</li> <li>spot_direction (robot_dart::gui::magnum::Light)</li> <li>spot_exponent (robot_dart::gui::magnum::Light)</li> <li>set_ambient_color (robot_dart::gui::magnum::Material)</li> <li>set_ambient_texture (robot_dart::gui::magnum::Material)</li> <li>set_diffuse_color (robot_dart::gui::magnum::Material)</li> <li>set_diffuse_texture (robot_dart::gui::magnum::Material)</li> <li>set_shininess (robot_dart::gui::magnum::Material)</li> <li>set_specular_color (robot_dart::gui::magnum::Material)</li> <li>set_specular_texture (robot_dart::gui::magnum::Material)</li> <li>shininess (robot_dart::gui::magnum::Material)</li> <li>specular_color (robot_dart::gui::magnum::Material)</li> <li>specular_texture (robot_dart::gui::magnum::Material)</li> <li>set_camera_matrix (robot_dart::gui::magnum::PhongMultiLight)</li> <li>set_is_shadowed (robot_dart::gui::magnum::PhongMultiLight)</li> <li>set_light (robot_dart::gui::magnum::PhongMultiLight)</li> <li>set_normal_matrix (robot_dart::gui::magnum::PhongMultiLight)</li> <li>set_projection_matrix (robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>set_specular_strength (robot_dart::gui::magnum::PhongMultiLight)</li> <li>set_transparent_shadows (robot_dart::gui::magnum::PhongMultiLight)</li> <li>ShadowMap (robot_dart::gui::magnum::ShadowMap)</li> <li>ShadowMapColor (robot_dart::gui::magnum::ShadowMapColor)</li> <li>Sensor (robot_dart::sensor::Sensor)</li> <li>set_frequency (robot_dart::sensor::Sensor)</li> <li>set_pose (robot_dart::sensor::Sensor)</li> </ul>"},{"location":"api/class_members/#t","title":"t","text":"<ul> <li>text_panel_text (robot_dart::RobotDARTSimu)</li> <li>timestep (robot_dart::RobotDARTSimu)</li> <li>transparent_shadows (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::GraphicsConfiguration)</li> <li>text_indices (robot_dart::gui::magnum::DebugDrawData)</li> <li>text_shader (robot_dart::gui::magnum::DebugDrawData)</li> <li>text_vertices (robot_dart::gui::magnum::DebugDrawData)</li> <li>transparent (robot_dart::gui::magnum::DrawableObject)</li> <li>title (robot_dart::gui::magnum::GraphicsConfiguration)</li> <li>transform_lights (robot_dart::gui::magnum::Camera)</li> <li>TextureCoordinates (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>transformed_position (robot_dart::gui::magnum::Light)</li> <li>transformed_spot_direction (robot_dart::gui::magnum::Light)</li> <li>type (robot_dart::gui::magnum::sensor::Camera, robot_dart::sensor::ForceTorque, robot_dart::sensor::IMU, robot_dart::sensor::Sensor, robot_dart::sensor::Torque)</li> <li>Talos (robot_dart::robots::Talos)</li> <li>torque_map_t (robot_dart::robots::Talos)</li> <li>torques (robot_dart::robots::Talos, robot_dart::sensor::Torque)</li> <li>TalosFastCollision (robot_dart::robots::TalosFastCollision)</li> <li>TalosLight (robot_dart::robots::TalosLight)</li> <li>Tiago (robot_dart::robots::Tiago)</li> <li>torque (robot_dart::sensor::ForceTorque)</li> <li>Torque (robot_dart::sensor::Torque)</li> <li>text_drawings (robot_dart::simu::GUIData)</li> <li>text (robot_dart::simu::TextData)</li> <li>transformation (robot_dart::simu::TextData)</li> </ul>"},{"location":"api/class_members/#u","title":"u","text":"<ul> <li>update (robot_dart::Robot)</li> <li>update_joint_dof_maps (robot_dart::Robot)</li> <li>using_angular_errors (robot_dart::control::PDControl)</li> <li>update_graphics (robot_dart::gui::magnum::BaseApplication)</li> <li>update_lights (robot_dart::gui::magnum::BaseApplication)</li> <li>Ur3e (robot_dart::robots::Ur3e)</li> <li>Ur3eHand (robot_dart::robots::Ur3eHand)</li> <li>update_robot (robot_dart::simu::GUIData)</li> </ul>"},{"location":"api/class_members/#v","title":"v","text":"<ul> <li>vec_dof (robot_dart::Robot)</li> <li>velocities (robot_dart::Robot)</li> <li>velocity_lower_limits (robot_dart::Robot)</li> <li>velocity_upper_limits (robot_dart::Robot)</li> <li>viewportEvent (robot_dart::gui::magnum::GlfwApplication)</li> <li>Vx300 (robot_dart::robots::Vx300)</li> </ul>"},{"location":"api/class_members/#w","title":"w","text":"<ul> <li>what (robot_dart::Assertion)</li> <li>world (robot_dart::RobotDARTSimu)</li> <li>weight (robot_dart::control::RobotControl)</li> <li>width (robot_dart::gui::Base, robot_dart::gui::DepthImage, robot_dart::gui::GrayscaleImage, robot_dart::gui::Image, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::GraphicsConfiguration, robot_dart::gui::magnum::Camera)</li> <li>WindowlessGLApplication (robot_dart::gui::magnum::WindowlessGLApplication)</li> <li>WindowlessGraphics (robot_dart::gui::magnum::WindowlessGraphics)</li> <li>wrench (robot_dart::sensor::ForceTorque)</li> </ul>"},{"location":"api/class_members/#_1","title":"~","text":"<ul> <li>~Robot (robot_dart::Robot)</li> <li>~RobotDARTSimu (robot_dart::RobotDARTSimu)</li> <li>~RobotPool (robot_dart::RobotPool)</li> <li>~BitmaskContactFilter (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>~RobotControl (robot_dart::control::RobotControl)</li> <li>~Base (robot_dart::gui::Base)</li> <li>~BaseApplication (robot_dart::gui::magnum::BaseApplication)</li> <li>~BaseGraphics (robot_dart::gui::magnum::BaseGraphics)</li> <li>~GlfwApplication (robot_dart::gui::magnum::GlfwApplication)</li> <li>~GlobalData (robot_dart::gui::magnum::GlobalData)</li> <li>~Graphics (robot_dart::gui::magnum::Graphics)</li> <li>~WindowlessGLApplication (robot_dart::gui::magnum::WindowlessGLApplication)</li> <li>~WindowlessGraphics (robot_dart::gui::magnum::WindowlessGraphics)</li> <li>~Camera (robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>~Sensor (robot_dart::sensor::Sensor)</li> </ul>"},{"location":"api/class_members/#_","title":"_","text":"<ul> <li>_make_message (robot_dart::Assertion)</li> <li>_msg (robot_dart::Assertion)</li> <li>_actuator_type (robot_dart::Robot)</li> <li>_actuator_types (robot_dart::Robot)</li> <li>_axis_shapes (robot_dart::Robot)</li> <li>_cast_shadows (robot_dart::Robot, robot_dart::gui::magnum::Light)</li> <li>_controllers (robot_dart::Robot)</li> <li>_dof_map (robot_dart::Robot)</li> <li>_get_path (robot_dart::Robot)</li> <li>_is_ghost (robot_dart::Robot)</li> <li>_jacobian (robot_dart::Robot)</li> <li>_joint_map (robot_dart::Robot)</li> <li>_load_model (robot_dart::Robot)</li> <li>_mass_matrix (robot_dart::Robot)</li> <li>_model_filename (robot_dart::Robot, robot_dart::RobotPool)</li> <li>_packages (robot_dart::Robot)</li> <li>_post_addition (robot_dart::Robot, robot_dart::robots::Franka, robot_dart::robots::ICub, robot_dart::robots::Iiwa, robot_dart::robots::Talos, robot_dart::robots::TalosFastCollision, robot_dart::robots::Tiago, robot_dart::robots::Ur3e)</li> <li>_post_removal (robot_dart::Robot, robot_dart::robots::Franka, robot_dart::robots::ICub, robot_dart::robots::Iiwa, robot_dart::robots::Talos, robot_dart::robots::Tiago, robot_dart::robots::Ur3e)</li> <li>_robot_name (robot_dart::Robot)</li> <li>_set_actuator_type (robot_dart::Robot)</li> <li>_set_actuator_types (robot_dart::Robot)</li> <li>_set_color_mode (robot_dart::Robot)</li> <li>_skeleton (robot_dart::Robot)</li> <li>_break (robot_dart::RobotDARTSimu)</li> <li>_control_freq (robot_dart::RobotDARTSimu)</li> <li>_enable (robot_dart::RobotDARTSimu)</li> <li>_graphics (robot_dart::RobotDARTSimu)</li> <li>_graphics_freq (robot_dart::RobotDARTSimu)</li> <li>_gui_data (robot_dart::RobotDARTSimu)</li> <li>_old_index (robot_dart::RobotDARTSimu)</li> <li>_physics_freq (robot_dart::RobotDARTSimu)</li> <li>_robots (robot_dart::RobotDARTSimu)</li> <li>_scheduler (robot_dart::RobotDARTSimu)</li> <li>_sensors (robot_dart::RobotDARTSimu)</li> <li>_status_bar (robot_dart::RobotDARTSimu)</li> <li>_text_panel (robot_dart::RobotDARTSimu)</li> <li>_world (robot_dart::RobotDARTSimu)</li> <li>_free (robot_dart::RobotPool)</li> <li>_pool_size (robot_dart::RobotPool)</li> <li>_reset_robot (robot_dart::RobotPool)</li> <li>_robot_creator (robot_dart::RobotPool)</li> <li>_skeleton_mutex (robot_dart::RobotPool)</li> <li>_skeletons (robot_dart::RobotPool)</li> <li>_verbose (robot_dart::RobotPool)</li> <li>_average_it_duration (robot_dart::Scheduler)</li> <li>_current_step (robot_dart::Scheduler)</li> <li>_current_time (robot_dart::Scheduler)</li> <li>_dt (robot_dart::Scheduler, robot_dart::control::PolicyControl)</li> <li>_it_duration (robot_dart::Scheduler)</li> <li>_last_iteration_time (robot_dart::Scheduler)</li> <li>_max_frequency (robot_dart::Scheduler)</li> <li>_real_start_time (robot_dart::Scheduler)</li> <li>_real_time (robot_dart::Scheduler)</li> <li>_simu_start_time (robot_dart::Scheduler)</li> <li>_start_time (robot_dart::Scheduler)</li> <li>_sync (robot_dart::Scheduler)</li> <li>_bitmask_map (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>_Kd (robot_dart::control::PDControl)</li> <li>_Kp (robot_dart::control::PDControl)</li> <li>_angle_dist (robot_dart::control::PDControl)</li> <li>_use_angular_errors (robot_dart::control::PDControl)</li> <li>_first (robot_dart::control::PolicyControl)</li> <li>_full_dt (robot_dart::control::PolicyControl)</li> <li>_i (robot_dart::control::PolicyControl)</li> <li>_policy (robot_dart::control::PolicyControl)</li> <li>_prev_commands (robot_dart::control::PolicyControl)</li> <li>_prev_time (robot_dart::control::PolicyControl)</li> <li>_threshold (robot_dart::control::PolicyControl)</li> <li>_active (robot_dart::control::RobotControl, robot_dart::sensor::Sensor)</li> <li>_check_free (robot_dart::control::RobotControl)</li> <li>_control_dof (robot_dart::control::RobotControl)</li> <li>_controllable_dofs (robot_dart::control::RobotControl)</li> <li>_ctrl (robot_dart::control::RobotControl)</li> <li>_dof (robot_dart::control::RobotControl)</li> <li>_robot (robot_dart::control::RobotControl)</li> <li>_weight (robot_dart::control::RobotControl)</li> <li>_simu (robot_dart::gui::Base, robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::GlfwApplication, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject, robot_dart::gui::magnum::WindowlessGLApplication, robot_dart::sensor::Sensor)</li> <li>_3D_axis_mesh (robot_dart::gui::magnum::BaseApplication)</li> <li>_3D_axis_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_background_mesh (robot_dart::gui::magnum::BaseApplication)</li> <li>_background_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_camera (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>_color_shader (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::DrawableObject)</li> <li>_configuration (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>_cubemap_color_drawables (robot_dart::gui::magnum::BaseApplication)</li> <li>_cubemap_color_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_cubemap_drawables (robot_dart::gui::magnum::BaseApplication)</li> <li>_cubemap_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_cubemap_texture_color_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_cubemap_texture_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_dart_world (robot_dart::gui::magnum::BaseApplication)</li> <li>_done (robot_dart::gui::magnum::BaseApplication)</li> <li>_drawable_objects (robot_dart::gui::magnum::BaseApplication)</li> <li>_drawables (robot_dart::gui::magnum::BaseApplication)</li> <li>_font (robot_dart::gui::magnum::BaseApplication)</li> <li>_font_manager (robot_dart::gui::magnum::BaseApplication)</li> <li>_gl_clean_up (robot_dart::gui::magnum::BaseApplication)</li> <li>_glyph_cache (robot_dart::gui::magnum::BaseApplication)</li> <li>_importer_manager (robot_dart::gui::magnum::BaseApplication)</li> <li>_lights (robot_dart::gui::magnum::BaseApplication)</li> <li>_max_lights (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::PhongMultiLight)</li> <li>_prepare_shadows (robot_dart::gui::magnum::BaseApplication)</li> <li>_scene (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadow_camera (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadow_camera_object (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadow_color_cube_map (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadow_color_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadow_color_texture (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadow_cube_map (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadow_data (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadow_map_size (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadow_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadow_texture (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadow_texture_color_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadow_texture_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadowed (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadowed_color_drawables (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadowed_drawables (robot_dart::gui::magnum::BaseApplication)</li> <li>_text_indices (robot_dart::gui::magnum::BaseApplication)</li> <li>_text_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_text_vertices (robot_dart::gui::magnum::BaseApplication)</li> <li>_texture_shader (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject)</li> <li>_transparentSize (robot_dart::gui::magnum::BaseApplication)</li> <li>_transparent_shadows (robot_dart::gui::magnum::BaseApplication)</li> <li>_enabled (robot_dart::gui::magnum::BaseGraphics)</li> <li>_fps (robot_dart::gui::magnum::BaseGraphics)</li> <li>_magnum_app (robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::sensor::Camera)</li> <li>_magnum_silence_output (robot_dart::gui::magnum::BaseGraphics)</li> <li>_materials (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject)</li> <li>_meshes (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject)</li> <li>_scalings (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject)</li> <li>_shader (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject)</li> <li>_shape (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject)</li> <li>_has_negative_scaling (robot_dart::gui::magnum::DrawableObject)</li> <li>_isTransparent (robot_dart::gui::magnum::DrawableObject)</li> <li>_is_soft_body (robot_dart::gui::magnum::DrawableObject)</li> <li>_bg_color (robot_dart::gui::magnum::GlfwApplication, robot_dart::gui::magnum::WindowlessGLApplication)</li> <li>_draw_debug (robot_dart::gui::magnum::GlfwApplication, robot_dart::gui::magnum::WindowlessGLApplication, robot_dart::gui::magnum::sensor::Camera)</li> <li>_draw_main_camera (robot_dart::gui::magnum::GlfwApplication, robot_dart::gui::magnum::WindowlessGLApplication)</li> <li>_speed (robot_dart::gui::magnum::GlfwApplication, robot_dart::gui::magnum::Camera)</li> <li>_speed_move (robot_dart::gui::magnum::GlfwApplication)</li> <li>_speed_strafe (robot_dart::gui::magnum::GlfwApplication)</li> <li>_context_mutex (robot_dart::gui::magnum::GlobalData)</li> <li>_create_contexts (robot_dart::gui::magnum::GlobalData)</li> <li>_gl_contexts (robot_dart::gui::magnum::GlobalData)</li> <li>_max_contexts (robot_dart::gui::magnum::GlobalData)</li> <li>_used (robot_dart::gui::magnum::GlobalData)</li> <li>_color (robot_dart::gui::magnum::WindowlessGLApplication, robot_dart::gui::magnum::sensor::Camera)</li> <li>_depth (robot_dart::gui::magnum::WindowlessGLApplication, robot_dart::gui::magnum::sensor::Camera)</li> <li>_format (robot_dart::gui::magnum::WindowlessGLApplication, robot_dart::gui::magnum::sensor::Camera)</li> <li>_framebuffer (robot_dart::gui::magnum::WindowlessGLApplication, robot_dart::gui::magnum::sensor::Camera)</li> <li>_aspect_ratio (robot_dart::gui::magnum::Camera)</li> <li>_camera_object (robot_dart::gui::magnum::Camera)</li> <li>_clean_up_subprocess (robot_dart::gui::magnum::Camera)</li> <li>_depth_image (robot_dart::gui::magnum::Camera)</li> <li>_far_plane (robot_dart::gui::magnum::Camera)</li> <li>_ffmpeg_process (robot_dart::gui::magnum::Camera)</li> <li>_fov (robot_dart::gui::magnum::Camera)</li> <li>_front (robot_dart::gui::magnum::Camera)</li> <li>_height (robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>_image (robot_dart::gui::magnum::Camera)</li> <li>_near_plane (robot_dart::gui::magnum::Camera)</li> <li>_pitch_object (robot_dart::gui::magnum::Camera)</li> <li>_recording (robot_dart::gui::magnum::Camera)</li> <li>_recording_depth (robot_dart::gui::magnum::Camera)</li> <li>_recording_video (robot_dart::gui::magnum::Camera)</li> <li>_right (robot_dart::gui::magnum::Camera)</li> <li>_up (robot_dart::gui::magnum::Camera)</li> <li>_width (robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>_yaw_object (robot_dart::gui::magnum::Camera)</li> <li>_diffuse_color_uniform (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>_far_plane_uniform (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight)</li> <li>_flags (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>_light_index_uniform (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor)</li> <li>_light_position_uniform (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor)</li> <li>_shadow_matrices_uniform (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor)</li> <li>_transformation_matrix_uniform (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>_cube_map_textures_location (robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight)</li> <li>_attenuation (robot_dart::gui::magnum::Light)</li> <li>_material (robot_dart::gui::magnum::Light)</li> <li>_position (robot_dart::gui::magnum::Light)</li> <li>_shadow_transform (robot_dart::gui::magnum::Light)</li> <li>_spot_cut_off (robot_dart::gui::magnum::Light)</li> <li>_spot_direction (robot_dart::gui::magnum::Light)</li> <li>_spot_exponent (robot_dart::gui::magnum::Light)</li> <li>_transformed_position (robot_dart::gui::magnum::Light)</li> <li>_transformed_spot_direction (robot_dart::gui::magnum::Light)</li> <li>_ambient (robot_dart::gui::magnum::Material)</li> <li>_ambient_texture (robot_dart::gui::magnum::Material)</li> <li>_diffuse (robot_dart::gui::magnum::Material)</li> <li>_diffuse_texture (robot_dart::gui::magnum::Material)</li> <li>_shininess (robot_dart::gui::magnum::Material)</li> <li>_specular (robot_dart::gui::magnum::Material)</li> <li>_specular_texture (robot_dart::gui::magnum::Material)</li> <li>_ambient_color_uniform (robot_dart::gui::magnum::PhongMultiLight)</li> <li>_camera_matrix_uniform (robot_dart::gui::magnum::PhongMultiLight)</li> <li>_cube_map_color_textures_location (robot_dart::gui::magnum::PhongMultiLight)</li> <li>_is_shadowed_uniform (robot_dart::gui::magnum::PhongMultiLight)</li> <li>_light_loc_size (robot_dart::gui::magnum::PhongMultiLight)</li> <li>_lights_matrices_uniform (robot_dart::gui::magnum::PhongMultiLight)</li> <li>_lights_uniform (robot_dart::gui::magnum::PhongMultiLight)</li> <li>_normal_matrix_uniform (robot_dart::gui::magnum::PhongMultiLight)</li> <li>_projection_matrix_uniform (robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>_shadow_color_textures_location (robot_dart::gui::magnum::PhongMultiLight)</li> <li>_shadow_textures_location (robot_dart::gui::magnum::PhongMultiLight)</li> <li>_shininess_uniform (robot_dart::gui::magnum::PhongMultiLight)</li> <li>_specular_color_uniform (robot_dart::gui::magnum::PhongMultiLight)</li> <li>_specular_strength_uniform (robot_dart::gui::magnum::PhongMultiLight)</li> <li>_transparent_shadows_uniform (robot_dart::gui::magnum::PhongMultiLight)</li> <li>_imu (robot_dart::robots::A1, robot_dart::robots::ICub, robot_dart::robots::Talos)</li> <li>_ft_wrist (robot_dart::robots::Franka, robot_dart::robots::Iiwa, robot_dart::robots::Tiago, robot_dart::robots::Ur3e)</li> <li>_ft_foot_left (robot_dart::robots::ICub, robot_dart::robots::Talos)</li> <li>_ft_foot_right (robot_dart::robots::ICub, robot_dart::robots::Talos)</li> <li>_frequency (robot_dart::robots::Talos, robot_dart::sensor::Sensor)</li> <li>_ft_wrist_left (robot_dart::robots::Talos)</li> <li>_ft_wrist_right (robot_dart::robots::Talos)</li> <li>_torques (robot_dart::robots::Talos, robot_dart::sensor::Torque)</li> <li>_direction (robot_dart::sensor::ForceTorque)</li> <li>_wrench (robot_dart::sensor::ForceTorque)</li> <li>_angular_pos (robot_dart::sensor::IMU)</li> <li>_angular_vel (robot_dart::sensor::IMU)</li> <li>_config (robot_dart::sensor::IMU)</li> <li>_linear_accel (robot_dart::sensor::IMU)</li> <li>_attached_tf (robot_dart::sensor::Sensor)</li> <li>_attached_to_body (robot_dart::sensor::Sensor)</li> <li>_attached_to_joint (robot_dart::sensor::Sensor)</li> <li>_attaching_to_body (robot_dart::sensor::Sensor)</li> <li>_attaching_to_joint (robot_dart::sensor::Sensor)</li> <li>_body_attached (robot_dart::sensor::Sensor)</li> <li>_joint_attached (robot_dart::sensor::Sensor)</li> <li>_world_pose (robot_dart::sensor::Sensor)</li> </ul>"},{"location":"api/class_member_functions/","title":"Class Member Functions","text":""},{"location":"api/class_member_functions/#a","title":"a","text":"<ul> <li>Assertion (robot_dart::Assertion)</li> <li>acceleration_lower_limits (robot_dart::Robot)</li> <li>acceleration_upper_limits (robot_dart::Robot)</li> <li>accelerations (robot_dart::Robot)</li> <li>active_controllers (robot_dart::Robot)</li> <li>actuator_type (robot_dart::Robot)</li> <li>actuator_types (robot_dart::Robot)</li> <li>add_body_mass (robot_dart::Robot)</li> <li>add_controller (robot_dart::Robot)</li> <li>add_external_force (robot_dart::Robot)</li> <li>add_external_torque (robot_dart::Robot)</li> <li>adjacent_colliding (robot_dart::Robot)</li> <li>aug_mass_matrix (robot_dart::Robot)</li> <li>add_checkerboard_floor (robot_dart::RobotDARTSimu)</li> <li>add_floor (robot_dart::RobotDARTSimu)</li> <li>add_robot (robot_dart::RobotDARTSimu)</li> <li>add_sensor (robot_dart::RobotDARTSimu)</li> <li>add_text (robot_dart::RobotDARTSimu, robot_dart::simu::GUIData)</li> <li>add_visual_robot (robot_dart::RobotDARTSimu)</li> <li>add_to_map (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>activate (robot_dart::control::RobotControl, robot_dart::sensor::Sensor)</li> <li>active (robot_dart::control::RobotControl, robot_dart::sensor::Sensor)</li> <li>add_light (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>attach_camera (robot_dart::gui::magnum::BaseApplication)</li> <li>attenuation (robot_dart::gui::magnum::Light)</li> <li>ambient_color (robot_dart::gui::magnum::Material)</li> <li>ambient_texture (robot_dart::gui::magnum::Material)</li> <li>attach_to_body (robot_dart::gui::magnum::sensor::Camera, robot_dart::sensor::ForceTorque, robot_dart::sensor::Sensor, robot_dart::sensor::Torque)</li> <li>attach_to_joint (robot_dart::gui::magnum::sensor::Camera, robot_dart::sensor::IMU, robot_dart::sensor::Sensor)</li> <li>A1 (robot_dart::robots::A1)</li> <li>Arm (robot_dart::robots::Arm)</li> <li>angular_position (robot_dart::sensor::IMU)</li> <li>angular_position_vec (robot_dart::sensor::IMU)</li> <li>angular_velocity (robot_dart::sensor::IMU)</li> <li>attached_to (robot_dart::sensor::Sensor)</li> </ul>"},{"location":"api/class_member_functions/#b","title":"b","text":"<ul> <li>base_pose (robot_dart::Robot)</li> <li>base_pose_vec (robot_dart::Robot)</li> <li>body_acceleration (robot_dart::Robot)</li> <li>body_index (robot_dart::Robot)</li> <li>body_mass (robot_dart::Robot)</li> <li>body_name (robot_dart::Robot)</li> <li>body_names (robot_dart::Robot)</li> <li>body_node (robot_dart::Robot)</li> <li>body_pose (robot_dart::Robot)</li> <li>body_pose_vec (robot_dart::Robot)</li> <li>body_velocity (robot_dart::Robot)</li> <li>Base (robot_dart::gui::Base)</li> <li>BaseApplication (robot_dart::gui::magnum::BaseApplication)</li> <li>BaseGraphics (robot_dart::gui::magnum::BaseGraphics)</li> <li>bind_cube_map_texture (robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight)</li> <li>bind_cube_map_color_texture (robot_dart::gui::magnum::PhongMultiLight)</li> <li>bind_shadow_color_texture (robot_dart::gui::magnum::PhongMultiLight)</li> <li>bind_shadow_texture (robot_dart::gui::magnum::PhongMultiLight)</li> </ul>"},{"location":"api/class_member_functions/#c","title":"c","text":"<ul> <li>cast_shadows (robot_dart::Robot, robot_dart::simu::GUIData)</li> <li>clear_controllers (robot_dart::Robot)</li> <li>clear_external_forces (robot_dart::Robot)</li> <li>clear_internal_forces (robot_dart::Robot)</li> <li>clone (robot_dart::Robot, robot_dart::control::PDControl, robot_dart::control::PolicyControl, robot_dart::control::RobotControl, robot_dart::control::SimpleControl)</li> <li>clone_ghost (robot_dart::Robot)</li> <li>com (robot_dart::Robot)</li> <li>com_acceleration (robot_dart::Robot)</li> <li>com_jacobian (robot_dart::Robot)</li> <li>com_jacobian_deriv (robot_dart::Robot)</li> <li>com_velocity (robot_dart::Robot)</li> <li>commands (robot_dart::Robot)</li> <li>constraint_forces (robot_dart::Robot)</li> <li>controller (robot_dart::Robot)</li> <li>controllers (robot_dart::Robot)</li> <li>coriolis_forces (robot_dart::Robot)</li> <li>coriolis_gravity_forces (robot_dart::Robot)</li> <li>coulomb_coeffs (robot_dart::Robot)</li> <li>create_box (robot_dart::Robot)</li> <li>create_ellipsoid (robot_dart::Robot)</li> <li>clear_robots (robot_dart::RobotDARTSimu)</li> <li>clear_sensors (robot_dart::RobotDARTSimu)</li> <li>collision_category (robot_dart::RobotDARTSimu)</li> <li>collision_detector (robot_dart::RobotDARTSimu)</li> <li>collision_mask (robot_dart::RobotDARTSimu)</li> <li>collision_masks (robot_dart::RobotDARTSimu)</li> <li>control_freq (robot_dart::RobotDARTSimu)</li> <li>current_time (robot_dart::Scheduler)</li> <li>clear_all (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>calculate (robot_dart::control::PDControl, robot_dart::control::PolicyControl, robot_dart::control::RobotControl, robot_dart::control::SimpleControl, robot_dart::gui::magnum::sensor::Camera, robot_dart::sensor::ForceTorque, robot_dart::sensor::IMU, robot_dart::sensor::Sensor, robot_dart::sensor::Torque)</li> <li>configure (robot_dart::control::PDControl, robot_dart::control::PolicyControl, robot_dart::control::RobotControl, robot_dart::control::SimpleControl)</li> <li>controllable_dofs (robot_dart::control::RobotControl)</li> <li>camera (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>clear_lights (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>camera_extrinsic_matrix (robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::sensor::Camera)</li> <li>camera_intrinsic_matrix (robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::sensor::Camera)</li> <li>CubeMapShadowedColorObject (robot_dart::gui::magnum::CubeMapShadowedColorObject)</li> <li>CubeMapShadowedObject (robot_dart::gui::magnum::CubeMapShadowedObject)</li> <li>Camera (robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>camera_object (robot_dart::gui::magnum::Camera)</li> <li>CubeMap (robot_dart::gui::magnum::CubeMap)</li> <li>CubeMapColor (robot_dart::gui::magnum::CubeMapColor)</li> <li>casts_shadows (robot_dart::gui::magnum::Light)</li> <li>collision_vec (robot_dart::robots::TalosFastCollision)</li> <li>caster_joints (robot_dart::robots::Tiago)</li> </ul>"},{"location":"api/class_member_functions/#d","title":"d","text":"<ul> <li>damping_coeffs (robot_dart::Robot)</li> <li>dof (robot_dart::Robot)</li> <li>dof_index (robot_dart::Robot)</li> <li>dof_map (robot_dart::Robot)</li> <li>dof_name (robot_dart::Robot)</li> <li>dof_names (robot_dart::Robot)</li> <li>drawing_axes (robot_dart::Robot, robot_dart::simu::GUIData)</li> <li>dt (robot_dart::Scheduler)</li> <li>depth_array (robot_dart::gui::Base, robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::sensor::Camera)</li> <li>depth_image (robot_dart::gui::Base, robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>done (robot_dart::gui::Base, robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>debug_draw_data (robot_dart::gui::magnum::BaseApplication)</li> <li>drawables (robot_dart::gui::magnum::BaseApplication)</li> <li>draw (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject, robot_dart::gui::magnum::Camera)</li> <li>DrawableObject (robot_dart::gui::magnum::DrawableObject)</li> <li>drawEvent (robot_dart::gui::magnum::GlfwApplication)</li> <li>default_configuration (robot_dart::gui::magnum::Graphics, robot_dart::gui::magnum::WindowlessGraphics)</li> <li>diffuse_color (robot_dart::gui::magnum::Material)</li> <li>diffuse_texture (robot_dart::gui::magnum::Material)</li> <li>draw_debug (robot_dart::gui::magnum::sensor::Camera)</li> <li>drawing_debug (robot_dart::gui::magnum::sensor::Camera)</li> <li>detach (robot_dart::sensor::Sensor)</li> <li>drawing_texts (robot_dart::simu::GUIData)</li> </ul>"},{"location":"api/class_member_functions/#e","title":"e","text":"<ul> <li>external_forces (robot_dart::Robot)</li> <li>enable_status_bar (robot_dart::RobotDARTSimu)</li> <li>enable_text_panel (robot_dart::RobotDARTSimu)</li> <li>enable_shadows (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>exitEvent (robot_dart::gui::magnum::GlfwApplication)</li> <li>exec (robot_dart::gui::magnum::WindowlessGLApplication)</li> <li>extrinsic_matrix (robot_dart::gui::magnum::Camera)</li> </ul>"},{"location":"api/class_member_functions/#f","title":"f","text":"<ul> <li>fix_to_world (robot_dart::Robot)</li> <li>fixed (robot_dart::Robot)</li> <li>force_lower_limits (robot_dart::Robot)</li> <li>force_position_bounds (robot_dart::Robot)</li> <li>force_torque (robot_dart::Robot)</li> <li>force_upper_limits (robot_dart::Robot)</li> <li>forces (robot_dart::Robot)</li> <li>free (robot_dart::Robot)</li> <li>free_from_world (robot_dart::Robot)</li> <li>friction_coeff (robot_dart::Robot)</li> <li>friction_dir (robot_dart::Robot)</li> <li>free_robot (robot_dart::RobotPool)</li> <li>free_gl_context (robot_dart::gui::magnum::GlobalData)</li> <li>far_plane (robot_dart::gui::magnum::Camera)</li> <li>forward (robot_dart::gui::magnum::Camera)</li> <li>fov (robot_dart::gui::magnum::Camera)</li> <li>flags (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>Franka (robot_dart::robots::Franka)</li> <li>ft_wrist (robot_dart::robots::Franka, robot_dart::robots::Iiwa, robot_dart::robots::Tiago, robot_dart::robots::Ur3e)</li> <li>ft_foot_left (robot_dart::robots::ICub, robot_dart::robots::Talos)</li> <li>ft_foot_right (robot_dart::robots::ICub, robot_dart::robots::Talos)</li> <li>ft_wrist_left (robot_dart::robots::Talos)</li> <li>ft_wrist_right (robot_dart::robots::Talos)</li> <li>ForceTorque (robot_dart::sensor::ForceTorque)</li> <li>force (robot_dart::sensor::ForceTorque)</li> <li>frequency (robot_dart::sensor::Sensor)</li> </ul>"},{"location":"api/class_member_functions/#g","title":"g","text":"<ul> <li>ghost (robot_dart::Robot, robot_dart::simu::GUIData)</li> <li>gravity_forces (robot_dart::Robot)</li> <li>graphics (robot_dart::RobotDARTSimu)</li> <li>graphics_freq (robot_dart::RobotDARTSimu)</li> <li>gravity (robot_dart::RobotDARTSimu)</li> <li>gui_data (robot_dart::RobotDARTSimu)</li> <li>get_robot (robot_dart::RobotPool)</li> <li>GlfwApplication (robot_dart::gui::magnum::GlfwApplication)</li> <li>GlobalData (robot_dart::gui::magnum::GlobalData)</li> <li>gl_context (robot_dart::gui::magnum::GlobalData)</li> <li>Graphics (robot_dart::gui::magnum::Graphics)</li> </ul>"},{"location":"api/class_member_functions/#h","title":"h","text":"<ul> <li>halted_sim (robot_dart::RobotDARTSimu)</li> <li>h_params (robot_dart::control::PolicyControl)</li> <li>height (robot_dart::gui::Base, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::Camera)</li> <li>has_ambient_texture (robot_dart::gui::magnum::Material)</li> <li>has_diffuse_texture (robot_dart::gui::magnum::Material)</li> <li>has_specular_texture (robot_dart::gui::magnum::Material)</li> <li>Hexapod (robot_dart::robots::Hexapod)</li> </ul>"},{"location":"api/class_member_functions/#i","title":"i","text":"<ul> <li>inv_aug_mass_matrix (robot_dart::Robot)</li> <li>inv_mass_matrix (robot_dart::Robot)</li> <li>it_duration (robot_dart::Scheduler)</li> <li>ignoresCollision (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>init (robot_dart::control::RobotControl, robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::sensor::Camera, robot_dart::sensor::ForceTorque, robot_dart::sensor::IMU, robot_dart::sensor::Sensor, robot_dart::sensor::Torque)</li> <li>image (robot_dart::gui::Base, robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>instance (robot_dart::gui::magnum::GlobalData)</li> <li>intrinsic_matrix (robot_dart::gui::magnum::Camera)</li> <li>imu (robot_dart::robots::A1, robot_dart::robots::ICub, robot_dart::robots::Talos)</li> <li>ICub (robot_dart::robots::ICub)</li> <li>Iiwa (robot_dart::robots::Iiwa)</li> <li>IMU (robot_dart::sensor::IMU)</li> <li>IMUConfig (robot_dart::sensor::IMUConfig)</li> </ul>"},{"location":"api/class_member_functions/#j","title":"j","text":"<ul> <li>jacobian (robot_dart::Robot)</li> <li>jacobian_deriv (robot_dart::Robot)</li> <li>joint (robot_dart::Robot)</li> <li>joint_index (robot_dart::Robot)</li> <li>joint_map (robot_dart::Robot)</li> <li>joint_name (robot_dart::Robot)</li> <li>joint_names (robot_dart::Robot)</li> </ul>"},{"location":"api/class_member_functions/#k","title":"k","text":"<ul> <li>keyPressEvent (robot_dart::gui::magnum::GlfwApplication)</li> <li>keyReleaseEvent (robot_dart::gui::magnum::GlfwApplication)</li> </ul>"},{"location":"api/class_member_functions/#l","title":"l","text":"<ul> <li>locked_dof_names (robot_dart::Robot)</li> <li>last_it_duration (robot_dart::Scheduler)</li> <li>light (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>lights (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>look_at (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>Light (robot_dart::gui::magnum::Light)</li> <li>linear_acceleration (robot_dart::sensor::IMU)</li> </ul>"},{"location":"api/class_member_functions/#m","title":"m","text":"<ul> <li>mass_matrix (robot_dart::Robot)</li> <li>mimic_dof_names (robot_dart::Robot)</li> <li>model_filename (robot_dart::Robot, robot_dart::RobotPool)</li> <li>model_packages (robot_dart::Robot)</li> <li>mask (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>magnum_app (robot_dart::gui::magnum::BaseGraphics)</li> <li>magnum_image (robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::sensor::Camera)</li> <li>materials (robot_dart::gui::magnum::DrawableObject)</li> <li>mouseMoveEvent (robot_dart::gui::magnum::GlfwApplication)</li> <li>mouseScrollEvent (robot_dart::gui::magnum::GlfwApplication)</li> <li>move (robot_dart::gui::magnum::Camera)</li> <li>material (robot_dart::gui::magnum::Light)</li> <li>Material (robot_dart::gui::magnum::Material)</li> <li>max_lights (robot_dart::gui::magnum::PhongMultiLight)</li> <li>magnum_depth_image (robot_dart::gui::magnum::sensor::Camera)</li> </ul>"},{"location":"api/class_member_functions/#n","title":"n","text":"<ul> <li>name (robot_dart::Robot)</li> <li>num_bodies (robot_dart::Robot)</li> <li>num_controllers (robot_dart::Robot)</li> <li>num_dofs (robot_dart::Robot)</li> <li>num_joints (robot_dart::Robot)</li> <li>num_robots (robot_dart::RobotDARTSimu)</li> <li>next_time (robot_dart::Scheduler)</li> <li>num_lights (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>near_plane (robot_dart::gui::magnum::Camera)</li> </ul>"},{"location":"api/class_member_functions/#o","title":"o","text":"<ul> <li>operator= (robot_dart::RobotPool, robot_dart::gui::magnum::GlobalData)</li> <li>operator() (robot_dart::Scheduler)</li> </ul>"},{"location":"api/class_member_functions/#p","title":"p","text":"<ul> <li>passive_dof_names (robot_dart::Robot)</li> <li>position_enforced (robot_dart::Robot)</li> <li>position_lower_limits (robot_dart::Robot)</li> <li>position_upper_limits (robot_dart::Robot)</li> <li>positions (robot_dart::Robot)</li> <li>physics_freq (robot_dart::RobotDARTSimu)</li> <li>PDControl (robot_dart::control::PDControl)</li> <li>pd (robot_dart::control::PDControl)</li> <li>PolicyControl (robot_dart::control::PolicyControl)</li> <li>parameters (robot_dart::control::RobotControl)</li> <li>position (robot_dart::gui::magnum::Light)</li> <li>PhongMultiLight (robot_dart::gui::magnum::PhongMultiLight)</li> <li>Pendulum (robot_dart::robots::Pendulum)</li> <li>pose (robot_dart::sensor::Sensor)</li> </ul>"},{"location":"api/class_member_functions/#r","title":"r","text":"<ul> <li>Robot (robot_dart::Robot)</li> <li>reinit_controllers (robot_dart::Robot)</li> <li>remove_all_drawing_axis (robot_dart::Robot)</li> <li>remove_controller (robot_dart::Robot)</li> <li>reset (robot_dart::Robot, robot_dart::Scheduler, robot_dart::robots::A1, robot_dart::robots::Hexapod, robot_dart::robots::ICub, robot_dart::robots::Talos, robot_dart::robots::Tiago)</li> <li>reset_commands (robot_dart::Robot)</li> <li>restitution_coeff (robot_dart::Robot)</li> <li>RobotDARTSimu (robot_dart::RobotDARTSimu)</li> <li>remove_all_collision_masks (robot_dart::RobotDARTSimu)</li> <li>remove_collision_masks (robot_dart::RobotDARTSimu)</li> <li>remove_robot (robot_dart::RobotDARTSimu, robot_dart::simu::GUIData)</li> <li>remove_sensor (robot_dart::RobotDARTSimu)</li> <li>remove_sensors (robot_dart::RobotDARTSimu)</li> <li>robot (robot_dart::RobotDARTSimu, robot_dart::control::RobotControl)</li> <li>robot_index (robot_dart::RobotDARTSimu)</li> <li>robots (robot_dart::RobotDARTSimu)</li> <li>run (robot_dart::RobotDARTSimu)</li> <li>RobotPool (robot_dart::RobotPool)</li> <li>real_time (robot_dart::Scheduler)</li> <li>real_time_factor (robot_dart::Scheduler)</li> <li>remove_from_map (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>RobotControl (robot_dart::control::RobotControl)</li> <li>raw_depth_image (robot_dart::gui::Base, robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::sensor::Camera)</li> <li>refresh (robot_dart::gui::Base, robot_dart::gui::magnum::BaseGraphics, robot_dart::sensor::Sensor)</li> <li>record_video (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>render (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::GlfwApplication, robot_dart::gui::magnum::WindowlessGLApplication)</li> <li>render_shadows (robot_dart::gui::magnum::BaseApplication)</li> <li>record (robot_dart::gui::magnum::Camera)</li> <li>recording (robot_dart::gui::magnum::Camera)</li> <li>recording_depth (robot_dart::gui::magnum::Camera)</li> <li>root_object (robot_dart::gui::magnum::Camera)</li> <li>remove_text (robot_dart::simu::GUIData)</li> </ul>"},{"location":"api/class_member_functions/#s","title":"s","text":"<ul> <li>secondary_friction_coeff (robot_dart::Robot)</li> <li>self_colliding (robot_dart::Robot)</li> <li>set_acceleration_lower_limits (robot_dart::Robot)</li> <li>set_acceleration_upper_limits (robot_dart::Robot)</li> <li>set_accelerations (robot_dart::Robot)</li> <li>set_actuator_type (robot_dart::Robot, robot_dart::robots::Tiago)</li> <li>set_actuator_types (robot_dart::Robot, robot_dart::robots::Tiago)</li> <li>set_base_pose (robot_dart::Robot)</li> <li>set_body_mass (robot_dart::Robot)</li> <li>set_body_name (robot_dart::Robot)</li> <li>set_cast_shadows (robot_dart::Robot)</li> <li>set_color_mode (robot_dart::Robot)</li> <li>set_commands (robot_dart::Robot)</li> <li>set_coulomb_coeffs (robot_dart::Robot)</li> <li>set_damping_coeffs (robot_dart::Robot)</li> <li>set_draw_axis (robot_dart::Robot)</li> <li>set_external_force (robot_dart::Robot)</li> <li>set_external_torque (robot_dart::Robot)</li> <li>set_force_lower_limits (robot_dart::Robot)</li> <li>set_force_upper_limits (robot_dart::Robot)</li> <li>set_forces (robot_dart::Robot)</li> <li>set_friction_coeff (robot_dart::Robot)</li> <li>set_friction_coeffs (robot_dart::Robot)</li> <li>set_friction_dir (robot_dart::Robot)</li> <li>set_ghost (robot_dart::Robot)</li> <li>set_joint_name (robot_dart::Robot)</li> <li>set_mimic (robot_dart::Robot)</li> <li>set_position_enforced (robot_dart::Robot)</li> <li>set_position_lower_limits (robot_dart::Robot)</li> <li>set_position_upper_limits (robot_dart::Robot)</li> <li>set_positions (robot_dart::Robot)</li> <li>set_restitution_coeff (robot_dart::Robot)</li> <li>set_restitution_coeffs (robot_dart::Robot)</li> <li>set_secondary_friction_coeff (robot_dart::Robot)</li> <li>set_secondary_friction_coeffs (robot_dart::Robot)</li> <li>set_self_collision (robot_dart::Robot)</li> <li>set_spring_stiffnesses (robot_dart::Robot)</li> <li>set_velocities (robot_dart::Robot)</li> <li>set_velocity_lower_limits (robot_dart::Robot)</li> <li>set_velocity_upper_limits (robot_dart::Robot)</li> <li>skeleton (robot_dart::Robot)</li> <li>spring_stiffnesses (robot_dart::Robot)</li> <li>schedule (robot_dart::RobotDARTSimu, robot_dart::Scheduler)</li> <li>scheduler (robot_dart::RobotDARTSimu)</li> <li>sensor (robot_dart::RobotDARTSimu)</li> <li>sensors (robot_dart::RobotDARTSimu)</li> <li>set_collision_detector (robot_dart::RobotDARTSimu)</li> <li>set_collision_masks (robot_dart::RobotDARTSimu)</li> <li>set_control_freq (robot_dart::RobotDARTSimu)</li> <li>set_graphics (robot_dart::RobotDARTSimu)</li> <li>set_graphics_freq (robot_dart::RobotDARTSimu)</li> <li>set_gravity (robot_dart::RobotDARTSimu)</li> <li>set_text_panel (robot_dart::RobotDARTSimu)</li> <li>set_timestep (robot_dart::RobotDARTSimu)</li> <li>status_bar_text (robot_dart::RobotDARTSimu)</li> <li>step (robot_dart::RobotDARTSimu, robot_dart::Scheduler)</li> <li>step_world (robot_dart::RobotDARTSimu)</li> <li>stop_sim (robot_dart::RobotDARTSimu)</li> <li>Scheduler (robot_dart::Scheduler)</li> <li>set_sync (robot_dart::Scheduler)</li> <li>sync (robot_dart::Scheduler)</li> <li>set_pd (robot_dart::control::PDControl)</li> <li>set_use_angular_errors (robot_dart::control::PDControl)</li> <li>set_h_params (robot_dart::control::PolicyControl)</li> <li>set_parameters (robot_dart::control::RobotControl)</li> <li>set_robot (robot_dart::control::RobotControl)</li> <li>set_weight (robot_dart::control::RobotControl)</li> <li>SimpleControl (robot_dart::control::SimpleControl)</li> <li>set_enable (robot_dart::gui::Base, robot_dart::gui::magnum::BaseGraphics)</li> <li>set_fps (robot_dart::gui::Base, robot_dart::gui::magnum::BaseGraphics)</li> <li>set_render_period (robot_dart::gui::Base)</li> <li>set_simu (robot_dart::gui::Base, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::Graphics, robot_dart::gui::magnum::WindowlessGraphics, robot_dart::sensor::Sensor)</li> <li>simu (robot_dart::gui::Base, robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject, robot_dart::sensor::Sensor)</li> <li>scene (robot_dart::gui::magnum::BaseApplication)</li> <li>shadowed (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>set_materials (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject)</li> <li>set_meshes (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject)</li> <li>set_scalings (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject)</li> <li>shape (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject)</li> <li>set_color_shader (robot_dart::gui::magnum::DrawableObject)</li> <li>set_soft_bodies (robot_dart::gui::magnum::DrawableObject)</li> <li>set_texture_shader (robot_dart::gui::magnum::DrawableObject)</li> <li>set_transparent (robot_dart::gui::magnum::DrawableObject)</li> <li>set_max_contexts (robot_dart::gui::magnum::GlobalData)</li> <li>ShadowedColorObject (robot_dart::gui::magnum::ShadowedColorObject)</li> <li>ShadowedObject (robot_dart::gui::magnum::ShadowedObject)</li> <li>set_camera_params (robot_dart::gui::magnum::Camera)</li> <li>set_far_plane (robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight)</li> <li>set_fov (robot_dart::gui::magnum::Camera)</li> <li>set_near_plane (robot_dart::gui::magnum::Camera)</li> <li>set_speed (robot_dart::gui::magnum::Camera)</li> <li>set_viewport (robot_dart::gui::magnum::Camera)</li> <li>speed (robot_dart::gui::magnum::Camera)</li> <li>strafe (robot_dart::gui::magnum::Camera)</li> <li>set_light_index (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor)</li> <li>set_light_position (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor)</li> <li>set_material (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::Light, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>set_shadow_matrices (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor)</li> <li>set_transformation_matrix (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>set_attenuation (robot_dart::gui::magnum::Light)</li> <li>set_casts_shadows (robot_dart::gui::magnum::Light)</li> <li>set_position (robot_dart::gui::magnum::Light)</li> <li>set_shadow_matrix (robot_dart::gui::magnum::Light)</li> <li>set_spot_cut_off (robot_dart::gui::magnum::Light)</li> <li>set_spot_direction (robot_dart::gui::magnum::Light)</li> <li>set_spot_exponent (robot_dart::gui::magnum::Light)</li> <li>set_transformed_position (robot_dart::gui::magnum::Light)</li> <li>set_transformed_spot_direction 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(robot_dart::gui::magnum::PhongMultiLight)</li> <li>set_light (robot_dart::gui::magnum::PhongMultiLight)</li> <li>set_normal_matrix (robot_dart::gui::magnum::PhongMultiLight)</li> <li>set_projection_matrix (robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>set_specular_strength (robot_dart::gui::magnum::PhongMultiLight)</li> <li>set_transparent_shadows (robot_dart::gui::magnum::PhongMultiLight)</li> <li>ShadowMap (robot_dart::gui::magnum::ShadowMap)</li> <li>ShadowMapColor (robot_dart::gui::magnum::ShadowMapColor)</li> <li>Sensor (robot_dart::sensor::Sensor)</li> <li>set_frequency (robot_dart::sensor::Sensor)</li> <li>set_pose (robot_dart::sensor::Sensor)</li> </ul>"},{"location":"api/class_member_functions/#t","title":"t","text":"<ul> <li>text_panel_text (robot_dart::RobotDARTSimu)</li> <li>timestep (robot_dart::RobotDARTSimu)</li> <li>transparent_shadows (robot_dart::gui::magnum::BaseApplication, 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(robot_dart::gui::DepthImage, robot_dart::gui::GrayscaleImage, robot_dart::gui::Image, robot_dart::gui::magnum::GraphicsConfiguration)</li> </ul>"},{"location":"api/class_member_variables/#i","title":"i","text":"<ul> <li>is_ghost (robot_dart::simu::GUIData::RobotData)</li> </ul>"},{"location":"api/class_member_variables/#m","title":"m","text":"<ul> <li>max_lights (robot_dart::gui::magnum::GraphicsConfiguration)</li> </ul>"},{"location":"api/class_member_variables/#r","title":"r","text":"<ul> <li>robot_axes (robot_dart::simu::GUIData)</li> <li>robot_data (robot_dart::simu::GUIData)</li> </ul>"},{"location":"api/class_member_variables/#s","title":"s","text":"<ul> <li>shadow_map_size (robot_dart::gui::magnum::GraphicsConfiguration)</li> <li>shadowed (robot_dart::gui::magnum::GraphicsConfiguration, robot_dart::gui::magnum::ObjectStruct)</li> <li>specular_strength (robot_dart::gui::magnum::GraphicsConfiguration)</li> <li>shadowed_color (robot_dart::gui::magnum::ObjectStruct)</li> <li>shadow_color_framebuffer (robot_dart::gui::magnum::ShadowData)</li> <li>shadow_framebuffer (robot_dart::gui::magnum::ShadowData)</li> </ul>"},{"location":"api/class_member_variables/#t","title":"t","text":"<ul> <li>text_indices (robot_dart::gui::magnum::DebugDrawData)</li> <li>text_shader (robot_dart::gui::magnum::DebugDrawData)</li> <li>text_vertices (robot_dart::gui::magnum::DebugDrawData)</li> <li>title (robot_dart::gui::magnum::GraphicsConfiguration)</li> <li>transparent_shadows (robot_dart::gui::magnum::GraphicsConfiguration)</li> <li>text_drawings (robot_dart::simu::GUIData)</li> <li>text (robot_dart::simu::TextData)</li> <li>transformation (robot_dart::simu::TextData)</li> </ul>"},{"location":"api/class_member_variables/#w","title":"w","text":"<ul> <li>width (robot_dart::gui::DepthImage, robot_dart::gui::GrayscaleImage, robot_dart::gui::Image, robot_dart::gui::magnum::GraphicsConfiguration)</li> </ul>"},{"location":"api/class_member_variables/#_","title":"_","text":"<ul> 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robot_dart::gui::magnum::DrawableObject)</li> <li>_configuration (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>_cubemap_color_drawables (robot_dart::gui::magnum::BaseApplication)</li> <li>_cubemap_color_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_cubemap_drawables (robot_dart::gui::magnum::BaseApplication)</li> <li>_cubemap_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_cubemap_texture_color_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_cubemap_texture_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_dart_world (robot_dart::gui::magnum::BaseApplication)</li> <li>_done (robot_dart::gui::magnum::BaseApplication)</li> <li>_drawable_objects (robot_dart::gui::magnum::BaseApplication)</li> <li>_drawables (robot_dart::gui::magnum::BaseApplication)</li> <li>_font (robot_dart::gui::magnum::BaseApplication)</li> <li>_font_manager (robot_dart::gui::magnum::BaseApplication)</li> <li>_glyph_cache 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Functions</li> <li>Namespace Member Variables</li> <li>Namespace Member Typedefs</li> <li>Namespace Member Enumerations</li> <li>Class Index</li> <li>Class Hierarchy</li> <li>Class Members</li> <li>Class Member Functions</li> <li>Class Member Variables</li> <li>Class Member Typedefs</li> <li>Class Member Enumerations</li> <li>Files</li> <li>File Variables</li> <li>File Functions</li> <li>File Macros</li> </ul>"}]}
\ No newline at end of file
+{"config":{"lang":["en"],"separator":"[\\s\\-]+","pipeline":["stopWordFilter"]},"docs":[{"location":"","title":"Home","text":""},{"location":"#robotdart","title":"RobotDART","text":"<p>RobotDART is a C++ robot simulator (with optional Python bindings) built on top of the DART physics engine. The RobotDART simulator is intended to be used by Robotics and Machine Learning researchers who want to write controllers or test learning algorithms without the delays and overhead that usually comes with other simulators (e.g., Gazebo, Coppelia-sim).</p> <p>For this reason, the simulator runs headless by default, and there is the possibility of rendering the scene (e.g., through a camera sensor) without opening a graphics window. All RobotDART's code is thread-safe (including graphics and camera sensors), and thus enables its users to use their code in parallel jobs in multicore computers.</p> <p></p> <p>In a few words, RobotDART combines:</p> <ul> <li>a physics engine (DART)</li> <li>an optional graphics engine (Magnum)</li> <li>a few sensor classes (IMU, force/torque sensors, cameras, etc.)</li> <li>a curated URDF library</li> <li>... and a few useful features to make the life of roboticists/researchers easier</li> </ul> <p> </p>"},{"location":"#main-features","title":"Main Features","text":"<ul> <li>Modern C++ code that makes it easy to develop environments and applications</li> <li>Fast and reliable simulation of robotic mechanisms and their interactions (through the DART physics engine)</li> <li>A structured <code>Robot</code> class that enables a unified creation and access to all important values: in RobotDART you can load any robot description file (URDF, SDF, SKEL, and MuJoCo files) with the same command, and all robot measurements can be queried without using any DART code</li> <li>A generic <code>RobotControl</code> class that enables fast prototyping of any type of controller</li> <li>A generic <code>Sensor</code> class that allows the creation of any kind of sensor</li> <li>A growing list of already implemented sensors, that includes 6-axis <code>ForceTorque</code>, <code>IMU</code>, <code>RGB</code>, and <code>RGB-D</code> sensors</li> <li>A simulation class (<code>RobotDARTSimu</code>) that handles multiple robots and sensors, and allows for step-by-step simulation</li> <li>A growing list of supported robots along with edited and optimized models to be used with RobotDART (see the robots page for details and examples):<ul> <li>PAL Talos humanoid</li> <li>Franka Emika Panda</li> <li>KUKA LBR Iiwa (14kg version)</li> <li>IIT iCub humanoid (without hands)</li> <li>Unitree A1 quadruped robot</li> <li>Dynamixel-based 6-legged robot</li> <li>A simple arm for educational purposes</li> <li>and you can use any URDF</li> </ul> </li> <li>A custom graphical interface built on top of Magnum that allows generic customization</li> <li>Support for windowless OpenGL context creation (even in parallel threads!) to allow for camera sensor usage even in parallel jobs running on clusters</li> <li>Support for video recording in simulation time (i.e., not affected by delays of simulator and/or graphics) for visualization or debugging purposes</li> <li>Full-featured Python bindings for fast prototyping</li> <li>RobotDART runs on any Linux distribution and Mac OS</li> </ul>"},{"location":"#what-robotdart-is-not","title":"What RobotDART is not","text":"<ul> <li>RobotDART is primarily intended to be non-interactive (run a simulation, record/view the result),</li> <li>Interaction is limited to changing the view and your own code. No GUI for adding objects or interactively build an environment,</li> <li>RobotDART is not optimized for wheeled robots,</li> <li>RobotDART is not optimized for simulating complex (e.g., mountain-like) terrains.</li> </ul>"},{"location":"faq/","title":"FAQ","text":""},{"location":"faq/#frequently-asked-questions","title":"Frequently Asked Questions","text":"<p>This pages provides a user guide of the library through Frequently Asked Questions (FAQ).</p>"},{"location":"faq/#what-is-a-minimal-working-example-of-robotdart","title":"What is a minimal working example of RobotDART?","text":"<p>You can find a minimal working example at hello_world.cpp. This example is creating a world where a hexapod robot is placed just above a floor and left to fall. The robot has no actuation, and there is the simplest graphics configuration. Let's split it down.</p> <ul> <li>We first include the appropriate files:</li> </ul> C++Python <pre><code>#include &lt;robot_dart/robot_dart_simu.hpp&gt;\n\n#ifdef GRAPHIC\n#include &lt;robot_dart/gui/magnum/graphics.hpp&gt;\n#endif\n</code></pre> <pre><code>import RobotDART as rd\n</code></pre> <ul> <li>We then load our hexapod robot:</li> </ul> C++Python <pre><code>auto robot = std::make_shared&lt;robot_dart::Robot&gt;(\"pexod.urdf\");\n</code></pre> <pre><code>robot = rd.Robot(\"pexod.urdf\");\n</code></pre> <ul> <li>We need to place it above the floor to avoid collision (we can use RobotDART's helpers ;)):</li> </ul> C++Python <pre><code>robot-&gt;set_base_pose(robot_dart::make_tf({0., 0., 0.2}));\n</code></pre> <pre><code># pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)\nrobot.set_base_pose([0., 0., 0., 0., 0., 0.2])\n</code></pre> <ul> <li>We can now create the simulation object and add the robot and the floor:</li> </ul> C++Python <pre><code>robot_dart::RobotDARTSimu simu(0.001); // dt=0.001, 1KHz simulation\nsimu.add_floor();\nsimu.add_robot(robot);\n</code></pre> <pre><code>simu = rd.RobotDARTSimu(0.001); # dt=0.001, 1KHz simulation\nsimu.add_floor();\nsimu.add_robot(robot);\n</code></pre> <ul> <li>If needed or wanted, we can add a graphics component to visualize the scene:</li> </ul> C++Python <pre><code>auto graphics = std::make_shared&lt;robot_dart::gui::magnum::Graphics&gt;();\nsimu.set_graphics(graphics);\ngraphics-&gt;look_at({0.5, 3., 0.75}, {0.5, 0., 0.2});\n</code></pre> <pre><code>graphics = rd.gui.Graphics()\nsimu.set_graphics(graphics)\ngraphics.look_at([0.5, 3., 0.75], [0.5, 0., 0.2])\n</code></pre> <ul> <li>Once everything is configured, we can run our simulation for a few seconds:</li> </ul> C++Python <pre><code>simu.run(10.);\n</code></pre> <pre><code>simu.run(10.)\n</code></pre> <ul> <li>Here's how it looks:</li> </ul> <p> </p>"},{"location":"faq/#what-robots-are-supported-in-robotdart","title":"What robots are supported in RobotDART?","text":"<p>RobotDART supports any robot that can be described by a URDF, SDF, SKEL or MJCF file. Nevertheless, we have a curated list of robots with edited and optimized models to be used with RobotDART (see the robots page for details and examples).</p>"},{"location":"faq/#how-can-i-load-my-own-urdfsdfskelmjcf-file","title":"How can I load my own URDF/SDF/SKEL/MJCF file?","text":"<p>See the robots page for details.</p>"},{"location":"faq/#how-do-i-enable-graphics-in-my-code","title":"How do I enable graphics in my code?","text":"<p>To enable graphics in your code, you need to do the following:</p> <ul> <li>Install Magnum. See the installation page for details.</li> <li>Create and set a graphics object in the simulation object. Here's an example:</li> </ul> C++Python <pre><code>auto graphics = std::make_shared&lt;robot_dart::gui::magnum::Graphics&gt;();\nsimu.set_graphics(graphics);\ngraphics-&gt;look_at({0.5, 3., 0.75}, {0.5, 0., 0.2});\n</code></pre> <pre><code>graphics = rd.gui.Graphics()\nsimu.set_graphics(graphics)\ngraphics.look_at([0.5, 3., 0.75], [0.5, 0., 0.2])\n</code></pre>"},{"location":"faq/#i-want-to-have-multiple-camera-sensors-is-it-possible","title":"I want to have multiple camera sensors. Is it possible?","text":"<p>Having multiple camera sensors is indeed possible. We can add as many cameras as we wish along the main camera defined in How do I record a video:</p> C++Python <pre><code>// Add camera\nauto camera = std::make_shared&lt;robot_dart::sensor::Camera&gt;(graphics-&gt;magnum_app(), 256, 256);\n</code></pre> <pre><code># Add camera\ncamera = rd.sensor.Camera(graphics.magnum_app(), 32, 32)\n</code></pre>"},{"location":"faq/#how-do-i-record-a-video","title":"How do I record a video?","text":"<p>In order to record a video (1) of what the main or any other camera \"sees\", you need to call the function <code>record_video(path)</code> of the graphics class:</p> <ol> <li> Make sure that you have <code>ffmpeg</code> installed on your system.</li> </ol> C++Python <pre><code>graphics-&gt;record_video(\"talos_dancing.mp4\");\n</code></pre> <pre><code>graphics.record_video(\"talos_dancing.mp4\")\n</code></pre> <p>Or the camera class:</p> C++Python <pre><code>// cameras can also record video\ncamera-&gt;record_video(\"video-camera.mp4\");\n</code></pre> <pre><code># cameras can also record video\ncamera.record_video(\"video-camera.mp4\")\n</code></pre>"},{"location":"faq/#how-can-i-position-a-camera-to-the-environment","title":"How can I position a camera to the environment?","text":"<p>In order to position a camera inside the world, we need to use the <code>lookAt</code> method of the camera/graphics object:</p> C++Python <pre><code>// set the position of the camera, and the position where the main camera is looking at\nEigen::Vector3d cam_pos = {-0.5, -3., 0.75};\nEigen::Vector3d cam_looks_at = {0.5, 0., 0.2};\ncamera-&gt;look_at(cam_pos, cam_looks_at);\n</code></pre> <pre><code># set the position of the camera, and the position where the main camera is looking at\ncam_pos = [-0.5, -3., 0.75]\ncam_looks_at = [0.5, 0., 0.2]\ncamera.look_at(cam_pos, cam_looks_at)\n</code></pre>"},{"location":"faq/#how-can-i-attach-a-camera-to-a-moving-link","title":"How can I attach a camera to a moving link?","text":"<p>Cameras can be easily attached to a moving link:</p> C++Python <pre><code>Eigen::Isometry3d tf;\ntf = Eigen::AngleAxisd(3.14, Eigen::Vector3d{1., 0., 0.});\ntf *= Eigen::AngleAxisd(1.57, Eigen::Vector3d{0., 0., 1.});\ntf.translation() = Eigen::Vector3d(0., 0., 0.1);\ncamera-&gt;attach_to_body(robot-&gt;body_node(\"iiwa_link_ee\"), tf); // cameras are looking towards -z by default\n</code></pre> <pre><code>tf = dartpy.math.Isometry3()\nrot = dartpy.math.AngleAxis(3.14, [1., 0., 0.])\nrot = rot.multiply(dartpy.math.AngleAxis(1.57, [0., 0., 1.])).to_rotation_matrix()\ntf.set_translation([0., 0., 0.1])\ntf.set_rotation(rot)\ncamera.attach_to_body(robot.body_node(\"iiwa_link_ee\"), tf)  # cameras are looking towards -z by default\n</code></pre>"},{"location":"faq/#how-can-i-manipulate-the-camera-object","title":"How can I manipulate the camera object?","text":"<p>Every camera has its own parameters, i.e a Near plane, a far plane, a Field Of View (FOV), a width and a height (that define the aspect ratio), you can manipulate each one separately:</p> C++Python <pre><code>camera-&gt;camera().set_far_plane(5.f);\ncamera-&gt;camera().set_near_plane(0.01f);\ncamera-&gt;camera().set_fov(60.0f);\n</code></pre> <pre><code>camera.camera().set_far_plane(5.)\ncamera.camera().set_near_plane(0.01)\ncamera.camera().set_fov(60.0)\n</code></pre> <p>or all at once:</p> C++Python <pre><code>camera-&gt;camera().set_camera_params(5., // far plane\n    0.01f, // near plane\n    60.0f, // field of view\n    600, // width\n    400 // height\n);\n</code></pre> <pre><code>camera.camera().set_camera_params(5.,  # far plane\n                                  0.01,  # near plane\n                                  60.0,  # field of view\n                                  600,  # width\n                                  400)  # height\n</code></pre> <p>You can find a complete example at cameras.cpp and cameras.py.</p>"},{"location":"faq/#how-can-i-interact-with-the-camera","title":"How can I interact with the camera?","text":"<p>We can move translate the cameras with the <code>WASD</code> keys, zoom in and out using the <code>mouse wheel</code> and rotate the camera with holding the <code>left mouse key</code> and moving the mouse.</p>"},{"location":"faq/#what-do-the-numbers-in-the-status-bar-mean","title":"What do the numbers in the status bar mean?","text":"<p>The status bar looks like this:</p> <p></p> <p>Where simulation time gives us the total simulated time (in seconds), wall time gives us the total time (in seconds) that has passed in real-time once we have started simulating. The next number X.Xx gives us the real-time factor: for example, 1.1x means that the simulation runs 1.1 times faster than real-time, whereas 0.7x means that the simulation runs slower than real-time. The value it: XX ms reports the time it took the last iteration (in milliseconds). The last part gives us whether the simulation tries to adhere to real-time or not. sync means that RobotDART will slow down the simulation in order for it to be in real-time, whereas no-sync means that RobotDART will try to run the simulation as fast as possible.</p>"},{"location":"faq/#how-can-i-alter-the-graphics-scene-eg-change-lighting-conditions","title":"How can I alter the graphics scene (e.g., change lighting conditions)?","text":"<p>When creating a graphics object, you can pass a <code>GraphicsConfiguration</code> object that changes the default values:</p> C++Python <pre><code>robot_dart::gui::magnum::GraphicsConfiguration configuration;\n// We can change the width/height of the window (or camera image dimensions)\nconfiguration.width = 1280;\nconfiguration.height = 960;\nconfiguration.title = \"Graphics Tutorial\"; // We can set a title for our window\n\n// We can change the configuration for shadows\nconfiguration.shadowed = true;\nconfiguration.transparent_shadows = true;\nconfiguration.shadow_map_size = 1024;\n\n// We can also alter some specifications for the lighting\nconfiguration.max_lights = 3; // maximum number of lights for our scene [default=3]\nconfiguration.specular_strength = 0.25; // strength of the specular component\n\n// Some extra configuration for the main camera\nconfiguration.draw_main_camera = true;\nconfiguration.draw_debug = true;\nconfiguration.draw_text = true;\n\n// We can also change the background color [default=black]\nconfiguration.bg_color = Eigen::Vector4d{1.0, 1.0, 1.0, 1.0};\n\n// Create the graphics object with the configuration as parameter\nauto graphics = std::make_shared&lt;robot_dart::gui::magnum::Graphics&gt;(configuration);\n</code></pre> <pre><code>configuration = rd.gui.GraphicsConfiguration()\n# We can change the width/height of the window (or camera, dimensions)\nconfiguration.width = 1280\nconfiguration.height = 960\nconfiguration.title = \"Graphics Tutorial\"  # We can set a title for our window\n\n# We can change the configuration for shadows\nconfiguration.shadowed = True\nconfiguration.transparent_shadows = True\nconfiguration.shadow_map_size = 1024\n\n# We can also alter some specifications for the lighting\nconfiguration.max_lights = 3  # maximum number of lights for our scene\nconfiguration.specular_strength = 0.25  # strength og the specular component\n\n#  Some extra configuration for the main camera\nconfiguration.draw_main_camera = True\nconfiguration.draw_debug = True\nconfiguration.draw_text = True\n\n# We can also change the background color [default = black]\nconfiguration.bg_color = [1., 1., 1., 1.]\n\n# create the graphics object with the configuration as a parameter\ngraphics = rd.gui.Graphics(configuration)\n</code></pre> <p>You can disable or enable shadows on the fly as well:</p> C++Python <pre><code>// Disable shadows\ngraphics-&gt;enable_shadows(false, false);\nsimu.run(1.);\n// Enable shadows only for non-transparent objects\ngraphics-&gt;enable_shadows(true, false);\nsimu.run(1.);\n// Enable shadows for transparent objects as well\ngraphics-&gt;enable_shadows(true, true);\nsimu.run(1.);\n</code></pre> <pre><code># Disable shadows\ngraphics.enable_shadows(False, False)\nsimu.run(1.)\n# Enable shadows only for non-transparent objects\ngraphics.enable_shadows(True, False)\nsimu.run(1.)\n# Enable shadows for transparent objects as well\ngraphics.enable_shadows(True, True)\nsimu.run(1.)\n</code></pre> <p>You can also add your own lights. The application by default creates 2 light sources and the maximum number of lights is 3 (you can change this once before the creation of the graphics object via the <code>GraphicsConfiguration</code> object). So usually before you add your lights, you have to clear the default lights:</p> C++Python <pre><code>// Clear Lights\ngraphics-&gt;clear_lights();\n</code></pre> <pre><code># Clear Lights\ngraphics.clear_lights()\n</code></pre> <p>Then you must create a custom light material:</p> C++Python <pre><code>// Create Light material\nMagnum::Float shininess = 1000.f;\nMagnum::Color4 white = {1.f, 1.f, 1.f, 1.f};\n\n// ambient, diffuse, specular\nauto custom_material = robot_dart::gui::magnum::gs::Material(white, white, white, shininess);\n</code></pre> <pre><code># Clear Light material\nshininess = 1000.\nwhite = magnum.Color4(1., 1., 1., 1.)\n\n# ambient, diffuse, specular\ncustom_material = rd.gui.Material(white, white, white, shininess)\n</code></pre> <p>Now you can add on ore more of the following lights:</p> <p>Point Light:</p> C++Python <pre><code>// Create point light\nMagnum::Vector3 position = {0.f, 0.f, 2.f};\nMagnum::Float intensity = 1.f;\nMagnum::Vector3 attenuation_terms = {1.f, 0.f, 0.f};\nauto point_light = robot_dart::gui::magnum::gs::create_point_light(position, custom_material, intensity, attenuation_terms);\ngraphics-&gt;add_light(point_light);\n</code></pre> <pre><code># Create point light\nposition = magnum.Vector3(0., 0., 2.)\nintensity = 1.\nattenuation_terms = magnum.Vector3(1., 0., 0.)\npoint_light = rd.gui.create_point_light(position, custom_material, intensity, attenuation_terms)\ngraphics.add_light(point_light)\n</code></pre> <p>Spot Light:</p> C++Python <pre><code>// Create spot light\nMagnum::Vector3 position = {0.f, 0.f, 1.f};\nMagnum::Vector3 direction = {-1.f, -1.f, -1.f};\nMagnum::Float intensity = 1.f;\nMagnum::Vector3 attenuation_terms = {1.f, 0.f, 0.f};\nMagnum::Float spot_exponent = M_PI;\nMagnum::Float spot_cut_off = M_PI / 8;\nauto spot_light = robot_dart::gui::magnum::gs::create_spot_light(position, custom_material, direction, spot_exponent, spot_cut_off, intensity, attenuation_terms);\ngraphics-&gt;add_light(spot_light);\n</code></pre> <pre><code># Create spot light\nposition = magnum.Vector3(0., 0., 1.)\ndirection = magnum.Vector3(-1, -1, -1)\nintensity = 1.\nattenuation_terms = magnum.Vector3(1., 0., 0.)\nspot_exponent = np.pi\nspot_cut_off = np.pi / 8\nspot_light = rd.gui.create_spot_light(position, custom_material, direction, spot_exponent, spot_cut_off, intensity, attenuation_terms)\ngraphics.add_light(spot_light)\n</code></pre> <p>Directional Light:</p> C++Python <pre><code>// Create directional light\nMagnum::Vector3 direction = {-1.f, -1.f, -1.f};\nauto directional_light = robot_dart::gui::magnum::gs::create_directional_light(direction, custom_material);\ngraphics-&gt;add_light(directional_light);\n</code></pre> <pre><code># Create directional light\ndirection = magnum.Vector3(-1, -1, -1)\ndirectional_light = rd.gui.create_directional_light(direction, custom_material)\ngraphics.add_light(directional_light)\n</code></pre>"},{"location":"faq/#i-want-to-visualize-a-target-configuration-of-my-robot-is-this-possible","title":"I want to visualize a target configuration of my robot, is this possible?","text":"<p>Yes this is possible. RobotDART gives the ability to create a clone of your robot that has no physics, no contacts, just visuals:</p> C++Python <pre><code>// Add a ghost robot; only visuals, no dynamics, no collision\nauto ghost = robot-&gt;clone_ghost();\nsimu.add_robot(ghost);\n</code></pre> <pre><code># Add a ghost robot; only visuals, no dynamics, no collision\nghost = robot.clone_ghost()\nsimu.add_robot(ghost)\n</code></pre>"},{"location":"faq/#how-can-i-control-my-robot","title":"How can I control my robot ?","text":"<p>PD control</p> C++Python <pre><code>// add a PD-controller to the arm\n// set desired positions\nEigen::VectorXd ctrl = robot_dart::make_vector({0., M_PI / 4., 0., -M_PI / 4., 0., M_PI / 2., 0., 0.});\n\n// add the controller to the robot\nauto controller = std::make_shared&lt;robot_dart::control::PDControl&gt;(ctrl);\nrobot-&gt;add_controller(controller);\ncontroller-&gt;set_pd(300., 50.);\n</code></pre> <pre><code># add a PD-controller to the arm\n# set desired positions\nctrl = [0., np.pi / 4., 0., -np.pi / 4., 0., np.pi / 2., 0., 0.]\n\n# add the controller to the robot\ncontroller = rd.PDControl(ctrl)\nrobot.add_controller(controller)\ncontroller.set_pd(300., 50.)\n</code></pre> <p>Simple control</p> C++Python <pre><code>auto controller1 = std::make_shared&lt;robot_dart::control::SimpleControl&gt;(ctrl);\n// add the controller to the robot, with a default weight of 1.0\nrobot-&gt;add_controller(controller1);\n</code></pre> <pre><code>controller1 = rd.SimpleControl(ctrl)\n# add the controller to the robot, with a default weight of 1.0\nrobot.add_controller(controller1)\n</code></pre> <p>Robot control</p> C++Python <pre><code>class MyController : public robot_dart::control::RobotControl {\npublic:\n    MyController() : robot_dart::control::RobotControl() {}\n\n    MyController(const Eigen::VectorXd&amp; ctrl, bool full_control) : robot_dart::control::RobotControl(ctrl, full_control) {}\n    MyController(const Eigen::VectorXd&amp; ctrl, const std::vector&lt;std::string&gt;&amp; dof_names) : robot_dart::control::RobotControl(ctrl, dof_names) {}\n\n    void configure() override\n    {\n        _active = true;\n    }\n\n    Eigen::VectorXd calculate(double) override\n    {\n        auto robot = _robot.lock();\n        Eigen::VectorXd cmd = 100. * (_ctrl - robot-&gt;positions(_controllable_dofs));\n        return cmd;\n    }\n    std::shared_ptr&lt;robot_dart::control::RobotControl&gt; clone() const override\n    {\n        return std::make_shared&lt;MyController&gt;(*this);\n    }\n};\n</code></pre> <pre><code>class MyController(rd.RobotControl):\n    def __init__(self, ctrl, full_control):\n        rd.RobotControl.__init__(self, ctrl, full_control)\n\n    def __init__(self, ctrl, controllable_dofs):\n        rd.RobotControl.__init__(self, ctrl, controllable_dofs)\n\n    def configure(self):\n        self._active = True\n\n    def calculate(self, t):\n        target = np.array([self._ctrl])\n        cmd = 100*(target-self.robot().positions(self._controllable_dofs))\n        return cmd[0]\n\n    # TO-DO: This is NOT working at the moment!\n    def clone(self):\n        return MyController(self._ctrl, self._controllable_dofs)\n</code></pre>"},{"location":"faq/#is-there-a-way-to-control-the-simulation-timestep","title":"Is there a way to control the simulation timestep?","text":"<p>When creating a RobotDARTSimu object you choose the simulation timestep:</p> C++Python <pre><code>// choose time step of 0.001 seconds\nrobot_dart::RobotDARTSimu simu(0.001);\n</code></pre> <pre><code># choose time step of 0.001 seconds\nsimu = rd.RobotDARTSimu(0.001)\n</code></pre> <p>which can later be modified by:</p> C++Python <pre><code>// set timestep to 0.005 and update control frequency(bool)\nsimu.set_timestep(0.005, true);\n</code></pre> <pre><code># set timestep to 0.005 and update control frequency(bool)\nsimu.set_timestep(0.005, True)\n</code></pre>"},{"location":"faq/#i-want-to-simulate-a-mars-environment-is-it-possible-to-change-the-gravitational-force-of-the-simulation-environment","title":"I want to simulate a mars environment, is it possible to change the gravitational force of the simulation environment?","text":"<p>Yes you can modify the gravitational forces 3-dimensional vector of the simulation:</p> C++Python <pre><code>// Set gravitational force of mars\nEigen::Vector3d mars_gravity = {0., 0., -3.721};\nsimu.set_gravity(mars_gravity);\n</code></pre> <pre><code># set gravitational force of mars\nmars_gravity = [0., 0., -3.721]\nsimu.set_gravity(mars_gravity)\n</code></pre>"},{"location":"faq/#which-collision-detectors-are-available-what-are-their-differences-how-can-i-choose-between-them","title":"Which collision detectors are available? What are their differences? How can I choose between them?","text":"DART FCL ODE Bullet Support only basic shapes Full-featured collision detector fully integrated by DART External collision detector of ODE External collision detector of Bullet This is building along with DART This is a required dependency of DART Needs an external library Needs an external library Very fast for small scenes Accurate detailed collisions, but not very fast Fast collision detection (the integration is not complete) Fast and accurate collision detection (works well for wheels as well) <p>We can easily select one of the available collision detectors using the simulator object:</p> C++Python <pre><code>simu.set_collision_detector(\"fcl\"); // collision_detector can be \"dart\", \"fcl\", \"ode\" or \"bullet\" (case does not matter)\n</code></pre> <pre><code>simu.set_collision_detector(\"fcl\") # collision_detector can be \"dart\", \"fcl\", \"ode\" or \"bullet\" (case does not matter)\n</code></pre>"},{"location":"faq/#my-robot-does-not-self-collide-how-can-i-change-this","title":"My robot does not self-collide. How can I change this?","text":"<p>One possible cause may be the fact that self collision is disabled, you can check and change this:</p> C++Python <pre><code>if (!robot-&gt;self_colliding()) {\n    std::cout &lt;&lt; \"Self collision is not enabled\" &lt;&lt; std::endl;\n    // set self collisions to true and adjacent collisions to false\n    robot-&gt;set_self_collision(true, false);\n}\n</code></pre> <pre><code>if(not robot.self_colliding()):\n    print(\"Self collision is not enabled\")\n    # set self collisions to true and adjacent collisions to false\n    robot.set_self_collision(True, False)\n</code></pre>"},{"location":"faq/#how-can-i-compute-kinematicdynamic-properties-of-my-robot-eg-jacobians-mass-matrix","title":"How can I compute kinematic/dynamic properties of my robot (e.g., Jacobians, Mass Matrix)?","text":"<p>Kinematic Properties:</p> C++Python <pre><code>// Get Joint Positions(Angles)\nauto joint_positions = robot-&gt;positions();\n\n// Get Joint Velocities\nauto joint_vels = robot-&gt;velocities();\n\n// Get Joint Accelerations\nauto joint_accs = robot-&gt;accelerations();\n\n// Get link_name(str) Transformation matrix with respect to the world frame.\nauto eef_tf = robot-&gt;body_pose(link_name);\n\n// Get translation vector from transformation matrix\nauto eef_pos = eef_tf.translation();\n\n// Get rotation matrix from tranformation matrix\nauto eef_rot = eef_tf.rotation();\n\n// Get link_name 6d pose vector [logmap(eef_tf.linear()), eef_tf.translation()]\nauto eef_pose_vec = robot-&gt;body_pose_vec(link_name);\n\n// Get link_name 6d velocity vector [angular, cartesian]\nauto eef_vel = robot-&gt;body_velocity(link_name);\n\n// Get link_name 6d acceleration vector [angular, cartesian]\nauto eef_acc = robot-&gt;body_acceleration(link_name);\n\n// Jacobian targeting the origin of link_name(str)\nauto jacobian = robot-&gt;jacobian(link_name);\n\n// Jacobian time derivative\nauto jacobian_deriv = robot-&gt;jacobian_deriv(link_name);\n\n// Center of Mass Jacobian\nauto com_jacobian = robot-&gt;com_jacobian();\n\n// Center of Mass Jacobian Time Derivative\nauto com_jacobian_deriv = robot-&gt;com_jacobian_deriv();\n</code></pre> <pre><code># Get Joint Positions(Angles)\njoint_positions = robot.positions()\n\n# Get Joint Velocities\njoint_vels = robot.velocities()\n\n# Get Joint Accelerations\njoint_accs = robot.accelerations()\n\n# Get link_name(str) Transformation matrix with respect to the world frame.\neef_tf = robot.body_pose(link_name)\n\n# Get translation vector from transformation matrix\neef_pos = eef_tf.translation()\n\n# Get rotation matrix from tranformation matrix\neef_rot = eef_tf.rotation()\n\n# Get link_name 6d pose vector [logmap(eef_tf.linear()), eef_tf.translation()]\neef_pose_vec = robot.body_pose_vec(link_name)\n\n# Get link_name 6d velocity vector [angular, cartesian]\neef_vel = robot.body_velocity(link_name)\n\n# Get link_name 6d acceleration vector [angular, cartesian]\neef_acc = robot.body_acceleration(link_name)\n\n# Jacobian targeting the origin of link_name(str)\njacobian = robot.jacobian(link_name)\n\n# Jacobian time derivative\njacobian_deriv = robot.jacobian_deriv(link_name)\n\n# Center of Mass Jacobian\ncom_jacobian = robot.com_jacobian()\n\n# Center of Mass Jacobian Time Derivative\ncom_jacobian_deriv = robot.com_jacobian_deriv()\n</code></pre> <p>Dynamic Properties:</p> C++Python <pre><code>// Get Joint Forces\nauto joint_forces = robot-&gt;forces();\n\n// Get link's mass\nauto eef_mass = robot-&gt;body_mass(link_name);\n\n// Mass Matrix of robot\nauto mass_matrix = robot-&gt;mass_matrix();\n\n// Inverse of Mass Matrix\nauto inv_mass_matrix = robot-&gt;inv_mass_matrix();\n\n// Augmented Mass matrix\nauto aug_mass_matrix = robot-&gt;aug_mass_matrix();\n\n// Inverse of Augmented Mass matrix\nauto inv_aug_mass_matrix = robot-&gt;inv_aug_mass_matrix();\n\n// Coriolis Force vector\nauto coriolis = robot-&gt;coriolis_forces();\n\n// Gravity Force vector\nauto gravity = robot-&gt;gravity_forces();\n\n// Combined vector of Coriolis Force and Gravity Force\nauto coriolis_gravity = robot-&gt;coriolis_gravity_forces();\n\n// Constraint Force Vector\nauto constraint_forces = robot-&gt;constraint_forces();\n</code></pre> <pre><code># Get Joint Forces\njoint_forces = robot.forces()\n\n# Get link's mass\neef_mass = robot.body_mass(link_name)\n\n# Mass Matrix of robot\nmass_matrix = robot.mass_matrix()\n\n# Inverse of Mass Matrix\ninv_mass_matrix = robot.inv_mass_matrix()\n\n# Augmented Mass matrix\naug_mass_matrix = robot.aug_mass_matrix()\n\n# Inverse of Augmented Mass matrix\ninv_aug_mass_matrix = robot.inv_aug_mass_matrix()\n\n# Coriolis Force vector\ncoriolis = robot.coriolis_forces()\n\n# Gravity Force vector\ngravity = robot.gravity_forces()\n\n# Combined vector of Coriolis Force and Gravity Force\ncoriolis_gravity = robot.coriolis_gravity_forces()\n\n# NOT IMPLEMENTED\n# # Constraint Force Vector\n# constraint_forces = robot.constraint_forces()\n</code></pre>"},{"location":"faq/#is-there-a-way-to-change-the-joint-properties-eg-actuation-friction","title":"Is there a way to change the joint properties (e.g., actuation, friction)?","text":"<p>There are 6 types of actuators available, you can set the same actuator to multiple joints at once, or you can set each sensor separately:</p> C++Python <pre><code>// Set all DoFs to same actuator\nrobot-&gt;set_actuator_types(\"servo\"); // actuator types can be \"servo\", \"torque\", \"velocity\", \"passive\", \"locked\", \"mimic\"\n// You can also set actuator types separately\nrobot-&gt;set_actuator_type(\"torque\", \"iiwa_joint_5\");\n</code></pre> <pre><code># Set all DoFs to same actuator\n# actuator types can be \"servo\", \"torque\", \"velocity\", \"passive\", \"locked\", \"mimic\"\nrobot.set_actuator_types(\"servo\")\n# You can also set actuator types separately\nrobot.set_actuator_type(\"torque\", \"iiwa_joint_5\")\n</code></pre> <p>To enable position and velocity limits for the actuators:</p> C++Python <pre><code>// \u0395nforce joint position and velocity limits\nrobot-&gt;set_position_enforced(true);\n</code></pre> <pre><code># \u0395nforce joint position and velocity limits\nrobot.set_position_enforced(True)\n</code></pre> <p>Every DOF's limits (position, velocity, acceleration, force) can be modified:</p> C++Python <pre><code>// Modify Position Limits\nEigen::VectorXd pos_upper_lims(7);\npos_upper_lims &lt;&lt; 2.096, 2.096, 2.096, 2.096, 2.096, 2.096, 2.096;\nrobot-&gt;set_position_upper_limits(pos_upper_lims, dof_names);\nrobot-&gt;set_position_lower_limits(-pos_upper_lims, dof_names);\n\n// Modify Velocity Limits\n\nEigen::VectorXd vel_upper_lims(7);\nvel_upper_lims &lt;&lt; 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5;\nrobot-&gt;set_velocity_upper_limits(vel_upper_lims, dof_names);\nrobot-&gt;set_velocity_lower_limits(-vel_upper_lims, dof_names);\n\n// Modify Force Limits\n\nEigen::VectorXd force_upper_lims(7);\nforce_upper_lims &lt;&lt; 150, 150, 150, 150, 150, 150, 150;\nrobot-&gt;set_force_upper_limits(force_upper_lims, dof_names);\nrobot-&gt;set_force_lower_limits(-force_upper_lims, dof_names);\n\n// Modify Acceleration Limits\nEigen::VectorXd acc_upper_lims(7);\nacc_upper_lims &lt;&lt; 1500, 1500, 1500, 1500, 1500, 1500, 1500;\nrobot-&gt;set_acceleration_upper_limits(acc_upper_lims, dof_names);\nrobot-&gt;set_acceleration_lower_limits(-acc_upper_lims, dof_names);\n</code></pre> <pre><code># Modify Position Limits\npos_upper_lims = np.array([2.096, 2.096, 2.096, 2.096, 2.096, 2.096, 2.096])\nrobot.set_position_upper_limits(pos_upper_lims, dof_names)\nrobot.set_position_lower_limits(-1*pos_upper_lims, dof_names)\n\n# Modify Velocity Limits\nvel_upper_lims = np.array([1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5])\n\nrobot.set_velocity_upper_limits(vel_upper_lims, dof_names)\nrobot.set_velocity_lower_limits(-1*vel_upper_lims, dof_names)\n\n# Modify Force Limits\nforce_upper_lims = np.array([150, 150, 150, 150, 150, 150, 150])\nrobot.set_force_upper_limits(force_upper_lims, dof_names)\nrobot.set_force_lower_limits(-1*force_upper_lims, dof_names)\n\n# Modify Acceleration Limits\nacc_upper_lims = np.array([1500, 1500, 1500, 1500, 1500, 1500, 1500])\nrobot.set_acceleration_upper_limits(acc_upper_lims, dof_names)\nrobot.set_acceleration_lower_limits(-1*acc_upper_lims, dof_names)\n</code></pre> <p>You can also modify the damping coefficients, coulomb frictions and spring stiffness of every DOF:</p> C++Python <pre><code>// Modify Damping Coefficients\nstd::vector&lt;double&gt; damps = {0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4};\nrobot-&gt;set_damping_coeffs(damps, dof_names);\n\n// Modify Coulomb Frictions\nstd::vector&lt;double&gt; cfrictions = {0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001};\nrobot-&gt;set_coulomb_coeffs(cfrictions, dof_names);\n\n// Modify  Spring Stiffness\nstd::vector&lt;double&gt; stiffnesses = {0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001};\nrobot-&gt;set_spring_stiffnesses(stiffnesses, dof_names);\n</code></pre> <pre><code># Modify Damping Coefficients\ndamps = [0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4]\nrobot.set_damping_coeffs(damps, dof_names)\n\n# Modify Coulomb Frictions\ncfrictions = [0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001]\nrobot.set_coulomb_coeffs(cfrictions, dof_names)\n\n# Modify  Spring Stiffness\nstiffnesses = [0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001]\nrobot.set_spring_stiffnesses(stiffnesses, dof_names)\n</code></pre>"},{"location":"faq/#what-are-the-supported-sensors-how-can-i-use-an-imu","title":"What are the supported sensors? How can I use an IMU?","text":"<p>Sensors in RobotDART can be added only through the simulator object. All of the sensors can be added without being attached to any body or joint but some of them can operate only when attached to something (e.g. <code>ForceTorque</code> sensors).</p>"},{"location":"faq/#torque-sensor","title":"Torque sensor","text":"<p>Torque sensors can be added to every joint of the robot:</p> C++Python <pre><code>// Add torque sensors to the robot\nint ct = 0;\nstd::vector&lt;std::shared_ptr&lt;robot_dart::sensor::Torque&gt;&gt; tq_sensors(robot-&gt;num_dofs());\nfor (const auto&amp; joint : robot-&gt;dof_names())\n    tq_sensors[ct++] = simu.add_sensor&lt;robot_dart::sensor::Torque&gt;(robot, joint, 1000);\n</code></pre> <pre><code># Add torque sensors to the robot\ntq_sensors = np.empty(robot.num_dofs(), dtype=rd.sensor.Torque)\nct = 0\nfor joint in robot.dof_names():\n    simu.add_sensor(rd.sensor.Torque(robot, joint, 1000))\n    tq_sensors[ct] = simu.sensors()[-1]\n    ct += 1\n</code></pre> <p>Torque sensors measure the torque \\(\\tau \\in \\rm I\\!R^n\\) of the attached joint (where \\(n\\) is the DOFs of the joint):</p> C++Python <pre><code>// vector that contains the torque measurement for every joint (scalar)\nEigen::VectorXd torques_measure(robot-&gt;num_dofs());\nfor (const auto&amp; tq_sens : tq_sensors)\n    torques_measure.block&lt;1, 1&gt;(ct++, 0) = tq_sens-&gt;torques();\n</code></pre> <pre><code># vector that contains the torque measurement for every joint (scalar)\ntorques_measure = np.empty(robot.num_dofs())\nct = 0\nfor tq_sens in tq_sensors:\n    torques_measure[ct] = tq_sens.torques()\n    ct += 1\n</code></pre>"},{"location":"faq/#force-torque-sensor","title":"Force-Torque sensor","text":"<p>Force-Torque sensors can be added to every joint of the robot:</p> C++Python <pre><code>// Add force-torque sensors to the robot\nct = 0;\nstd::vector&lt;std::shared_ptr&lt;robot_dart::sensor::ForceTorque&gt;&gt; f_tq_sensors(robot-&gt;num_dofs());\nfor (const auto&amp; joint : robot-&gt;dof_names())\n    f_tq_sensors[ct++] = simu.add_sensor&lt;robot_dart::sensor::ForceTorque&gt;(robot, joint, 1000, \"parent_to_child\");\n</code></pre> <pre><code># Add force-torque sensors to the robot\nf_tq_sensors = np.empty(robot.num_dofs(), dtype=rd.sensor.ForceTorque)\nct = 0\nfor joint in robot.dof_names():\n    simu.add_sensor(rd.sensor.ForceTorque(\n        robot, joint, 1000, \"parent_to_child\"))\n    f_tq_sensors[ct] = simu.sensors()[-1]\n    print(f_tq_sensors)\n    ct += 1\n</code></pre> <p>Torque sensors measure the force \\(\\boldsymbol{F} \\in \\rm I\\!R^3\\), the torque \\(\\boldsymbol{\\tau} \\in \\rm I\\!R^3\\) and the wrench \\(\\boldsymbol{\\mathcal{F}} =\\begin{bmatrix} \\tau, F\\end{bmatrix}\\in \\rm I\\!R^6\\) of the attached joint:</p> C++Python <pre><code>//  matrix that contains the torque measurement for every joint (3d vector)\nEigen::MatrixXd ft_torques_measure(robot-&gt;num_dofs(), 3);\n//  matrix that contains the force measurement for every joint (3d vector)\nEigen::MatrixXd ft_forces_measure(robot-&gt;num_dofs(), 3);\n//  matrix that contains the wrench measurement for every joint (6d vector)[torque, force]\nEigen::MatrixXd ft_wrench_measure(robot-&gt;num_dofs(), 6);\nct = 0;\nfor (const auto&amp; f_tq_sens : f_tq_sensors) {\n    ft_torques_measure.block&lt;1, 3&gt;(ct, 0) = f_tq_sens-&gt;torque();\n    ft_forces_measure.block&lt;1, 3&gt;(ct, 0) = f_tq_sens-&gt;force();\n    ft_wrench_measure.block&lt;1, 6&gt;(ct, 0) = f_tq_sens-&gt;wrench();\n    ct++;\n}\n</code></pre> <pre><code>#  matrix that contains the torque measurement for every joint (3d vector)\nft_torques_measure = np.empty([robot.num_dofs(), 3])\n#  matrix that contains the force measurement for every joint (3d vector)\nft_forces_measure = np.empty([robot.num_dofs(), 3])\n#  matrix that contains the wrench measurement for every joint (6d vector)[torque, force]\nft_wrench_measure = np.empty([robot.num_dofs(), 6])\nct = 0\nfor f_tq_sens in f_tq_sensors:\n    ft_torques_measure[ct, :] = f_tq_sens.torque()\n    ft_forces_measure[ct, :] = f_tq_sens.force()\n    ft_wrench_measure[ct, :] = f_tq_sens.wrench()\n    ct += 1\n</code></pre>"},{"location":"faq/#imu-sensor","title":"IMU sensor","text":"<p>IMU sensors can be added to every link of the robot:</p> C++Python <pre><code>// Add IMU sensors to the robot\nct = 0;\nstd::vector&lt;std::shared_ptr&lt;robot_dart::sensor::IMU&gt;&gt; imu_sensors(robot-&gt;num_bodies());\nfor (const auto&amp; body_node : robot-&gt;body_names()) {\n    // _imu(std::make_shared&lt;sensor::IMU&gt;(sensor::IMUConfig(body_node(\"head\"), frequency))),\n    imu_sensors[ct++] = simu.add_sensor&lt;robot_dart::sensor::IMU&gt;(robot_dart::sensor::IMUConfig(robot-&gt;body_node(body_node), 1000));\n}\n</code></pre> <pre><code># Add IMU sensors to the robot\nct = 0\nimu_sensors = np.empty(robot.num_bodies(), dtype=rd.sensor.IMU)\nfor body_node in robot.body_names():\n    simu.add_sensor(rd.sensor.IMU(\n        rd.sensor.IMUConfig(robot.body_node(body_node), 1000)))\n    imu_sensors[ct] = simu.sensors()[-1]\n    ct += 1\n</code></pre> <p>IMU sensors measure the angular position vector \\(\\boldsymbol{\\theta} \\in \\rm I\\!R^3\\), the angular velocity \\(\\boldsymbol{\\omega} \\in \\rm I\\!R^3\\)  and the linear acceleration \\(\\boldsymbol{\\alpha} \\in \\rm I\\!R^3\\) of the attached link:</p> C++Python <pre><code>Eigen::MatrixXd imu_angular_positions_measure(robot-&gt;num_bodies(), 3);\nEigen::MatrixXd imu_angular_velocities_measure(robot-&gt;num_bodies(), 3);\nEigen::MatrixXd imu_linear_acceleration_measure(robot-&gt;num_bodies(), 3);\nct = 0;\nfor (const auto&amp; imu_sens : imu_sensors) {\n    imu_angular_positions_measure.block&lt;1, 3&gt;(ct, 0) = imu_sens-&gt;angular_position_vec();\n    imu_angular_velocities_measure.block&lt;1, 3&gt;(ct, 0) = imu_sens-&gt;angular_velocity();\n    imu_linear_acceleration_measure.block&lt;1, 3&gt;(ct, 0) = imu_sens-&gt;linear_acceleration();\n    ct++;\n}\n</code></pre> <pre><code>imu_angular_positions_measure = np.empty([robot.num_bodies(), 3])\nimu_angular_velocities_measure = np.empty([robot.num_bodies(), 3])\nimu_linear_acceleration_measure = np.empty([robot.num_bodies(), 3])\nct = 0\nfor imu_sens in imu_sensors:\n    imu_angular_positions_measure[ct,:] = imu_sens.angular_position_vec()\n    imu_angular_velocities_measure[ct, :] = imu_sens.angular_velocity()\n    imu_linear_acceleration_measure[ct,:] = imu_sens.linear_acceleration()\n    ct += 1\n</code></pre>"},{"location":"faq/#rgb-sensor","title":"RGB sensor","text":"<p>Any camera can be used as an RGB sensor:</p> C++Python <pre><code>// a nested std::vector (w*h*3) of the last image taken can be retrieved\nauto rgb_image = camera-&gt;image();\n</code></pre> <pre><code># a nested array (w*h*3) of the last image taken can be retrieved\nrgb_image = camera.image()\n</code></pre> <p>We can easily save the image and/or transform it to grayscale:</p> C++Python <pre><code>// a nested std::vector (w*h*3) of the last image taken can be retrieved\nauto rgb_image = camera-&gt;image();\n</code></pre> <pre><code># a nested array (w*h*3) of the last image taken can be retrieved\nrgb_image = camera.image()\n</code></pre>"},{"location":"faq/#rgb_d-sensor","title":"RGB_D sensor","text":"<p>Any camera can also be configured to also record depth:</p> C++Python <pre><code>camera-&gt;camera().record(true, true); // cameras are recording color images by default, enable depth images as well for this example\n</code></pre> <pre><code># cameras are recording color images by default, enable depth images as well for this example\ncamera.camera().record(True, True)\n</code></pre> <p>We can then read the RGB and depth images:</p> C++Python <pre><code>// get the depth image from a camera\n// with a version for visualization or bigger differences in the output\nauto rgb_d_image = camera-&gt;depth_image();\n// and the raw values that can be used along with the camera parameters to transform the image to point-cloud\nauto rgb_d_image_raw = camera-&gt;raw_depth_image();\n</code></pre> <pre><code># get the depth image from a camera\n# with a version for visualization or bigger differences in the output\nrgb_d_image = camera.depth_image()\n# and the raw values that can be used along with the camera parameters to transform the image to point-cloud\nrgb_d_image_raw = camera.raw_depth_image()\n</code></pre> <p>We can save the depth images as well:</p> C++Python <pre><code>robot_dart::gui::save_png_image(\"camera-depth.png\", rgb_d_image);\nrobot_dart::gui::save_png_image(\"camera-depth-raw.png\", rgb_d_image_raw);\n</code></pre> <pre><code>rd.gui.save_png_image(\"camera-depth.png\", rgb_d_image)\nrd.gui.save_png_image(\"camera-depth-raw.png\", rgb_d_image_raw)\n</code></pre>"},{"location":"faq/#how-can-i-spawn-multiple-robots-in-parallel","title":"How can I spawn multiple robots in parallel?","text":""},{"location":"faq/#robot-pool-only-in-c","title":"Robot Pool (only in C++)","text":"<p>The best way to do so is to create a Robot pool. With a robot pool you:</p> <ul> <li>Minimize the overhead of loading robots (it happens only once!) or cloning robots (it never happens)</li> <li>Make sure that your robots are \"clean\" once released from each thread</li> <li>Focus on the important stuff rather than handling robots and threads</li> </ul> <p>Let's see a more practical example:</p> <ul> <li>First we need to include the proper header:</li> </ul> C++ <pre><code>#include &lt;robot_dart/robot_pool.hpp&gt;\n</code></pre> <ul> <li>Then we create a <code>creator</code> function and the pool object:</li> </ul> C++ <pre><code>namespace pool {\n    // This function should load one robot: here we load Talos\n    inline std::shared_ptr&lt;robot_dart::Robot&gt; robot_creator()\n    {\n        return std::make_shared&lt;robot_dart::robots::Talos&gt;();\n    }\n\n    // To create the object we need to pass the robot_creator function and the number of maximum parallel threads\n    robot_dart::RobotPool robot_pool(robot_creator, NUM_THREADS);\n} // namespace pool\n</code></pre> <p>The <code>creator</code> function is the function responsible for loading your robot. This should basically look like a standalone code to load or create a robot.</p> <ul> <li>Next, we create a few threads that utilize the robots (in your code you might be using OpenMP or TBB):</li> </ul> C++ <pre><code>// for the example, we run NUM_THREADS threads of eval_robot()\nstd::vector&lt;std::thread&gt; threads(NUM_THREADS * 2); // *2 to see some reuse\nfor (size_t i = 0; i &lt; threads.size(); ++i)\n    threads[i] = std::thread(eval_robot, i); // eval_robot is the function that uses the robot\n</code></pre> <ul> <li>An example evaluation function:</li> </ul> C++ <pre><code>inline void eval_robot(int i)\n{\n    // We get one available robot\n    auto robot = pool::robot_pool.get_robot();\n    std::cout &lt;&lt; \"Robot \" &lt;&lt; i &lt;&lt; \" got [\" &lt;&lt; robot-&gt;skeleton() &lt;&lt; \"]\" &lt;&lt; std::endl;\n\n    /// --- some robot_dart code ---\n    simulate_robot(robot);\n    // --- do something with the result\n\n    std::cout &lt;&lt; \"End of simulation \" &lt;&lt; i &lt;&lt; std::endl;\n\n    // CRITICAL : free your robot !\n    pool::robot_pool.free_robot(robot);\n\n    std::cout &lt;&lt; \"Robot \" &lt;&lt; i &lt;&lt; \" freed!\" &lt;&lt; std::endl;\n}\n</code></pre>"},{"location":"faq/#python","title":"Python","text":"<p>We have not implemented this feature in <code>Python</code> yet. One can emulate the <code>RobotPool</code> behavior or create a custom parallel robot loader.</p>"},{"location":"faq/#i-need-to-simulate-many-worlds-with-camera-sensors-in-parallel-how-can-i-do-this","title":"I need to simulate many worlds with camera sensors in parallel. How can I do this?","text":"<p>Below you can find an example showcasing the use of many worlds with camera sensors in parallel.</p> C++Python <pre><code>// Load robot from URDF\nauto global_robot = std::make_shared&lt;robot_dart::robots::Iiwa&gt;();\n\nstd::vector&lt;std::thread&gt; workers;\n\n// Set maximum number of parallel GL contexts (this is GPU-dependent)\nrobot_dart::gui::magnum::GlobalData::instance()-&gt;set_max_contexts(4);\n\n// We want 15 parallel simulations with different GL context each\nsize_t N_workers = 15;\nstd::mutex mutex;\nsize_t id = 0;\n// Launch the workers\nfor (size_t i = 0; i &lt; N_workers; i++) {\n    workers.push_back(std::thread([&amp;] {\n        mutex.lock();\n        size_t index = id++;\n        mutex.unlock();\n\n        // Get the GL context -- this is a blocking call\n        // will wait until one GL context is available\n        // get_gl_context(gl_context); // this call will not sleep between failed queries\n        get_gl_context_with_sleep(gl_context, 20); // this call will sleep 20ms between each failed query\n\n        // Do the simulation\n        auto robot = global_robot-&gt;clone();\n\n        robot_dart::RobotDARTSimu simu(0.001);\n\n        Eigen::VectorXd ctrl = robot_dart::make_vector({0., M_PI / 3., 0., -M_PI / 4., 0., 0., 0.});\n\n        auto controller = std::make_shared&lt;robot_dart::control::PDControl&gt;(ctrl);\n        robot-&gt;add_controller(controller);\n        controller-&gt;set_pd(300., 50.);\n\n        // Magnum graphics\n        robot_dart::gui::magnum::GraphicsConfiguration configuration = robot_dart::gui::magnum::WindowlessGraphics::default_configuration();\n\n        configuration.width = 1024;\n        configuration.height = 768;\n        auto graphics = std::make_shared&lt;robot_dart::gui::magnum::WindowlessGraphics&gt;(configuration);\n        simu.set_graphics(graphics);\n        // Position the camera differently for each thread to visualize the difference\n        graphics-&gt;look_at({0.4 * index, 3.5 - index * 0.1, 2.}, {0., 0., 0.25});\n        // record images from main camera/graphics\n        // graphics-&gt;set_recording(true); // WindowlessGLApplication records images by default\n\n        simu.add_robot(robot);\n        simu.run(6);\n\n        // Save the image for verification\n        robot_dart::gui::save_png_image(\"camera_\" + std::to_string(index) + \".png\",\n            graphics-&gt;image());\n\n        // Release the GL context for another thread to use\n        release_gl_context(gl_context);\n    }));\n}\n\n// Wait for all the workers\nfor (size_t i = 0; i &lt; workers.size(); i++) {\n    workers[i].join();\n}\n</code></pre> <pre><code>robot = rd.Robot(\"arm.urdf\", \"arm\", False)\nrobot.fix_to_world()\n\ndef test():\n    pid = os.getpid()\n    ii = pid%15\n\n    # create the controller\n    pdcontrol = rd.PDControl([0.0, 1.0, -1.5, 1.0], False)\n\n    # clone the robot\n    grobot = robot.clone()\n\n    # add the controller to the robot\n    grobot.add_controller(pdcontrol, 1.)\n    pdcontrol.set_pd(200., 20.)\n\n    # create the simulation object\n    simu = rd.RobotDARTSimu(0.001)\n\n    # set the graphics\n    graphics = rd.gui.WindowlessGraphics()\n    simu.set_graphics(graphics)\n\n    graphics.look_at([0.4 * ii, 3.5 - ii * 0.1, 2.], [0., 0., 0.25], [0., 0., 1.])\n\n    # add the robot and the floor\n    simu.add_robot(grobot)\n    simu.add_checkerboard_floor()\n\n    # run\n    simu.run(20.)\n\n    # save last frame for visualization purposes\n    img = graphics.image()\n    rd.gui.save_png_image('camera-' + str(ii) + '.png', img)\n\n# helper function to run in parallel\ndef runInParallel(N):\n  proc = []\n  for i in range(N):\n    # rd.gui.run_with_gl_context accepts 2 parameters:\n    #    (func, wait_time_in_ms)\n    #    the func needs to be of the following format: void(), aka no return, no arguments\n    p = Process(target=rd.gui.run_with_gl_context, args=(test, 20))\n    p.start()\n    proc.append(p)\n  for p in proc:\n    p.join()\n\nprint('Running parallel evaluations')\nN = 15\nstart = timer()\nrunInParallel(N)\nend = timer()\nprint('Time:', end-start)\n</code></pre> <p>In C++ you are also able to pre-allocate a custom number of OpenGL contexts so that you can take advantage of stronger GPUs.</p>"},{"location":"faq/#i-do-not-know-how-to-use-waf-how-can-i-detect-robotdart-from-cmake","title":"I do not know how to use waf. How can I detect RobotDART from CMake?","text":"<p>You need to use <code>waf</code> to build RobotDART, but when installing the library a CMake module is installed. Thus it is possible use RobotDART in your code using CMake. You can find a complete example at cmake/example. In short the CMake would look like this:</p>"},{"location":"faq/#prerequisites","title":"Prerequisites:","text":"<ul> <li>Ensure <code>RobotDart</code> and <code>Magnum</code> are installed.</li> <li>If <code>RobotDart</code> and <code>Magnum</code> are not installed in standard locations, you can either:</li> <li>Set the <code>CMAKE_PREFIX_PATH</code> environment variable:     <pre><code>export CMAKE_PREFIX_PATH=/opt/robot_dart:/opt/magnum\n</code></pre></li> <li>Or, specify the paths directly when running <code>cmake</code>:     <pre><code>cmake -DRobotDART_DIR=/opt/robot_dart -DMagnum_DIR=/opt/magnum ..\n</code></pre></li> </ul> <pre><code>cmake_minimum_required(VERSION 3.10 FATAL_ERROR)\nproject(robot_dart_example)\n# we ask for Magnum because we want to build the graphics\nfind_package(RobotDART REQUIRED OPTIONAL_COMPONENTS Magnum)\n\nadd_executable(robot_dart_example example.cpp)\n\ntarget_link_libraries(robot_dart_example\n   RobotDART::Simu\n)\n\nif(RobotDART_Magnum_FOUND)\n  add_executable(robot_dart_example_graphics example.cpp)\n  target_link_libraries(robot_dart_example_graphics\n    RobotDART::Simu\n    RobotDART::Magnum\n  )\nendif()\n</code></pre>"},{"location":"faq/#where-can-i-find-complete-working-examples-for-either-c-or-python","title":"Where can I find complete working examples for either c++ or python?","text":"<p>C++ examples</p> <p>Python examples</p>"},{"location":"faq/#known-issues","title":"Known Issues","text":""},{"location":"faq/#graphics-issues-on-mac","title":"Graphics issues on Mac","text":"<p>Recent versions of macOS do not fully support OpenGL (see here). RobotDART is using OpenGL for its graphical interface. For this reason, you might experience one of the following issues:</p> <ul> <li>Segfaults when shadows are enabled (see here). For this reason, on Mac PCs we are disabling by default the shadows.</li> <li>Status bar not showing correctly or not at all (see here)</li> <li>When using RobotDART with a graphics window (remember that you can use RobotDART with graphics without any window!), saving images or videos might not work properly (see here)</li> </ul> <p>Finally, although not an issue, but this is related to Mac not fully supporting OpenGL, <code>Windowsless GLContext</code> is unsupported in Mac. Thus, a few examples (like <code>example_parallel.py</code>, see here) are not working on Mac PCs.</p>"},{"location":"faq/#graphics-issues-on-wsl-windows","title":"Graphics issues on WSL (Windows)","text":"<p>You might experience some issues with the graphical interface (see here).</p>"},{"location":"install/","title":"Manual Installation","text":""},{"location":"install/#manual-installation-of-robotdart","title":"Manual Installation of RobotDART","text":"<p>For the quick installation manual, see the quick installation page.</p>"},{"location":"install/#dependencies","title":"Dependencies","text":""},{"location":"install/#required","title":"Required","text":"<ul> <li>Ubuntu (it should work on versions &gt;= 14.04) or OSX</li> <li>Eigen3</li> <li>DART, http://dartsim.github.io/</li> </ul>"},{"location":"install/#optional","title":"Optional","text":"<ul> <li>Boost (for unit tests)</li> <li>Magnum (for graphics), https://github.com/mosra/magnum</li> <li>ffmpeg (for video recording) - please install using your favorite package manager</li> </ul>"},{"location":"install/#installation-of-the-dependencies","title":"Installation of the dependencies","text":"<p>Note: The following instructions are high-level and assume people with some experience in building/installing software.</p>"},{"location":"install/#installing-system-wide-packages","title":"Installing system-wide packages","text":"<p>For Ubuntu-based distributions (&gt;=20.04) we should use the following commands:</p> <pre><code>sudo apt-get update\nsudo apt-get install build-essential cmake pkg-config git libboost-regex-dev libboost-system-dev libboost-test-dev pybind11-dev\nsudo apt-get install libdart-all-dev\n</code></pre> <p>For OSX with brew:</p> <pre><code>brew install dartsim\n</code></pre>"},{"location":"install/#installing-magnum","title":"Installing Magnum","text":"<p>Magnum depends on Corrade and we are going to use a few plugins and extras from the library. We are also going to use Glfw and Glx for the back-end. Follow the instrutions below:</p> <pre><code>#installation of Glfw and OpenAL\n# Ubuntu\nsudo apt-get install libglfw3-dev libglfw3 libassimp-dev libopenal-dev libglfw3-dev libsdl2-dev libopenexr-dev libdevil-dev libpng-dev libfaad-dev libfreetype6-dev\n# Mac OSX\nbrew install glfw3 openal-soft assimp\n\n# installation of Corrade\ncd /path/to/tmp/folder\ngit clone https://github.com/mosra/corrade.git\ncd corrade\nmkdir build &amp;&amp; cd build\ncmake -DCMAKE_BUILD_TYPE=Release ..\nmake -j\nsudo make install\n\n# installation of Magnum\ncd /path/to/tmp/folder\ngit clone https://github.com/mosra/magnum.git\ncd magnum\nmkdir build &amp;&amp; cd build\n# Ubuntu\ncmake -DCMAKE_BUILD_TYPE=Release -DWITH_AUDIO=ON -DWITH_DEBUGTOOLS=ON -DWITH_GL=ON -DWITH_MESHTOOLS=ON -DWITH_PRIMITIVES=ON -DWITH_SCENEGRAPH=ON -DWITH_SHADERS=ON -DWITH_TEXT=ON -DWITH_TEXTURETOOLS=ON -DWITH_TRADE=ON -DWITH_GLFWAPPLICATION=ON -DWITH_WINDOWLESSEGLAPPLICATION=ON -DWITH_OPENGLTESTER=ON -DWITH_ANYAUDIOIMPORTER=ON -DWITH_ANYIMAGECONVERTER=ON -DWITH_ANYIMAGEIMPORTER=ON -DWITH_ANYSCENEIMPORTER=ON -DWITH_MAGNUMFONT=ON -DWITH_OBJIMPORTER=ON -DWITH_TGAIMPORTER=ON -DWITH_WAVAUDIOIMPORTER=ON -DTARGET_EGL=ON .. # this will enable almost all features of Magnum that are not necessarily needed for robot_dart (please refer to the documentation of Magnum for more details on selecting only the ones that you need)\n# Mac OSX\ncmake -DCMAKE_BUILD_TYPE=Release -DWITH_AUDIO=ON -DWITH_DEBUGTOOLS=ON -DWITH_GL=ON -DWITH_MESHTOOLS=ON -DWITH_PRIMITIVES=ON -DWITH_SCENEGRAPH=ON -DWITH_SHADERS=ON -DWITH_TEXT=ON -DWITH_TEXTURETOOLS=ON -DWITH_TRADE=ON -DWITH_GLFWAPPLICATION=ON -DWITH_WINDOWLESSCGLAPPLICATION=ON -DWITH_OPENGLTESTER=ON -DWITH_ANYAUDIOIMPORTER=ON -DWITH_ANYIMAGECONVERTER=ON -DWITH_ANYIMAGEIMPORTER=ON -DWITH_ANYSCENEIMPORTER=ON -DWITH_MAGNUMFONT=ON -DWITH_OBJIMPORTER=ON -DWITH_TGAIMPORTER=ON -DWITH_WAVAUDIOIMPORTER=ON .. # this will enable almost all features of Magnum that are not necessarily needed for robot_dart (please refer to the documentation of Magnum for more details on selecting only the ones that you need)\nmake -j\nsudo make install\n\n# installation of Magnum Plugins\ncd /path/to/tmp/folder\ngit clone https://github.com/mosra/magnum-plugins.git\ncd magnum-plugins\nmkdir build &amp;&amp; cd build\ncmake -DCMAKE_BUILD_TYPE=Release -DWITH_ASSIMPIMPORTER=ON -DWITH_DDSIMPORTER=ON -DWITH_JPEGIMPORTER=ON -DWITH_OPENGEXIMPORTER=ON -DWITH_PNGIMPORTER=ON -DWITH_TINYGLTFIMPORTER=ON -DWITH_STBTRUETYPEFONT=ON .. # this will enable quite a few Magnum Plugins that are not necessarily needed for robot_dart (please refer to the documentation of Magnum for more details on selecting only the ones that you need)\nmake -j\nsudo make install\n\n# installation of Magnum DART Integration (DART needs to be installed) and Eigen Integration\ncd /path/to/tmp/folder\ngit clone https://github.com/mosra/magnum-integration.git\ncd magnum-integration\nmkdir build &amp;&amp; cd build\ncmake -DCMAKE_BUILD_TYPE=Release -DWITH_DART=ON -DWITH_EIGEN=ON ..\nmake -j\nsudo make install\n\n# Installation of Magnum Python Bindings (some examples use them but this is optional)\ncd /path/to/tmp/folder\ngit clone https://github.com/mosra/magnum-bindings.git\ncd magnum-bindings\nmkdir build &amp;&amp; cd build\ncmake -DCMAKE_BUILD_TYPE=Release -DMAGNUM_WITH_PYTHON=ON ..\nmake -j\ncd src/python\nsudo python3 setup.py install\n</code></pre> <p>For OSX you can also install Magnum via brew: <code>brew install --HEAD mosra/magnum/corrade &amp;&amp; brew install --HEAD mosra/magnum/magnum &amp;&amp; brew install --HEAD mosra/magnum/magnum-plugins &amp;&amp; brew install --HEAD mosra/magnum/magnum-integration --with-dartsim</code></p>"},{"location":"install/#compilation-and-running-the-examples","title":"Compilation and running the examples","text":"<p>The compilation of the library is straight-forward:</p> <ul> <li>retrieve the code, for instance with <code>git clone https://github.com/resibots/robot_dart.git</code></li> <li><code>cd /path/to/repo/root</code></li> <li><code>./waf configure</code></li> <li><code>./waf</code></li> </ul> <p>To build the examples, execute this: <code>./waf examples</code></p> <p>Now you can run the examples. For example, to run the arm example you need to type the following: <code>./build/arm</code> (or <code>./build/arm_plain</code> to run it without graphics).</p>"},{"location":"install/#installing-the-library","title":"Installing the library","text":"<p>To install the library (assuming that you have already compiled it), you need only to run:</p> <ul> <li><code>./waf install</code></li> </ul> <p>By default the library will be installed in <code>/usr/local/lib</code> (for this maybe <code>sudo ./waf install</code> might be needed) and a static library will be generated. You can change the defaults as follows:</p> <ul> <li><code>./waf configure --prefix=/path/to/install/dir --shared</code></li> <li><code>./waf install</code></li> </ul> <p>In short, with <code>--prefix</code> you can change the directory where the library will be installed and if <code>--shared</code> is present a shared library will be created instead of a static one.</p>"},{"location":"install/#compiling-the-python-bindings","title":"Compiling the python bindings","text":"<p>For the python bindings of robot_dart, we need <code>numpy</code> to be installed, <code>pybind11</code> and the python bindings of DART (dartpy).</p> <p>For <code>numpy</code> one can install it with <code>pip</code> or standard packages. <code>dartpy</code> should be installed via the packages above. If not, please see the installation instructions on the main DART website.</p> <p>Then the compilation of robot_dart is almost identical as before:</p> <ul> <li>retrieve the code, for instance with <code>git clone https://github.com/resibots/robot_dart.git</code></li> <li><code>cd /path/to/repo/root</code></li> <li><code>./waf configure --python</code> (<code>--python</code> enables the python bindings)</li> <li><code>./waf</code></li> <li>Install the library (including the python bindings) as before (no change is needed)</li> <li>Depending on your installation directory you might need to update your <code>PYTHONPATH</code>, e.g. <code>export PYTHONPATH=$PYTHONPATH:/usr/local/lib/python3.10/site-packages/</code></li> </ul> <p>To run the python examples (for the python examples you need to have enabled the graphics, that is, install Magnum library), run:</p> <ul> <li><code>cd /path/to/repo/root</code></li> <li><code>python src/python/example.py</code> or <code>python src/python/example_parallel.py</code></li> </ul>"},{"location":"install/#common-issues-with-python-bindings","title":"Common Issues with Python bindings","text":"<p>One of the most common issue with the python bindings is the fact that DART bindings might be compiled and installed for python 3 and the robot_dart ones for python 2. To force the usage of python 3 for robot_dart, you use <code>python3 ./waf</code> instead of just <code>./waf</code> in all the commands above.</p>"},{"location":"pubs/","title":"Publications using RobotDART","text":""},{"location":"pubs/#scientific-publications-indicative-list-ordered-by-date","title":"Scientific Publications (indicative list, ordered by date)","text":""},{"location":"pubs/#scientific-publications-indicative-list-ordered-by-date_1","title":"Scientific Publications (indicative list, ordered by date)","text":"<ol> <li> <p>Anne, T. and Mouret, J.B., 2024. Parametric-Task MAP-Elites. Proceedings of the Genetic and Evolutionary Computation Conference (GECCO). (pdf)</p> </li> <li> <p>Ivaldi, S. and Ghini, E., 2023, June. Teleoperating a robot for removing asbestos tiles on roofs: insights from a pilot study. In 2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) (pp. 128-133). IEEE. (pdf)</p> </li> <li> <p>Khadivar, F., Chatzilygeroudis, K. and Billard, A., 2023. Self-correcting quadratic programming-based robot control. IEEE Transactions on Systems, Man, and Cybernetics: Systems. (pdf)</p> </li> <li> <p>Souza, A.O., Grenier, J., Charpillet, F., Maurice, P. and Ivaldi, S., 2023, June. Towards data-driven predictive control of active upper-body exoskeletons for load carrying. In 2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) (pp. 59-64). IEEE. (pdf)</p> </li> <li> <p>Chatzilygeroudis, K.I., Tsakonas, C.G. and Vrahatis, M.N., 2023, July. Evolving Dynamic Locomotion Policies in Minutes. In 2023 14<sup>th</sup> International Conference on Information, Intelligence, Systems &amp; Applications (IISA) (pp. 1-8). IEEE. (pdf)</p> </li> <li> <p>Tsakonas, C.G. and Chatzilygeroudis, K.I., 2023, July. Effective Skill Learning via Autonomous Goal Representation Learning. In 2023 14<sup>th</sup> International Conference on Information, Intelligence, Systems &amp; Applications (IISA) (pp. 1-8). IEEE. (pdf)</p> </li> <li> <p>Totsila, D., Chatzilygeroudis, K., Hadjivelichkov, D., Modugno, V., Hatzilygeroudis, I. and Kanoulas, D., 2023. End-to-End Stable Imitation Learning via Autonomous Neural Dynamic Policies. Life-Long Learning with Human Help (L3H2) Workshop, ICRA. (pdf)</p> </li> <li> <p>Allard, M., Smith, S.C., Chatzilygeroudis, K., Lim, B. and Cully, A., 2023. Online damage recovery for physical robots with hierarchical quality-diversity. ACM Transactions on Evolutionary Learning, 3(2), pp.1-23. (pdf)</p> </li> <li> <p>Anne, T., Dalin, E., Bergonzani, I., Ivaldi, S. and Mouret, J.B., 2022. First do not fall: learning to exploit a wall with a damaged humanoid robot. IEEE Robotics and Automation Letters, 7(4), pp.9028-9035. (pdf)</p> </li> <li> <p>Mayr, M., Ahmad, F., Chatzilygeroudis, K., Nardi, L. and Krueger, V., 2022, December. Skill-based multi-objective reinforcement learning of industrial robot tasks with planning and knowledge integration. In 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO) (pp. 1995-2002). IEEE. (pdf)</p> </li> <li> <p>Grillotti, L. and Cully, A., 2022. Unsupervised behavior discovery with quality-diversity optimization. IEEE Transactions on Evolutionary Computation, 26(6), pp.1539-1552. (pdf)</p> </li> <li> <p>Lim, B., Grillotti, L., Bernasconi, L. and Cully, A., 2022, May. Dynamics-aware quality-diversity for efficient learning of skill repertoires. In 2022 International Conference on Robotics and Automation (ICRA) (pp. 5360-5366). IEEE. (pdf)</p> </li> <li> <p>Tsinganos, K., Chatzilygeroudis, K., Hadjivelichkov, D., Komninos, T., Dermatas, E. and Kanoulas, D., 2022. Behavior policy learning: Learning multi-stage tasks via solution sketches and model-based controllers. Frontiers in Robotics and AI, 9, p.974537. (pdf)</p> </li> <li> <p>d'Elia, E., Mouret, J.B., Kober, J. and Ivaldi, S., 2022, October. Automatic tuning and selection of whole-body controllers. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 12935-12941). IEEE. (pdf)</p> </li> <li> <p>Mayr, M., Hvarfner, C., Chatzilygeroudis, K., Nardi, L. and Krueger, V., 2022, August. Learning skill-based industrial robot tasks with user priors. In 2022 IEEE 18<sup>th</sup> International Conference on Automation Science and Engineering (CASE) (pp. 1485-1492). IEEE. (pdf)</p> </li> <li> <p>Allard, M., Smith, S.C., Chatzilygeroudis, K. and Cully, A., 2022, July. Hierarchical quality-diversity for online damage recovery. In Proceedings of the Genetic and Evolutionary Computation Conference (pp. 58-67). (pdf)</p> </li> <li> <p>Mayr, M., Ahmad, F., Chatzilygeroudis, K., Nardi, L. and Krueger, V., 2022. Combining planning, reasoning and reinforcement learning to solve industrial robot tasks. 2<sup>nd</sup> Workshop on Trends and Advances in Machine Learning and Automated Reasoning for Intelligent Robots and Systems, IROS. (pdf)</p> </li> <li> <p>Cully, A., 2021, June. Multi-emitter map-elites: improving quality, diversity and data efficiency with heterogeneous sets of emitters. In Proceedings of the Genetic and Evolutionary Computation Conference (pp. 84-92). (pdf)</p> </li> <li> <p>Mayr, M., Chatzilygeroudis, K., Ahmad, F., Nardi, L. and Krueger, V., 2021, September. Learning of parameters in behavior trees for movement skills. In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 7572-7579). IEEE. (pdf)</p> </li> <li> <p>Penco, L., Hoffman, E.M., Modugno, V., Gomes, W., Mouret, J.B. and Ivaldi, S., 2020. Learning robust task priorities and gains for control of redundant robots. IEEE Robotics and Automation Letters, 5(2), pp.2626-2633. (pdf)</p> </li> <li> <p>Flageat, M. and Cully, A., 2020, July. Fast and stable MAP-Elites in noisy domains using deep grids. In Artificial Life Conference Proceedings 32 (pp. 273-282). One Rogers Street, Cambridge, MA 02142-1209, USA journals-info@ mit. edu: MIT Press. (pdf)</p> </li> <li> <p>Paul, S., Chatzilygeroudis, K., Ciosek, K., Mouret, J.B., Osborne, M.A. and Whiteson, S., 2020. Robust reinforcement learning with Bayesian optimisation and quadrature. Journal of Machine Learning Research, 21(151), pp.1-31. (pdf)</p> </li> <li> <p>Chatzilygeroudis, K., Vassiliades, V. and Mouret, J.B., 2018. Reset-free trial-and-error learning for robot damage recovery. Robotics and Autonomous Systems, 100, pp.236-250. (pdf)</p> </li> <li> <p>Pautrat, R., Chatzilygeroudis, K. and Mouret, J.B., 2018, May. Bayesian optimization with automatic prior selection for data-efficient direct policy search. In 2018 IEEE International Conference on Robotics and Automation (ICRA) (pp. 7571-7578). IEEE. (pdf)</p> </li> <li> <p>Chatzilygeroudis, K. and Mouret, J.B., 2018, May. Using parameterized black-box priors to scale up model-based policy search for robotics. In 2018 IEEE international conference on robotics and automation (ICRA) (pp. 5121-5128). IEEE. (pdf)</p> </li> <li> <p>Paul, S., Chatzilygeroudis, K., Ciosek, K., Mouret, J.B., Osborne, M. and Whiteson, S., 2018, April. Alternating optimisation and quadrature for robust control. In Proceedings of the AAAI Conference on Artificial Intelligence (Vol. 32, No. 1). (pdf)</p> </li> <li> <p>Kaushik, R., Chatzilygeroudis, K. and Mouret, J.B., 2018, October. Multi-objective model-based policy search for data-efficient learning with sparse rewards. In Conference on Robot Learning (pp. 839-855). PMLR. (pdf)</p> </li> <li> <p>Vassiliades, V., Chatzilygeroudis, K. and Mouret, J.B., 2017. Using centroidal voronoi tessellations to scale up the multidimensional archive of phenotypic elites algorithm. IEEE Transactions on Evolutionary Computation, 22(4), pp.623-630. (pdf)</p> </li> <li> <p>Mouret, J.B. and Chatzilygeroudis, K., 2017, July. 20 years of reality gap: a few thoughts about simulators in evolutionary robotics. In Proceedings of the genetic and evolutionary computation conference companion (pp. 1121-1124). (pdf)</p> </li> <li> <p>Papaspyros, V., Chatzilygeroudis, K., Vassiliades, V. and Mouret, J.B., 2016. Safety-aware robot damage recovery using constrained bayesian optimization and simulated priors. BayesOpt '16: Proceedings of the International Workshop \"Bayesian Optimization: Black-box Optimization and Beyond\", NeurIPS. (pdf)</p> </li> <li> <p>Chatzilygeroudis, K., Cully, A. and Mouret, J.B., 2016. Towards semi-episodic learning for robot damage recovery. AILTA '16: Proceedings of the International Workshop \"AI for Long-term Autonomy\", ICRA. (pdf)</p> </li> </ol>"},{"location":"quick_install/","title":"Installation","text":""},{"location":"quick_install/#scripts-for-quick-installation-of-robotdart","title":"Scripts for Quick Installation of RobotDART","text":"<p>In this page we provide standalone scripts for installing RobotDART for <code>Ubuntu</code> (&gt;=20.04), <code>OSX</code> and beta support for Windows (via WSL). The scripts will install all the required dependencies and RobotDART. Notably, all dependencies that need to be compiled by source and RobotDART will be installed inside the <code>/opt</code> folder. This way, one can be rest assured that their system will be clean.</p>"},{"location":"quick_install/#video-recording-to-file","title":"Video recording to file","text":"<p>ffmpeg is needed for enabling the video recording capabilities. You can install this at any time using your favorite package manager (e.g. <code>apt</code> for Ubuntu or <code>brew</code> for Mac OSX).</p>"},{"location":"quick_install/#ubuntu-2004","title":"Ubuntu &gt;=20.04","text":"<p>To quickly install RobotDART on <code>Ubuntu &gt;=20.04</code>, we just need to run <code>./scripts/install_ubuntu.sh</code> from the root of the repo. In more detail:</p> <ul> <li><code>git clone https://github.com/resibots/robot_dart.git</code></li> <li><code>cd robot_dart</code></li> <li><code>./scripts/install_ubuntu.sh</code></li> </ul> <p>This will install everything needed! Once the script is successfully executed, one should add the following to their <code>~/.bashrc</code> or <code>~/.zshrc</code> file (you may need to swap the python version to yours<sup>1</sup>):</p> <pre><code>export PATH=/opt/magnum/bin:$PATH\nexport CMAKE_PREFIX_PATH=/opt/robot_dart:/opt/magnum\nexport LD_LIBRARY_PATH=/opt/magnum/lib:/opt/robot_dart/lib:$LD_LIBRARY_PATH\nexport PYTHONPATH=/opt/robot_dart/lib/python3.10/site-packages:/opt/magnum/lib/python3/site-packages:$PYTHONPATH\n</code></pre>"},{"location":"quick_install/#beta-windows-support-via-wsl","title":"Beta Windows support via WSL","text":"<p>The installation script for Ubuntu works also in WSL (with the Ubuntu base image). There might be some issues with the graphical interface (see here).</p>"},{"location":"quick_install/#osx","title":"OSX","text":"<p>To quickly install RobotDART on <code>Mac OSX</code>, we just need to run <code>./scripts/install_osx.sh</code> from the root of the repo. In more detail:</p> <ul> <li><code>git clone https://github.com/resibots/robot_dart.git</code></li> <li><code>cd robot_dart</code></li> <li><code>./scripts/install_osx.sh</code></li> </ul> <p>This will install everything needed! Once the script is successfully executed, one should add the following to their <code>~/.bashrc</code> or <code>~/.zshrc</code> file (you may need to swap the python version to yours<sup>1</sup>):</p> <pre><code>export PATH=/opt/magnum/bin:$PATH\nexport CMAKE_PREFIX_PATH=/opt/robot_dart:/opt/dart:/opt/magnum\nexport LD_LIBRARY_PATH=/opt/magnum/lib:/opt/dart/lib:/opt/robot_dart/lib:$LD_LIBRARY_PATH\nexport DYLD_LIBRARY_PATH=/opt/magnum/lib:/opt/dart/lib:/opt/robot_dart/lib:$DYLD_LIBRARY_PATH\nexport PYTHONPATH=/opt/dart:/opt/dart/lib/python3/dist-packages:/opt/robot_dart/lib/python3.12/site-packages:/opt/magnum/lib/python3/site-packages:$PYTHONPATH\n</code></pre> <ol> <li> <p>You can run <code>python --version</code> to see your version. We only keep the major.minor (ignoring the patch version)\u00a0\u21a9\u21a9</p> </li> </ol>"},{"location":"robots/","title":"Supported robots","text":""},{"location":"robots/#supported-robots","title":"Supported robots","text":"<p>Every robot is a defined as a URDF, which will be installed <code>$PREFIX/share/utheque</code>. All robots have pre-defined \"robot classes\" that define sensors and other properties; for your custom/new robots, you will have to add the sensors/properties via the generic robot class (or create a new robot class).</p> <p>The URDF files are loaded using the following rules (see <code>utheque::path()</code>):</p> <ul> <li>First check in the current directory</li> <li>If not found, check in <code>current_directory/utheque</code></li> <li>If not found, check in <code>$ROBOT_DART_PATH/utheque</code></li> <li>If not found, check in the robot dart installation path/robots (e.g., <code>/usr/share/utheque</code> or <code>$HOME/share/utheque</code>)</li> <li>Otherwise, report failure</li> </ul> <p><code>utheque</code> is a separate header-only library that gets installed together with RobotDART (or even alone), that can be used in libraries that do not want to interfere with RobotDART and use the curated URDF files.</p>"},{"location":"robots/#talos-pal-robotics","title":"Talos (PAL Robotics)","text":"<p>Talos is a humanoid robot made by PAL Robotics.</p> <ul> <li>Datasheet: [pdf]</li> <li>32 degrees of freedom (6 for each leg, 7 for each arm, 2 for the waist, 2 for the neck, 1 for each gripper)</li> <li>175 cm / 95 kg</li> <li>IMU in the torso</li> <li>Torque sensors in all joints except head, wrist and gripper (22 torque sensors total)</li> <li>1 force/torque sensor in each ankle</li> <li>1 force/torque sensor in each wrist</li> </ul> <p>We have two URDF files:</p> <ul> <li><code>utheque/talos/talos.urdf</code> :<ul> <li>accurate (simplified but made of polygons) collision meshes</li> <li>mimic joints for the gripper</li> <li>Not compatible the DART collision detector (you need to use FCL collision detector - shipped with DART)</li> <li>URDF: [talos.urdf]</li> <li>Example: [talos.cpp] [talos.py]</li> </ul> </li> </ul> <p>Load Talos</p> C++ <pre><code>auto robot = std::make_shared&lt;robot_dart::robots::Talos&gt;();\n</code></pre> Python <pre><code>robot = rd.Talos()\n</code></pre> <ul> <li><code>utheque/talos/talos_fast.urdf</code>:<ul> <li>no collision except for the feet, which are approximated by boxes</li> <li>grippers are fixed (no movement is allowed)</li> <li>compatible with the DART collision detector</li> <li>URDF: [talos_fast.urdf]</li> <li>Example: [talos_fast.cpp]</li> </ul> </li> </ul> <p><code>talos_fast.urdf</code> is faster because it makes it possible to use the DART collision detector (and has much collision shapes). You should prefer it except if you want to use the grippers (e.g., for manipulation) or are working on self-collisions.</p> <ul> <li><code>utheque/talos/talos_fast_collision.urdf</code>:<ul> <li>all bodies are approximated by boxes</li> <li>grippers are fixed (no movement is allowed)</li> <li>compatible with the DART collision detector</li> <li>URDF: [talos_fast_collision.urdf]</li> <li>Example: [talos_fast_collision.cpp] [talos_fast_collision.py]</li> </ul> </li> </ul> <p><code>talos_fast_collision.urdf</code> is faster than <code>talos.urdf</code> but slower than <code>talos_fast.urdf</code>. You should use it when you need more detail collisions but faster simulation times.</p> <p>Load Talos Fast</p> C++ <pre><code>// load talos fast\nauto robot = std::make_shared&lt;robot_dart::robots::TalosFastCollision&gt;();\n</code></pre> Python <pre><code>robot = rd.TalosFastCollision()\n</code></pre> <p>Please note that the mesh files (.glb) require assimp 5.x (and not assimp4.x usually shipped with ROS). If you cannot load the URDF, please check your assimp version.</p>"},{"location":"robots/#panda-franka-emika","title":"Panda (Franka Emika)","text":"<p>The Franka is a modern manipulator made by Franka Emika Panda. It is commonly found in many robotics labs.</p> <ul> <li>Datasheet: [pdf]</li> <li>7 degrees of freedom</li> <li>Can be controlled in torque</li> <li>18 kg</li> <li>workspace: 855 mm (horizontal), 1190 mm (vertical)</li> <li>URDF: [franka.urdf]</li> <li>Example: [franka.cpp] [franka.py] The URDF includes the gripper.</li> </ul> <p>Load Franka</p> C++ <pre><code>auto robot = std::make_shared&lt;robot_dart::robots::Franka&gt;();\n</code></pre> Python <pre><code>robot = rd.Franka()\n</code></pre>"},{"location":"robots/#lbr-iiwa-kuka","title":"LBR iiwa (KUKA)","text":"<p>The LBR iiwa is manufactured by KUKA. It is similar to the Panda and is also very common in robotics labs.</p> <ul> <li>Datasheet: [pdf]</li> <li>We implement the 14 kg version</li> <li>29.5 kg</li> <li>7 degrees of freedom</li> <li>URDF: [iiwa.urdf]</li> <li>Example: [iiwa.cpp] [iiwa.py]</li> </ul> <p>Load Iiwa</p> C++ <pre><code>auto robot = std::make_shared&lt;robot_dart::robots::Iiwa&gt;();\n</code></pre> Python <pre><code>robot = rd.Iiwa()\n</code></pre>"},{"location":"robots/#icub-iit","title":"iCub (IIT)","text":"<p>The iCub is a open source humanoid robot made by the Instituto Italiano di Tecnologia. There are currently 42 iCUbs in the world, and many versions.</p> <ul> <li>Datasheet (rev 2.3) [pdf]</li> <li>6 force/torque sensors (upper arms, upper legs, ankles)</li> <li>IMU in the head</li> <li>We do to simulate the skin</li> <li>We do not simulate the hands</li> <li>Our model is close to the Inria's iCub, but it has not been checked in detail.</li> <li>URDF: [icub.urdf]</li> <li>Example [icub.cpp] [icub.py]</li> </ul> <p>Please note that the mesh files (.glb) require assimp 5.x (and not assimp4.x usually shipped with ROS). If you cannot load the URDF, please check your assimp version.</p> <p>Load iCub</p> C++ <pre><code>auto robot = std::make_shared&lt;robot_dart::robots::ICub&gt;();\n// Set actuator types to VELOCITY motors so that they stay in position without any controller\nrobot-&gt;set_actuator_types(\"velocity\");\nrobot_dart::RobotDARTSimu simu(0.001);\nsimu.set_collision_detector(\"fcl\");\n</code></pre> Python <pre><code>robot = rd.ICub()\n\n# Set actuator types to VELOCITY motors so that they stay in position without any controller\nrobot.set_actuator_types(\"velocity\")\nsimu = rd.RobotDARTSimu(0.001)\nsimu.set_collision_detector(\"fcl\")\n</code></pre> <p>Print IMU sensor measurements</p> C++ <pre><code>std::cout &lt;&lt; \"Angular    Position: \" &lt;&lt; robot-&gt;imu().angular_position_vec().transpose().format(fmt) &lt;&lt; std::endl;\nstd::cout &lt;&lt; \"Angular    Velocity: \" &lt;&lt; robot-&gt;imu().angular_velocity().transpose().format(fmt) &lt;&lt; std::endl;\nstd::cout &lt;&lt; \"Linear Acceleration: \" &lt;&lt; robot-&gt;imu().linear_acceleration().transpose().format(fmt) &lt;&lt; std::endl;\nstd::cout &lt;&lt; \"=================================\" &lt;&lt; std::endl;\n</code></pre> Python <pre><code>print(\"Angular    Position: \",  robot.imu().angular_position_vec().transpose())\nprint(\"Angular    Velocity: \",  robot.imu().angular_velocity().transpose())\nprint(\"Linear Acceleration: \",  robot.imu().linear_acceleration().transpose())\nprint(\"=================================\" )\n</code></pre> <p>Print Force-Torque sensor measurements</p> C++ <pre><code>std::cout &lt;&lt; \"FT ( force): \" &lt;&lt; robot-&gt;ft_foot_left().force().transpose().format(fmt) &lt;&lt; std::endl;\nstd::cout &lt;&lt; \"FT (torque): \" &lt;&lt; robot-&gt;ft_foot_left().torque().transpose().format(fmt) &lt;&lt; std::endl;\nstd::cout &lt;&lt; \"=================================\" &lt;&lt; std::endl;\n</code></pre> Python <pre><code>print(\"FT ( force): \",  robot.ft_foot_left().force().transpose())\nprint(\"FT (torque): \",  robot.ft_foot_left().torque().transpose())\nprint(\"=================================\")\n</code></pre>"},{"location":"robots/#unitree-a1","title":"Unitree A1","text":"<p>A1 is a quadruped robot made by the Unitree Robotics.</p> <ul> <li>IMU in the torso</li> <li>We do not simulate the foot pressure sensors (yet)</li> <li>One can easily add a depth camera on the head</li> <li>URDF: [a1.urdf]</li> <li>Example [a1.cpp] [a1.py]</li> </ul> <p>Load A1</p> C++ <pre><code>auto robot = std::make_shared&lt;robot_dart::robots::A1&gt;();\n</code></pre> Python <pre><code>robot = rd.A1()\n</code></pre> <p>Print IMU sensor measurements</p> C++ <pre><code>std::cout &lt;&lt; \"Angular    Position: \" &lt;&lt; robot-&gt;imu().angular_position_vec().transpose().format(fmt) &lt;&lt; std::endl;\nstd::cout &lt;&lt; \"Angular    Velocity: \" &lt;&lt; robot-&gt;imu().angular_velocity().transpose().format(fmt) &lt;&lt; std::endl;\nstd::cout &lt;&lt; \"Linear Acceleration: \" &lt;&lt; robot-&gt;imu().linear_acceleration().transpose().format(fmt) &lt;&lt; std::endl;\nstd::cout &lt;&lt; \"=================================\" &lt;&lt; std::endl;\n</code></pre> Python <pre><code>print( \"Angular    Position: \", robot.imu().angular_position_vec().transpose())\nprint( \"Angular    Velocity: \", robot.imu().angular_velocity().transpose())\nprint( \"Linear Acceleration: \", robot.imu().linear_acceleration().transpose())\nprint( \"=================================\")\n</code></pre> <p>Add a depth camera on the head</p> <p>How can I attach a camera to a moving link?</p> <p>Please note that the mesh files (.glb) require assimp 5.x (and not assimp4.x usually shipped with ROS). If you cannot load the URDF, please check your assimp version.</p>"},{"location":"robots/#dynamixel-based-hexapod-robot-inria-and-others","title":"Dynamixel-based hexapod robot (Inria and others)","text":"<p>This hexapod is a simple 6-legged robot based on dynamixel actuators. It is similar to the robot used in the paper `Robots that can adapt like animals' (Cully et al., 2015).</p> <ul> <li>6 legs, 3 degrees of freedom for each leg (18 degrees of freedom)</li> <li>simple URDF (no meshes)</li> <li>URDF: [pexod.urdf]</li> <li>Example: [hexapod.cpp] [hexapod.py]</li> </ul> <p>Load Hexapod</p> C++ <pre><code>auto robot = std::make_shared&lt;robot_dart::robots::Hexapod&gt;();\n</code></pre> Python <pre><code>robot = rd.Hexapod()\n</code></pre> <p>Load Pexod</p> C++ <pre><code>auto robot = std::make_shared&lt;robot_dart::Robot&gt;(\"pexod.urdf\");\n</code></pre> Python <pre><code>robot = rd.Robot(\"pexod.urdf\");\n</code></pre>"},{"location":"robots/#vx-300","title":"Vx-300","text":"<p>The ViperX-300 is a versatile robotic arm developed by Interbotix. It is designed for a range of applications including education, research, and light industrial tasks.</p> <ul> <li>5 degrees of freedom plus a gripper</li> <li>URDF: [vx300.urdf]</li> <li>Example: [vx300.cpp] [vx300.py]</li> </ul> <p>Load Vx-300</p> C++ <pre><code>auto robot = std::make_shared&lt;robot_dart::robots::Vx300&gt;();\n</code></pre> Python <pre><code>robot = rd.Vx300()\n</code></pre>"},{"location":"robots/#tiago-pal-robotics","title":"Tiago (PAL Robotics)","text":"<p>Tiago is a mobile manipulator robot developed by PAL Robotics, designed for tasks such as navigation, object manipulation, and human-robot interaction.</p> <ul> <li>Datasheet: pdf</li> <li>Height: 110 - 145 cm</li> <li>Weight: 70 kg</li> <li>Degrees of Freedom (DoF): 7 (Arm), 2 (Head), 2 (Mobile Base)</li> <li>Force/Torque sensor in the gripper</li> <li>URDF: [tiago.urdf]</li> <li>Example: [tiago.cpp] [tiago.py]</li> </ul> <p>Load Tiago</p> C++ <pre><code>auto robot = std::make_shared&lt;robot_dart::robots::Tiago&gt;(freq);\n</code></pre> Python <pre><code>robot = rd.Tiago(freq)\n</code></pre>"},{"location":"robots/#simple-arm","title":"Simple arm","text":"<ul> <li>A simple arm for educational or debugging purposes</li> <li>5 degrees of freedom</li> <li>simple URDF (no meshes)</li> <li>URDF: [arm.urdf]</li> <li>Example: [arm.cpp] [arm.py]</li> </ul> <p>Load Simple Arm</p> C++ <pre><code>auto robot = std::make_shared&lt;robot_dart::robots::Arm&gt;();\n</code></pre> Python <pre><code>robot = rd.Arm()\n</code></pre>"},{"location":"robots/#loading-custom-robots","title":"Loading Custom Robots","text":"<p>RobotDART gives you the ability to load custom robots  that are defined in URDF, SDF, SKEL or MJCF files. For example, you can load a urdf model using:</p> <p>Load custom Robot</p> C++ <pre><code>    auto your_robot = std::make_shared&lt;robot_dart::Robot&gt;(\"path/to/model.urdf\");\n</code></pre> Python <pre><code>    your_robot = robot_dart.Robot(\"path/to/model.urdf\")\n</code></pre> <p>Load custom Robot with packages (e.g STL, DAE meshes)</p> C++ <pre><code>    std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt; your_model_packages = ('model', 'path/to/model/dir');\n    auto your_robot = std::make_shared&lt;robot_dart::Robot&gt;(\"path/to/model.urdf\", your_model_packages, \"packages\");\n</code></pre> Python <pre><code>    your_model_packages = [(\"model\", \"path/to/model/dir\")]\n    your_robot = robot_dart.Robot(\"path/to/model.urdf\", your_model_packages)\n</code></pre>"},{"location":"robots/#known-issues","title":"Known issues","text":"<p>For DART versions 6.14.4 and below, one might see the following error when loading meshes with negative scaling:</p> <pre><code>./dart/dynamics/MeshShape.cpp:240: void dart::dynamics::MeshShape::setScale(const Eigen::Vector3d&amp;): Assertion `(scale.array() &gt; 0.0).all()' failed.\nAborted (core dumped)\n</code></pre> <p>There are two solutions to this:</p> <ol> <li>Download and build the latest DART master or a version greater than 6.14.4</li> <li>Edit your meshes to not have negative scale</li> </ol>"},{"location":"api/annotated/","title":"Class List","text":"<p>Here are the classes, structs, unions and interfaces with brief descriptions:</p> <ul> <li>namespace Magnum <ul> <li>namespace GL </li> <li>namespace Platform </li> <li>namespace SceneGraph </li> <li>namespace Shaders <ul> <li>namespace Implementation </li> </ul> </li> </ul> </li> <li>namespace TinyProcessLib </li> <li>namespace dart <ul> <li>namespace collision </li> <li>namespace dynamics </li> </ul> </li> <li>namespace robot_dart <ul> <li>class Assertion </li> <li>class Robot </li> <li>class RobotDARTSimu </li> <li>class RobotPool </li> <li>class Scheduler </li> <li>namespace collision_filter <ul> <li>class BitmaskContactFilter <ul> <li>struct Masks </li> </ul> </li> </ul> </li> <li>namespace control <ul> <li>class PDControl </li> <li>class PolicyControl </li> <li>class RobotControl </li> <li>class SimpleControl </li> </ul> </li> <li>namespace detail </li> <li>namespace gui <ul> <li>class Base </li> <li>struct DepthImage </li> <li>struct GrayscaleImage </li> <li>struct Image </li> <li>namespace magnum <ul> <li>class BaseApplication </li> <li>class BaseGraphics </li> <li>class CubeMapShadowedColorObject </li> <li>class CubeMapShadowedObject </li> <li>struct DebugDrawData </li> <li>class DrawableObject </li> <li>class GlfwApplication </li> <li>struct GlobalData </li> <li>class Graphics </li> <li>struct GraphicsConfiguration </li> <li>struct ObjectStruct </li> <li>struct ShadowData </li> <li>class ShadowedColorObject </li> <li>class ShadowedObject </li> <li>class WindowlessGLApplication </li> <li>class WindowlessGraphics </li> <li>namespace gs <ul> <li>class Camera </li> <li>class CubeMap </li> <li>class CubeMapColor </li> <li>class Light </li> <li>class Material </li> <li>class PhongMultiLight </li> <li>class ShadowMap </li> <li>class ShadowMapColor </li> </ul> </li> <li>namespace sensor <ul> <li>class Camera </li> </ul> </li> </ul> </li> </ul> </li> <li>namespace robots <ul> <li>class A1 </li> <li>class Arm </li> <li>class Franka </li> <li>class Hexapod </li> <li>class ICub </li> <li>class Iiwa </li> <li>class Pendulum </li> <li>class Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    </li> <li>class TalosFastCollision </li> <li>class TalosLight </li> <li>class Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __    </li> <li>class Ur3e </li> <li>class Ur3eHand </li> <li>class Vx300 </li> </ul> </li> <li>namespace sensor <ul> <li>class ForceTorque </li> <li>class IMU </li> <li>struct IMUConfig </li> <li>class Sensor </li> <li>class Torque </li> </ul> </li> <li>namespace simu <ul> <li>struct GUIData </li> <li>struct TextData </li> </ul> </li> </ul> </li> <li>namespace gs </li> <li>struct RobotData </li> <li>namespace std </li> </ul>"},{"location":"api/files/","title":"File List","text":"<p>Here is a list of all files with brief descriptions:</p> <ul> <li>dir robot_dart <ul> <li>file gui_data.hpp </li> <li>file robot.cpp </li> <li>file robot.hpp </li> <li>dir control <ul> <li>file pd_control.cpp </li> <li>file pd_control.hpp </li> <li>file policy_control.hpp </li> <li>file robot_control.cpp </li> <li>file robot_control.hpp </li> <li>file simple_control.cpp </li> <li>file simple_control.hpp </li> </ul> </li> <li>dir gui <ul> <li>file base.hpp </li> <li>file helper.cpp </li> <li>file helper.hpp </li> <li>dir magnum <ul> <li>file base_application.cpp </li> <li>file base_application.hpp </li> <li>file base_graphics.hpp </li> <li>file drawables.cpp </li> <li>file drawables.hpp </li> <li>file glfw_application.cpp </li> <li>file glfw_application.hpp </li> <li>file graphics.cpp </li> <li>file graphics.hpp </li> <li>dir gs <ul> <li>file camera.cpp </li> <li>file camera.hpp </li> <li>file create_compatibility_shader.hpp </li> <li>file cube_map.cpp </li> <li>file cube_map.hpp </li> <li>file cube_map_color.cpp </li> <li>file cube_map_color.hpp </li> <li>file helper.cpp </li> <li>file helper.hpp </li> <li>file light.cpp </li> <li>file light.hpp </li> <li>file material.cpp </li> <li>file material.hpp </li> <li>file phong_multi_light.cpp </li> <li>file phong_multi_light.hpp </li> <li>file shadow_map.cpp </li> <li>file shadow_map.hpp </li> <li>file shadow_map_color.cpp </li> <li>file shadow_map_color.hpp </li> </ul> </li> <li>dir sensor <ul> <li>file camera.cpp </li> <li>file camera.hpp </li> </ul> </li> <li>file types.hpp </li> <li>file utils_headers_eigen.hpp </li> <li>file windowless_gl_application.cpp </li> <li>file windowless_gl_application.hpp </li> <li>file windowless_graphics.cpp </li> <li>file windowless_graphics.hpp </li> </ul> </li> <li>file stb_image_write.h </li> </ul> </li> <li>dir robots <ul> <li>file a1.cpp </li> <li>file a1.hpp </li> <li>file arm.hpp </li> <li>file franka.cpp </li> <li>file franka.hpp </li> <li>file hexapod.hpp </li> <li>file icub.cpp </li> <li>file icub.hpp </li> <li>file iiwa.cpp </li> <li>file iiwa.hpp </li> <li>file pendulum.hpp </li> <li>file talos.cpp </li> <li>file talos.hpp </li> <li>file tiago.cpp </li> <li>file tiago.hpp </li> <li>file ur3e.cpp </li> <li>file ur3e.hpp </li> <li>file vx300.hpp </li> </ul> </li> <li>dir sensor <ul> <li>file force_torque.cpp </li> <li>file force_torque.hpp </li> <li>file imu.cpp </li> <li>file imu.hpp </li> <li>file sensor.cpp </li> <li>file sensor.hpp </li> <li>file torque.cpp </li> <li>file torque.hpp </li> </ul> </li> <li>file robot_dart_simu.cpp </li> <li>file robot_dart_simu.hpp </li> <li>file robot_pool.cpp </li> <li>file robot_pool.hpp </li> <li>file scheduler.cpp </li> <li>file scheduler.hpp </li> <li>file utils.hpp </li> <li>file utils_headers_dart_collision.hpp </li> <li>file utils_headers_dart_dynamics.hpp </li> <li>file utils_headers_dart_io.hpp </li> <li>file utils_headers_external.hpp </li> <li>file utils_headers_external_gui.hpp </li> </ul> </li> </ul>"},{"location":"api/namespaceMagnum/","title":"Namespace Magnum","text":"<p>Namespace List &gt; Magnum</p>"},{"location":"api/namespaceMagnum/#namespaces","title":"Namespaces","text":"Type Name namespace GL namespace Platform namespace SceneGraph namespace Shaders <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/create_compatibility_shader.hpp</code></p>"},{"location":"api/namespaceMagnum_1_1GL/","title":"Namespace Magnum::GL","text":"<p>Namespace List &gt; Magnum &gt; GL</p> <p>The documentation for this class was generated from the following file <code>[generated]</code></p>"},{"location":"api/namespaceMagnum_1_1Platform/","title":"Namespace Magnum::Platform","text":"<p>Namespace List &gt; Magnum &gt; Platform</p> <p>The documentation for this class was generated from the following file <code>[generated]</code></p>"},{"location":"api/namespaceMagnum_1_1SceneGraph/","title":"Namespace Magnum::SceneGraph","text":"<p>Namespace List &gt; Magnum &gt; SceneGraph</p> <p>The documentation for this class was generated from the following file <code>[generated]</code></p>"},{"location":"api/namespaceMagnum_1_1Shaders/","title":"Namespace Magnum::Shaders","text":"<p>Namespace List &gt; Magnum &gt; Shaders</p>"},{"location":"api/namespaceMagnum_1_1Shaders/#namespaces","title":"Namespaces","text":"Type Name namespace Implementation <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/create_compatibility_shader.hpp</code></p>"},{"location":"api/namespaceMagnum_1_1Shaders_1_1Implementation/","title":"Namespace Magnum::Shaders::Implementation","text":"<p>Namespace List &gt; Magnum &gt; Shaders &gt; Implementation</p>"},{"location":"api/namespaceMagnum_1_1Shaders_1_1Implementation/#public-functions","title":"Public Functions","text":"Type Name GL::Shader createCompatibilityShader (const Utility::Resource &amp; rs, GL::Version version, GL::Shader::Type type)"},{"location":"api/namespaceMagnum_1_1Shaders_1_1Implementation/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/namespaceMagnum_1_1Shaders_1_1Implementation/#function-createcompatibilityshader","title":"function createCompatibilityShader","text":"<pre><code>inline GL::Shader Magnum::Shaders::Implementation::createCompatibilityShader (\n    const Utility::Resource &amp; rs,\n    GL::Version version,\n    GL::Shader::Type type\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/create_compatibility_shader.hpp</code></p>"},{"location":"api/namespaceTinyProcessLib/","title":"Namespace TinyProcessLib","text":"<p>Namespace List &gt; TinyProcessLib</p> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/camera.hpp</code></p>"},{"location":"api/namespacedart/","title":"Namespace dart","text":"<p>Namespace List &gt; dart</p>"},{"location":"api/namespacedart/#namespaces","title":"Namespaces","text":"Type Name namespace collision namespace dynamics <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/drawables.hpp</code></p>"},{"location":"api/namespacedart_1_1collision/","title":"Namespace dart::collision","text":"<p>Namespace List &gt; dart &gt; collision</p> <p>The documentation for this class was generated from the following file <code>[generated]</code></p>"},{"location":"api/namespacedart_1_1dynamics/","title":"Namespace dart::dynamics","text":"<p>Namespace List &gt; dart &gt; dynamics</p> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/drawables.hpp</code></p>"},{"location":"api/namespacerobot__dart/","title":"Namespace robot_dart","text":"<p>Namespace List &gt; robot_dart</p>"},{"location":"api/namespacerobot__dart/#namespaces","title":"Namespaces","text":"Type Name namespace collision_filter namespace control namespace detail namespace gui namespace robots namespace sensor namespace simu"},{"location":"api/namespacerobot__dart/#classes","title":"Classes","text":"Type Name class Assertion class Robot class RobotDARTSimu class RobotPool class Scheduler"},{"location":"api/namespacerobot__dart/#public-attributes","title":"Public Attributes","text":"Type Name auto body_node_get_friction_coeff   = =  { <pre><code>    return body-&amp;gt;getFrictionCoeff();\n\n}&lt;br&gt; |\n</code></pre> <p>|  auto | body_node_get_restitution_coeff   = =  {</p> <pre><code>    return body-&amp;gt;getRestitutionCoeff();\n\n}&lt;br&gt; |\n</code></pre> <p>|  auto | body_node_set_friction_coeff   = =  {</p> <pre><code>    body-&amp;gt;setFrictionCoeff(value);\n\n}&lt;br&gt; |\n</code></pre> <p>|  auto | body_node_set_restitution_coeff   = =  {</p> <pre><code>    body-&amp;gt;setRestitutionCoeff(value);\n\n}&lt;br&gt; |\n</code></pre>"},{"location":"api/namespacerobot__dart/#public-functions","title":"Public Functions","text":"Type Name Eigen::Isometry3d make_tf (const Eigen::Matrix3d &amp; R, const Eigen::Vector3d &amp; t)  Eigen::Isometry3d make_tf (const Eigen::Matrix3d &amp; R)  Eigen::Isometry3d make_tf (const Eigen::Vector3d &amp; t)  Eigen::Isometry3d make_tf (std::initializer_list&lt; double &gt; args)  Eigen::VectorXd make_vector (std::initializer_list&lt; double &gt; args)"},{"location":"api/namespacerobot__dart/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/namespacerobot__dart/#variable-body_node_get_friction_coeff","title":"variable body_node_get_friction_coeff","text":"<pre><code>auto robot_dart::body_node_get_friction_coeff;\n</code></pre>"},{"location":"api/namespacerobot__dart/#variable-body_node_get_restitution_coeff","title":"variable body_node_get_restitution_coeff","text":"<pre><code>auto robot_dart::body_node_get_restitution_coeff;\n</code></pre>"},{"location":"api/namespacerobot__dart/#variable-body_node_set_friction_coeff","title":"variable body_node_set_friction_coeff","text":"<pre><code>auto robot_dart::body_node_set_friction_coeff;\n</code></pre>"},{"location":"api/namespacerobot__dart/#variable-body_node_set_restitution_coeff","title":"variable body_node_set_restitution_coeff","text":"<pre><code>auto robot_dart::body_node_set_restitution_coeff;\n</code></pre>"},{"location":"api/namespacerobot__dart/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/namespacerobot__dart/#function-make_tf","title":"function make_tf","text":"<pre><code>inline Eigen::Isometry3d robot_dart::make_tf (\n    const Eigen::Matrix3d &amp; R,\n    const Eigen::Vector3d &amp; t\n) \n</code></pre>"},{"location":"api/namespacerobot__dart/#function-make_tf_1","title":"function make_tf","text":"<pre><code>inline Eigen::Isometry3d robot_dart::make_tf (\n    const Eigen::Matrix3d &amp; R\n) \n</code></pre>"},{"location":"api/namespacerobot__dart/#function-make_tf_2","title":"function make_tf","text":"<pre><code>inline Eigen::Isometry3d robot_dart::make_tf (\n    const Eigen::Vector3d &amp; t\n) \n</code></pre>"},{"location":"api/namespacerobot__dart/#function-make_tf_3","title":"function make_tf","text":"<pre><code>inline Eigen::Isometry3d robot_dart::make_tf (\n    std::initializer_list&lt; double &gt; args\n) \n</code></pre>"},{"location":"api/namespacerobot__dart/#function-make_vector","title":"function make_vector","text":"<pre><code>inline Eigen::VectorXd robot_dart::make_vector (\n    std::initializer_list&lt; double &gt; args\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/control/pd_control.cpp</code></p>"},{"location":"api/classrobot__dart_1_1Assertion/","title":"Class robot_dart::Assertion","text":"<p>ClassList &gt; robot_dart &gt; Assertion</p> <p>Inherits the following classes: std::exception</p>"},{"location":"api/classrobot__dart_1_1Assertion/#public-functions","title":"Public Functions","text":"Type Name Assertion (const std::string &amp; msg=\"\")  const char * what () const"},{"location":"api/classrobot__dart_1_1Assertion/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1Assertion/#function-assertion","title":"function Assertion","text":"<pre><code>inline robot_dart::Assertion::Assertion (\n    const std::string &amp; msg=\"\"\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Assertion/#function-what","title":"function what","text":"<pre><code>inline const char * robot_dart::Assertion::what () const\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/utils.hpp</code></p>"},{"location":"api/classrobot__dart_1_1Robot/","title":"Class robot_dart::Robot","text":"<p>ClassList &gt; robot_dart &gt; Robot</p> <p>Inherits the following classes: std::enable_shared_from_this&lt; Robot &gt;</p> <p>Inherited by the following classes: robot_dart::robots::A1,  robot_dart::robots::Arm,  robot_dart::robots::Franka,  robot_dart::robots::Hexapod,  robot_dart::robots::ICub,  robot_dart::robots::Iiwa,  robot_dart::robots::Pendulum,  robot_dart::robots::Talos,  robot_dart::robots::Tiago,  robot_dart::robots::Ur3e,  robot_dart::robots::Vx300</p>"},{"location":"api/classrobot__dart_1_1Robot/#public-functions","title":"Public Functions","text":"Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1Robot/#public-static-functions","title":"Public Static Functions","text":"Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1Robot/#protected-attributes","title":"Protected Attributes","text":"Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1Robot/#protected-functions","title":"Protected Functions","text":"Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1Robot/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1Robot/#function-robot-13","title":"function Robot [\u2153]","text":"<pre><code>robot_dart::Robot::Robot (\n    const std::string &amp; model_file,\n    const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages,\n    const std::string &amp; robot_name=\"robot\",\n    bool is_urdf_string=false,\n    bool cast_shadows=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-robot-23","title":"function Robot [\u2154]","text":"<pre><code>robot_dart::Robot::Robot (\n    const std::string &amp; model_file,\n    const std::string &amp; robot_name=\"robot\",\n    bool is_urdf_string=false,\n    bool cast_shadows=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-robot-33","title":"function Robot [3/3]","text":"<pre><code>robot_dart::Robot::Robot (\n    dart::dynamics::SkeletonPtr skeleton,\n    const std::string &amp; robot_name=\"robot\",\n    bool cast_shadows=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-acceleration_lower_limits","title":"function acceleration_lower_limits","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::acceleration_lower_limits (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-acceleration_upper_limits","title":"function acceleration_upper_limits","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::acceleration_upper_limits (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-accelerations","title":"function accelerations","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::accelerations (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-active_controllers","title":"function active_controllers","text":"<pre><code>std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; robot_dart::Robot::active_controllers () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-actuator_type","title":"function actuator_type","text":"<pre><code>std::string robot_dart::Robot::actuator_type (\n    const std::string &amp; joint_name\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-actuator_types","title":"function actuator_types","text":"<pre><code>std::vector&lt; std::string &gt; robot_dart::Robot::actuator_types (\n    const std::vector&lt; std::string &gt; &amp; joint_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-add_body_mass-12","title":"function add_body_mass [\u00bd]","text":"<pre><code>void robot_dart::Robot::add_body_mass (\n    const std::string &amp; body_name,\n    double mass\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-add_body_mass-22","title":"function add_body_mass [2/2]","text":"<pre><code>void robot_dart::Robot::add_body_mass (\n    size_t body_index,\n    double mass\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-add_controller","title":"function add_controller","text":"<pre><code>void robot_dart::Robot::add_controller (\n    const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller,\n    double weight=1.0\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-add_external_force-12","title":"function add_external_force [\u00bd]","text":"<pre><code>void robot_dart::Robot::add_external_force (\n    const std::string &amp; body_name,\n    const Eigen::Vector3d &amp; force,\n    const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(),\n    bool force_local=false,\n    bool offset_local=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-add_external_force-22","title":"function add_external_force [2/2]","text":"<pre><code>void robot_dart::Robot::add_external_force (\n    size_t body_index,\n    const Eigen::Vector3d &amp; force,\n    const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(),\n    bool force_local=false,\n    bool offset_local=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-add_external_torque-12","title":"function add_external_torque [\u00bd]","text":"<pre><code>void robot_dart::Robot::add_external_torque (\n    const std::string &amp; body_name,\n    const Eigen::Vector3d &amp; torque,\n    bool local=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-add_external_torque-22","title":"function add_external_torque [2/2]","text":"<pre><code>void robot_dart::Robot::add_external_torque (\n    size_t body_index,\n    const Eigen::Vector3d &amp; torque,\n    bool local=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-adjacent_colliding","title":"function adjacent_colliding","text":"<pre><code>bool robot_dart::Robot::adjacent_colliding () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-aug_mass_matrix","title":"function aug_mass_matrix","text":"<pre><code>Eigen::MatrixXd robot_dart::Robot::aug_mass_matrix (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-base_pose","title":"function base_pose","text":"<pre><code>Eigen::Isometry3d robot_dart::Robot::base_pose () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-base_pose_vec","title":"function base_pose_vec","text":"<pre><code>Eigen::Vector6d robot_dart::Robot::base_pose_vec () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_acceleration-12","title":"function body_acceleration [\u00bd]","text":"<pre><code>Eigen::Vector6d robot_dart::Robot::body_acceleration (\n    const std::string &amp; body_name\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_acceleration-22","title":"function body_acceleration [2/2]","text":"<pre><code>Eigen::Vector6d robot_dart::Robot::body_acceleration (\n    size_t body_index\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_index","title":"function body_index","text":"<pre><code>size_t robot_dart::Robot::body_index (\n    const std::string &amp; body_name\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_mass-12","title":"function body_mass [\u00bd]","text":"<pre><code>double robot_dart::Robot::body_mass (\n    const std::string &amp; body_name\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_mass-22","title":"function body_mass [2/2]","text":"<pre><code>double robot_dart::Robot::body_mass (\n    size_t body_index\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_name","title":"function body_name","text":"<pre><code>std::string robot_dart::Robot::body_name (\n    size_t body_index\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_names","title":"function body_names","text":"<pre><code>std::vector&lt; std::string &gt; robot_dart::Robot::body_names () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_node-12","title":"function body_node [\u00bd]","text":"<pre><code>dart::dynamics::BodyNode * robot_dart::Robot::body_node (\n    const std::string &amp; body_name\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_node-22","title":"function body_node [2/2]","text":"<pre><code>dart::dynamics::BodyNode * robot_dart::Robot::body_node (\n    size_t body_index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_pose-12","title":"function body_pose [\u00bd]","text":"<pre><code>Eigen::Isometry3d robot_dart::Robot::body_pose (\n    const std::string &amp; body_name\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_pose-22","title":"function body_pose [2/2]","text":"<pre><code>Eigen::Isometry3d robot_dart::Robot::body_pose (\n    size_t body_index\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_pose_vec-12","title":"function body_pose_vec [\u00bd]","text":"<pre><code>Eigen::Vector6d robot_dart::Robot::body_pose_vec (\n    const std::string &amp; body_name\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_pose_vec-22","title":"function body_pose_vec [2/2]","text":"<pre><code>Eigen::Vector6d robot_dart::Robot::body_pose_vec (\n    size_t body_index\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_velocity-12","title":"function body_velocity [\u00bd]","text":"<pre><code>Eigen::Vector6d robot_dart::Robot::body_velocity (\n    const std::string &amp; body_name\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-body_velocity-22","title":"function body_velocity [2/2]","text":"<pre><code>Eigen::Vector6d robot_dart::Robot::body_velocity (\n    size_t body_index\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-cast_shadows","title":"function cast_shadows","text":"<pre><code>bool robot_dart::Robot::cast_shadows () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-clear_controllers","title":"function clear_controllers","text":"<pre><code>void robot_dart::Robot::clear_controllers () \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-clear_external_forces","title":"function clear_external_forces","text":"<pre><code>void robot_dart::Robot::clear_external_forces () \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-clear_internal_forces","title":"function clear_internal_forces","text":"<pre><code>void robot_dart::Robot::clear_internal_forces () \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-clone","title":"function clone","text":"<pre><code>std::shared_ptr&lt; Robot &gt; robot_dart::Robot::clone () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-clone_ghost","title":"function clone_ghost","text":"<pre><code>std::shared_ptr&lt; Robot &gt; robot_dart::Robot::clone_ghost (\n    const std::string &amp; ghost_name=\"ghost\",\n    const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-com","title":"function com","text":"<pre><code>Eigen::Vector3d robot_dart::Robot::com () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-com_acceleration","title":"function com_acceleration","text":"<pre><code>Eigen::Vector6d robot_dart::Robot::com_acceleration () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-com_jacobian","title":"function com_jacobian","text":"<pre><code>Eigen::MatrixXd robot_dart::Robot::com_jacobian (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-com_jacobian_deriv","title":"function com_jacobian_deriv","text":"<pre><code>Eigen::MatrixXd robot_dart::Robot::com_jacobian_deriv (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-com_velocity","title":"function com_velocity","text":"<pre><code>Eigen::Vector6d robot_dart::Robot::com_velocity () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-commands","title":"function commands","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::commands (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-constraint_forces","title":"function constraint_forces","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::constraint_forces (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-controller","title":"function controller","text":"<pre><code>std::shared_ptr&lt; control::RobotControl &gt; robot_dart::Robot::controller (\n    size_t index\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-controllers","title":"function controllers","text":"<pre><code>std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; robot_dart::Robot::controllers () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-coriolis_forces","title":"function coriolis_forces","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::coriolis_forces (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-coriolis_gravity_forces","title":"function coriolis_gravity_forces","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::coriolis_gravity_forces (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-coulomb_coeffs","title":"function coulomb_coeffs","text":"<pre><code>std::vector&lt; double &gt; robot_dart::Robot::coulomb_coeffs (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-damping_coeffs","title":"function damping_coeffs","text":"<pre><code>std::vector&lt; double &gt; robot_dart::Robot::damping_coeffs (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-dof-12","title":"function dof [\u00bd]","text":"<pre><code>dart::dynamics::DegreeOfFreedom * robot_dart::Robot::dof (\n    const std::string &amp; dof_name\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-dof-22","title":"function dof [2/2]","text":"<pre><code>dart::dynamics::DegreeOfFreedom * robot_dart::Robot::dof (\n    size_t dof_index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-dof_index","title":"function dof_index","text":"<pre><code>size_t robot_dart::Robot::dof_index (\n    const std::string &amp; dof_name\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-dof_map","title":"function dof_map","text":"<pre><code>const std::unordered_map&lt; std::string, size_t &gt; &amp; robot_dart::Robot::dof_map () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-dof_name","title":"function dof_name","text":"<pre><code>std::string robot_dart::Robot::dof_name (\n    size_t dof_index\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-dof_names","title":"function dof_names","text":"<pre><code>std::vector&lt; std::string &gt; robot_dart::Robot::dof_names (\n    bool filter_mimics=false,\n    bool filter_locked=false,\n    bool filter_passive=false\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-drawing_axes","title":"function drawing_axes","text":"<pre><code>const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; robot_dart::Robot::drawing_axes () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-external_forces-12","title":"function external_forces [\u00bd]","text":"<pre><code>Eigen::Vector6d robot_dart::Robot::external_forces (\n    const std::string &amp; body_name\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-external_forces-22","title":"function external_forces [2/2]","text":"<pre><code>Eigen::Vector6d robot_dart::Robot::external_forces (\n    size_t body_index\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-fix_to_world","title":"function fix_to_world","text":"<pre><code>void robot_dart::Robot::fix_to_world () \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-fixed","title":"function fixed","text":"<pre><code>bool robot_dart::Robot::fixed () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-force_lower_limits","title":"function force_lower_limits","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::force_lower_limits (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-force_position_bounds","title":"function force_position_bounds","text":"<pre><code>void robot_dart::Robot::force_position_bounds () \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-force_torque","title":"function force_torque","text":"<pre><code>std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; robot_dart::Robot::force_torque (\n    size_t joint_index\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-force_upper_limits","title":"function force_upper_limits","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::force_upper_limits (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-forces","title":"function forces","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::forces (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-free","title":"function free","text":"<pre><code>bool robot_dart::Robot::free () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-free_from_world","title":"function free_from_world","text":"<pre><code>void robot_dart::Robot::free_from_world (\n    const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero()\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-friction_coeff-12","title":"function friction_coeff [\u00bd]","text":"<pre><code>double robot_dart::Robot::friction_coeff (\n    const std::string &amp; body_name\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-friction_coeff-22","title":"function friction_coeff [2/2]","text":"<pre><code>double robot_dart::Robot::friction_coeff (\n    size_t body_index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-friction_dir-12","title":"function friction_dir [\u00bd]","text":"<pre><code>Eigen::Vector3d robot_dart::Robot::friction_dir (\n    const std::string &amp; body_name\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-friction_dir-22","title":"function friction_dir [2/2]","text":"<pre><code>Eigen::Vector3d robot_dart::Robot::friction_dir (\n    size_t body_index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-ghost","title":"function ghost","text":"<pre><code>bool robot_dart::Robot::ghost () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-gravity_forces","title":"function gravity_forces","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::gravity_forces (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-inv_aug_mass_matrix","title":"function inv_aug_mass_matrix","text":"<pre><code>Eigen::MatrixXd robot_dart::Robot::inv_aug_mass_matrix (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-inv_mass_matrix","title":"function inv_mass_matrix","text":"<pre><code>Eigen::MatrixXd robot_dart::Robot::inv_mass_matrix (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-jacobian","title":"function jacobian","text":"<pre><code>Eigen::MatrixXd robot_dart::Robot::jacobian (\n    const std::string &amp; body_name,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-jacobian_deriv","title":"function jacobian_deriv","text":"<pre><code>Eigen::MatrixXd robot_dart::Robot::jacobian_deriv (\n    const std::string &amp; body_name,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-joint-12","title":"function joint [\u00bd]","text":"<pre><code>dart::dynamics::Joint * robot_dart::Robot::joint (\n    const std::string &amp; joint_name\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-joint-22","title":"function joint [2/2]","text":"<pre><code>dart::dynamics::Joint * robot_dart::Robot::joint (\n    size_t joint_index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-joint_index","title":"function joint_index","text":"<pre><code>size_t robot_dart::Robot::joint_index (\n    const std::string &amp; joint_name\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-joint_map","title":"function joint_map","text":"<pre><code>const std::unordered_map&lt; std::string, size_t &gt; &amp; robot_dart::Robot::joint_map () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-joint_name","title":"function joint_name","text":"<pre><code>std::string robot_dart::Robot::joint_name (\n    size_t joint_index\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-joint_names","title":"function joint_names","text":"<pre><code>std::vector&lt; std::string &gt; robot_dart::Robot::joint_names () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-locked_dof_names","title":"function locked_dof_names","text":"<pre><code>std::vector&lt; std::string &gt; robot_dart::Robot::locked_dof_names () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-mass_matrix","title":"function mass_matrix","text":"<pre><code>Eigen::MatrixXd robot_dart::Robot::mass_matrix (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-mimic_dof_names","title":"function mimic_dof_names","text":"<pre><code>std::vector&lt; std::string &gt; robot_dart::Robot::mimic_dof_names () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-model_filename","title":"function model_filename","text":"<pre><code>inline const std::string &amp; robot_dart::Robot::model_filename () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-model_packages","title":"function model_packages","text":"<pre><code>inline const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; robot_dart::Robot::model_packages () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-name","title":"function name","text":"<pre><code>const std::string &amp; robot_dart::Robot::name () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-num_bodies","title":"function num_bodies","text":"<pre><code>size_t robot_dart::Robot::num_bodies () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-num_controllers","title":"function num_controllers","text":"<pre><code>size_t robot_dart::Robot::num_controllers () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-num_dofs","title":"function num_dofs","text":"<pre><code>size_t robot_dart::Robot::num_dofs () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-num_joints","title":"function num_joints","text":"<pre><code>size_t robot_dart::Robot::num_joints () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-passive_dof_names","title":"function passive_dof_names","text":"<pre><code>std::vector&lt; std::string &gt; robot_dart::Robot::passive_dof_names () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-position_enforced","title":"function position_enforced","text":"<pre><code>std::vector&lt; bool &gt; robot_dart::Robot::position_enforced (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-position_lower_limits","title":"function position_lower_limits","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::position_lower_limits (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-position_upper_limits","title":"function position_upper_limits","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::position_upper_limits (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-positions","title":"function positions","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::positions (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-reinit_controllers","title":"function reinit_controllers","text":"<pre><code>void robot_dart::Robot::reinit_controllers () \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-remove_all_drawing_axis","title":"function remove_all_drawing_axis","text":"<pre><code>void robot_dart::Robot::remove_all_drawing_axis () \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-remove_controller-12","title":"function remove_controller [\u00bd]","text":"<pre><code>void robot_dart::Robot::remove_controller (\n    const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-remove_controller-22","title":"function remove_controller [2/2]","text":"<pre><code>void robot_dart::Robot::remove_controller (\n    size_t index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-reset","title":"function reset","text":"<pre><code>virtual void robot_dart::Robot::reset () \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-reset_commands","title":"function reset_commands","text":"<pre><code>void robot_dart::Robot::reset_commands () \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-restitution_coeff-12","title":"function restitution_coeff [\u00bd]","text":"<pre><code>double robot_dart::Robot::restitution_coeff (\n    const std::string &amp; body_name\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-restitution_coeff-22","title":"function restitution_coeff [2/2]","text":"<pre><code>double robot_dart::Robot::restitution_coeff (\n    size_t body_index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-secondary_friction_coeff-12","title":"function secondary_friction_coeff [\u00bd]","text":"<pre><code>double robot_dart::Robot::secondary_friction_coeff (\n    const std::string &amp; body_name\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-secondary_friction_coeff-22","title":"function secondary_friction_coeff [2/2]","text":"<pre><code>double robot_dart::Robot::secondary_friction_coeff (\n    size_t body_index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-self_colliding","title":"function self_colliding","text":"<pre><code>bool robot_dart::Robot::self_colliding () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_acceleration_lower_limits","title":"function set_acceleration_lower_limits","text":"<pre><code>void robot_dart::Robot::set_acceleration_lower_limits (\n    const Eigen::VectorXd &amp; accelerations,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_acceleration_upper_limits","title":"function set_acceleration_upper_limits","text":"<pre><code>void robot_dart::Robot::set_acceleration_upper_limits (\n    const Eigen::VectorXd &amp; accelerations,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_accelerations","title":"function set_accelerations","text":"<pre><code>void robot_dart::Robot::set_accelerations (\n    const Eigen::VectorXd &amp; accelerations,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_actuator_type","title":"function set_actuator_type","text":"<pre><code>void robot_dart::Robot::set_actuator_type (\n    const std::string &amp; type,\n    const std::string &amp; joint_name,\n    bool override_mimic=false,\n    bool override_base=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_actuator_types","title":"function set_actuator_types","text":"<pre><code>void robot_dart::Robot::set_actuator_types (\n    const std::string &amp; type,\n    const std::vector&lt; std::string &gt; &amp; joint_names={},\n    bool override_mimic=false,\n    bool override_base=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_base_pose-12","title":"function set_base_pose [\u00bd]","text":"<pre><code>void robot_dart::Robot::set_base_pose (\n    const Eigen::Isometry3d &amp; tf\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_base_pose-22","title":"function set_base_pose [2/2]","text":"<pre><code>void robot_dart::Robot::set_base_pose (\n    const Eigen::Vector6d &amp; pose\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_body_mass-12","title":"function set_body_mass [\u00bd]","text":"<pre><code>void robot_dart::Robot::set_body_mass (\n    const std::string &amp; body_name,\n    double mass\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_body_mass-22","title":"function set_body_mass [2/2]","text":"<pre><code>void robot_dart::Robot::set_body_mass (\n    size_t body_index,\n    double mass\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_body_name","title":"function set_body_name","text":"<pre><code>void robot_dart::Robot::set_body_name (\n    size_t body_index,\n    const std::string &amp; body_name\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_cast_shadows","title":"function set_cast_shadows","text":"<pre><code>void robot_dart::Robot::set_cast_shadows (\n    bool cast_shadows=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_color_mode-12","title":"function set_color_mode [\u00bd]","text":"<pre><code>void robot_dart::Robot::set_color_mode (\n    const std::string &amp; color_mode\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_color_mode-22","title":"function set_color_mode [2/2]","text":"<pre><code>void robot_dart::Robot::set_color_mode (\n    const std::string &amp; color_mode,\n    const std::string &amp; body_name\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_commands","title":"function set_commands","text":"<pre><code>void robot_dart::Robot::set_commands (\n    const Eigen::VectorXd &amp; commands,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-12","title":"function set_coulomb_coeffs [\u00bd]","text":"<pre><code>void robot_dart::Robot::set_coulomb_coeffs (\n    const std::vector&lt; double &gt; &amp; cfrictions,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_coulomb_coeffs-22","title":"function set_coulomb_coeffs [2/2]","text":"<pre><code>void robot_dart::Robot::set_coulomb_coeffs (\n    double cfriction,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_damping_coeffs-12","title":"function set_damping_coeffs [\u00bd]","text":"<pre><code>void robot_dart::Robot::set_damping_coeffs (\n    const std::vector&lt; double &gt; &amp; damps,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_damping_coeffs-22","title":"function set_damping_coeffs [2/2]","text":"<pre><code>void robot_dart::Robot::set_damping_coeffs (\n    double damp,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_draw_axis","title":"function set_draw_axis","text":"<pre><code>void robot_dart::Robot::set_draw_axis (\n    const std::string &amp; body_name,\n    double size=0.25\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_external_force-12","title":"function set_external_force [\u00bd]","text":"<pre><code>void robot_dart::Robot::set_external_force (\n    const std::string &amp; body_name,\n    const Eigen::Vector3d &amp; force,\n    const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(),\n    bool force_local=false,\n    bool offset_local=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_external_force-22","title":"function set_external_force [2/2]","text":"<pre><code>void robot_dart::Robot::set_external_force (\n    size_t body_index,\n    const Eigen::Vector3d &amp; force,\n    const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(),\n    bool force_local=false,\n    bool offset_local=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_external_torque-12","title":"function set_external_torque [\u00bd]","text":"<pre><code>void robot_dart::Robot::set_external_torque (\n    const std::string &amp; body_name,\n    const Eigen::Vector3d &amp; torque,\n    bool local=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_external_torque-22","title":"function set_external_torque [2/2]","text":"<pre><code>void robot_dart::Robot::set_external_torque (\n    size_t body_index,\n    const Eigen::Vector3d &amp; torque,\n    bool local=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_force_lower_limits","title":"function set_force_lower_limits","text":"<pre><code>void robot_dart::Robot::set_force_lower_limits (\n    const Eigen::VectorXd &amp; forces,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_force_upper_limits","title":"function set_force_upper_limits","text":"<pre><code>void robot_dart::Robot::set_force_upper_limits (\n    const Eigen::VectorXd &amp; forces,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_forces","title":"function set_forces","text":"<pre><code>void robot_dart::Robot::set_forces (\n    const Eigen::VectorXd &amp; forces,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_friction_coeff-12","title":"function set_friction_coeff [\u00bd]","text":"<pre><code>void robot_dart::Robot::set_friction_coeff (\n    const std::string &amp; body_name,\n    double value\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_friction_coeff-22","title":"function set_friction_coeff [2/2]","text":"<pre><code>void robot_dart::Robot::set_friction_coeff (\n    size_t body_index,\n    double value\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_friction_coeffs","title":"function set_friction_coeffs","text":"<pre><code>void robot_dart::Robot::set_friction_coeffs (\n    double value\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_friction_dir-12","title":"function set_friction_dir [\u00bd]","text":"<pre><code>void robot_dart::Robot::set_friction_dir (\n    const std::string &amp; body_name,\n    const Eigen::Vector3d &amp; direction\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_friction_dir-22","title":"function set_friction_dir [2/2]","text":"<pre><code>void robot_dart::Robot::set_friction_dir (\n    size_t body_index,\n    const Eigen::Vector3d &amp; direction\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_ghost","title":"function set_ghost","text":"<pre><code>void robot_dart::Robot::set_ghost (\n    bool ghost=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_joint_name","title":"function set_joint_name","text":"<pre><code>void robot_dart::Robot::set_joint_name (\n    size_t joint_index,\n    const std::string &amp; joint_name\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_mimic","title":"function set_mimic","text":"<pre><code>void robot_dart::Robot::set_mimic (\n    const std::string &amp; joint_name,\n    const std::string &amp; mimic_joint_name,\n    double multiplier=1.,\n    double offset=0.\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_position_enforced-12","title":"function set_position_enforced [\u00bd]","text":"<pre><code>void robot_dart::Robot::set_position_enforced (\n    const std::vector&lt; bool &gt; &amp; enforced,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_position_enforced-22","title":"function set_position_enforced [2/2]","text":"<pre><code>void robot_dart::Robot::set_position_enforced (\n    bool enforced,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_position_lower_limits","title":"function set_position_lower_limits","text":"<pre><code>void robot_dart::Robot::set_position_lower_limits (\n    const Eigen::VectorXd &amp; positions,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_position_upper_limits","title":"function set_position_upper_limits","text":"<pre><code>void robot_dart::Robot::set_position_upper_limits (\n    const Eigen::VectorXd &amp; positions,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_positions","title":"function set_positions","text":"<pre><code>void robot_dart::Robot::set_positions (\n    const Eigen::VectorXd &amp; positions,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_restitution_coeff-12","title":"function set_restitution_coeff [\u00bd]","text":"<pre><code>void robot_dart::Robot::set_restitution_coeff (\n    const std::string &amp; body_name,\n    double value\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_restitution_coeff-22","title":"function set_restitution_coeff [2/2]","text":"<pre><code>void robot_dart::Robot::set_restitution_coeff (\n    size_t body_index,\n    double value\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_restitution_coeffs","title":"function set_restitution_coeffs","text":"<pre><code>void robot_dart::Robot::set_restitution_coeffs (\n    double value\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-12","title":"function set_secondary_friction_coeff [\u00bd]","text":"<pre><code>void robot_dart::Robot::set_secondary_friction_coeff (\n    const std::string &amp; body_name,\n    double value\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_secondary_friction_coeff-22","title":"function set_secondary_friction_coeff [2/2]","text":"<pre><code>void robot_dart::Robot::set_secondary_friction_coeff (\n    size_t body_index,\n    double value\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_secondary_friction_coeffs","title":"function set_secondary_friction_coeffs","text":"<pre><code>void robot_dart::Robot::set_secondary_friction_coeffs (\n    double value\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_self_collision","title":"function set_self_collision","text":"<pre><code>void robot_dart::Robot::set_self_collision (\n    bool enable_self_collisions=true,\n    bool enable_adjacent_collisions=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-12","title":"function set_spring_stiffnesses [\u00bd]","text":"<pre><code>void robot_dart::Robot::set_spring_stiffnesses (\n    const std::vector&lt; double &gt; &amp; stiffnesses,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_spring_stiffnesses-22","title":"function set_spring_stiffnesses [2/2]","text":"<pre><code>void robot_dart::Robot::set_spring_stiffnesses (\n    double stiffness,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_velocities","title":"function set_velocities","text":"<pre><code>void robot_dart::Robot::set_velocities (\n    const Eigen::VectorXd &amp; velocities,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_velocity_lower_limits","title":"function set_velocity_lower_limits","text":"<pre><code>void robot_dart::Robot::set_velocity_lower_limits (\n    const Eigen::VectorXd &amp; velocities,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-set_velocity_upper_limits","title":"function set_velocity_upper_limits","text":"<pre><code>void robot_dart::Robot::set_velocity_upper_limits (\n    const Eigen::VectorXd &amp; velocities,\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-skeleton","title":"function skeleton","text":"<pre><code>dart::dynamics::SkeletonPtr robot_dart::Robot::skeleton () \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-spring_stiffnesses","title":"function spring_stiffnesses","text":"<pre><code>std::vector&lt; double &gt; robot_dart::Robot::spring_stiffnesses (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-update","title":"function update","text":"<pre><code>void robot_dart::Robot::update (\n    double t\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-update_joint_dof_maps","title":"function update_joint_dof_maps","text":"<pre><code>void robot_dart::Robot::update_joint_dof_maps () \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-vec_dof","title":"function vec_dof","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::vec_dof (\n    const Eigen::VectorXd &amp; vec,\n    const std::vector&lt; std::string &gt; &amp; dof_names\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-velocities","title":"function velocities","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::velocities (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-velocity_lower_limits","title":"function velocity_lower_limits","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::velocity_lower_limits (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-velocity_upper_limits","title":"function velocity_upper_limits","text":"<pre><code>Eigen::VectorXd robot_dart::Robot::velocity_upper_limits (\n    const std::vector&lt; std::string &gt; &amp; dof_names={}\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-robot","title":"function ~Robot","text":"<pre><code>inline virtual robot_dart::Robot::~Robot () \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#public-static-functions-documentation","title":"Public Static Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1Robot/#function-create_box-12","title":"function create_box [\u00bd]","text":"<pre><code>static std::shared_ptr&lt; Robot &gt; robot_dart::Robot::create_box (\n    const Eigen::Vector3d &amp; dims,\n    const Eigen::Isometry3d &amp; tf,\n    const std::string &amp; type=\"free\",\n    double mass=1.0,\n    const Eigen::Vector4d &amp; color=dart::Color::Red(1.0),\n    const std::string &amp; box_name=\"box\"\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-create_box-22","title":"function create_box [2/2]","text":"<pre><code>static std::shared_ptr&lt; Robot &gt; robot_dart::Robot::create_box (\n    const Eigen::Vector3d &amp; dims,\n    const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(),\n    const std::string &amp; type=\"free\",\n    double mass=1.0,\n    const Eigen::Vector4d &amp; color=dart::Color::Red(1.0),\n    const std::string &amp; box_name=\"box\"\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-create_ellipsoid-12","title":"function create_ellipsoid [\u00bd]","text":"<pre><code>static std::shared_ptr&lt; Robot &gt; robot_dart::Robot::create_ellipsoid (\n    const Eigen::Vector3d &amp; dims,\n    const Eigen::Isometry3d &amp; tf,\n    const std::string &amp; type=\"free\",\n    double mass=1.0,\n    const Eigen::Vector4d &amp; color=dart::Color::Red(1.0),\n    const std::string &amp; ellipsoid_name=\"ellipsoid\"\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-create_ellipsoid-22","title":"function create_ellipsoid [2/2]","text":"<pre><code>static std::shared_ptr&lt; Robot &gt; robot_dart::Robot::create_ellipsoid (\n    const Eigen::Vector3d &amp; dims,\n    const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(),\n    const std::string &amp; type=\"free\",\n    double mass=1.0,\n    const Eigen::Vector4d &amp; color=dart::Color::Red(1.0),\n    const std::string &amp; ellipsoid_name=\"ellipsoid\"\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1Robot/#variable-_axis_shapes","title":"variable _axis_shapes","text":"<pre><code>std::vector&lt;std::pair&lt;dart::dynamics::BodyNode*, double&gt; &gt; robot_dart::Robot::_axis_shapes;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#variable-_cast_shadows","title":"variable _cast_shadows","text":"<pre><code>bool robot_dart::Robot::_cast_shadows;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#variable-_controllers","title":"variable _controllers","text":"<pre><code>std::vector&lt;std::shared_ptr&lt;control::RobotControl&gt; &gt; robot_dart::Robot::_controllers;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#variable-_dof_map","title":"variable _dof_map","text":"<pre><code>std::unordered_map&lt;std::string, size_t&gt; robot_dart::Robot::_dof_map;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#variable-_is_ghost","title":"variable _is_ghost","text":"<pre><code>bool robot_dart::Robot::_is_ghost;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#variable-_joint_map","title":"variable _joint_map","text":"<pre><code>std::unordered_map&lt;std::string, size_t&gt; robot_dart::Robot::_joint_map;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#variable-_model_filename","title":"variable _model_filename","text":"<pre><code>std::string robot_dart::Robot::_model_filename;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#variable-_packages","title":"variable _packages","text":"<pre><code>std::vector&lt;std::pair&lt;std::string, std::string&gt; &gt; robot_dart::Robot::_packages;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#variable-_robot_name","title":"variable _robot_name","text":"<pre><code>std::string robot_dart::Robot::_robot_name;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#variable-_skeleton","title":"variable _skeleton","text":"<pre><code>dart::dynamics::SkeletonPtr robot_dart::Robot::_skeleton;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#protected-functions-documentation","title":"Protected Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1Robot/#function-_actuator_type","title":"function _actuator_type","text":"<pre><code>dart::dynamics::Joint::ActuatorType robot_dart::Robot::_actuator_type (\n    size_t joint_index\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-_actuator_types","title":"function _actuator_types","text":"<pre><code>std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; robot_dart::Robot::_actuator_types () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-_get_path","title":"function _get_path","text":"<pre><code>std::string robot_dart::Robot::_get_path (\n    const std::string &amp; filename\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-_jacobian","title":"function _jacobian","text":"<pre><code>Eigen::MatrixXd robot_dart::Robot::_jacobian (\n    const Eigen::MatrixXd &amp; full_jacobian,\n    const std::vector&lt; std::string &gt; &amp; dof_names\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-_load_model","title":"function _load_model","text":"<pre><code>dart::dynamics::SkeletonPtr robot_dart::Robot::_load_model (\n    const std::string &amp; filename,\n    const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(),\n    bool is_urdf_string=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-_mass_matrix","title":"function _mass_matrix","text":"<pre><code>Eigen::MatrixXd robot_dart::Robot::_mass_matrix (\n    const Eigen::MatrixXd &amp; full_mass_matrix,\n    const std::vector&lt; std::string &gt; &amp; dof_names\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-_post_addition","title":"function _post_addition","text":"<pre><code>inline virtual void robot_dart::Robot::_post_addition (\n    RobotDARTSimu *\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-_post_removal","title":"function _post_removal","text":"<pre><code>inline virtual void robot_dart::Robot::_post_removal (\n    RobotDARTSimu *\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-_set_actuator_type","title":"function _set_actuator_type","text":"<pre><code>void robot_dart::Robot::_set_actuator_type (\n    size_t joint_index,\n    dart::dynamics::Joint::ActuatorType type,\n    bool override_mimic=false,\n    bool override_base=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-_set_actuator_types-12","title":"function _set_actuator_types [\u00bd]","text":"<pre><code>void robot_dart::Robot::_set_actuator_types (\n    const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types,\n    bool override_mimic=false,\n    bool override_base=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-_set_actuator_types-22","title":"function _set_actuator_types [2/2]","text":"<pre><code>void robot_dart::Robot::_set_actuator_types (\n    dart::dynamics::Joint::ActuatorType type,\n    bool override_mimic=false,\n    bool override_base=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-_set_color_mode-12","title":"function _set_color_mode [\u00bd]","text":"<pre><code>void robot_dart::Robot::_set_color_mode (\n    dart::dynamics::MeshShape::ColorMode color_mode,\n    dart::dynamics::SkeletonPtr skel\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Robot/#function-_set_color_mode-22","title":"function _set_color_mode [2/2]","text":"<pre><code>void robot_dart::Robot::_set_color_mode (\n    dart::dynamics::MeshShape::ColorMode color_mode,\n    dart::dynamics::ShapeNode * sn\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/robot.hpp</code></p>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/","title":"Class robot_dart::RobotDARTSimu","text":"<p>ClassList &gt; robot_dart &gt; RobotDARTSimu</p>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#public-types","title":"Public Types","text":"Type Name typedef std::shared_ptr&lt; Robot &gt; robot_t"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#public-functions","title":"Public Functions","text":"Type Name RobotDARTSimu (double timestep=0.015)  std::shared_ptr&lt; Robot &gt; add_checkerboard_floor (double floor_width=10.0, double floor_height=0.1, double size=1., const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity(), const std::string &amp; floor_name=\"checkerboard_floor\", const Eigen::Vector4d &amp; first_color=dart::Color::White(1.), const Eigen::Vector4d &amp; second_color=dart::Color::Gray(1.))  std::shared_ptr&lt; Robot &gt; add_floor (double floor_width=10.0, double floor_height=0.1, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity(), const std::string &amp; floor_name=\"floor\")  void add_robot (const robot_t &amp; robot)  std::shared_ptr&lt; T &gt; add_sensor (Args &amp;&amp;... args)  void add_sensor (const std::shared_ptr&lt; sensor::Sensor &gt; &amp; sensor)  std::shared_ptr&lt; simu::TextData &gt; add_text (const std::string &amp; text, const Eigen::Affine2d &amp; tf=Eigen::Affine2d::Identity(), Eigen::Vector4d color=Eigen::Vector4d(1, 1, 1, 1), std::uint8_t alignment=2&lt;&lt; 2, bool draw_bg=false, Eigen::Vector4d bg_color=Eigen::Vector4d(0, 0, 0, 0.75), double font_size=28)  void add_visual_robot (const robot_t &amp; robot)  void clear_robots ()  void clear_sensors ()  uint32_t collision_category (size_t robot_index, const std::string &amp; body_name)  uint32_t collision_category (size_t robot_index, size_t body_index)  const std::string &amp; collision_detector () const uint32_t collision_mask (size_t robot_index, const std::string &amp; body_name)  uint32_t collision_mask (size_t robot_index, size_t body_index)  std::pair&lt; uint32_t, uint32_t &gt; collision_masks (size_t robot_index, const std::string &amp; body_name)  std::pair&lt; uint32_t, uint32_t &gt; collision_masks (size_t robot_index, size_t body_index)  int control_freq () const void enable_status_bar (bool enable=true, double font_size=-1)  void enable_text_panel (bool enable=true, double font_size=-1)  std::shared_ptr&lt; gui::Base &gt; graphics () const int graphics_freq () const Eigen::Vector3d gravity () const simu::GUIData * gui_data ()  bool halted_sim () const size_t num_robots () const int physics_freq () const void remove_all_collision_masks ()  void remove_collision_masks (size_t robot_index)  void remove_collision_masks (size_t robot_index, const std::string &amp; body_name)  void remove_collision_masks (size_t robot_index, size_t body_index)  void remove_robot (const robot_t &amp; robot)  void remove_robot (size_t index)  void remove_sensor (const std::shared_ptr&lt; sensor::Sensor &gt; &amp; sensor)  void remove_sensor (size_t index)  void remove_sensors (const std::string &amp; type)  robot_t robot (size_t index) const int robot_index (const robot_t &amp; robot) const const std::vector&lt; robot_t &gt; &amp; robots () const void run (double max_duration=5.0, bool reset_commands=false, bool force_position_bounds=true)  bool schedule (int freq)  Scheduler &amp; scheduler ()  const Scheduler &amp; scheduler () const std::shared_ptr&lt; sensor::Sensor &gt; sensor (size_t index) const std::vector&lt; std::shared_ptr&lt; sensor::Sensor &gt; &gt; sensors () const void set_collision_detector (const std::string &amp; collision_detector)  void set_collision_masks (size_t robot_index, uint32_t category_mask, uint32_t collision_mask)  void set_collision_masks (size_t robot_index, const std::string &amp; body_name, uint32_t category_mask, uint32_t collision_mask)  void set_collision_masks (size_t robot_index, size_t body_index, uint32_t category_mask, uint32_t collision_mask)  void set_control_freq (int frequency)  void set_graphics (const std::shared_ptr&lt; gui::Base &gt; &amp; graphics)  void set_graphics_freq (int frequency)  void set_gravity (const Eigen::Vector3d &amp; gravity)  void set_text_panel (const std::string &amp; str)  void set_timestep (double timestep, bool update_control_freq=true)  std::string status_bar_text () const bool step (bool reset_commands=false, bool force_position_bounds=true)  bool step_world (bool reset_commands=false, bool force_position_bounds=true)  void stop_sim (bool disable=true)  std::string text_panel_text () const double timestep () const dart::simulation::WorldPtr world ()  ~RobotDARTSimu ()"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#protected-attributes","title":"Protected Attributes","text":"Type Name bool _break int _control_freq   = = -1 std::shared_ptr&lt; gui::Base &gt; _graphics int _graphics_freq   = = 40 std::unique_ptr&lt; simu::GUIData &gt; _gui_data size_t _old_index int _physics_freq   = = -1 std::vector&lt; robot_t &gt; _robots Scheduler _scheduler std::vector&lt; std::shared_ptr&lt; sensor::Sensor &gt; &gt; _sensors std::shared_ptr&lt; simu::TextData &gt; _status_bar   = = nullptr std::shared_ptr&lt; simu::TextData &gt; _text_panel   = = nullptr dart::simulation::WorldPtr _world"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#protected-functions","title":"Protected Functions","text":"Type Name void _enable (std::shared_ptr&lt; simu::TextData &gt; &amp; text, bool enable, double font_size)"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#typedef-robot_t","title":"typedef robot_t","text":"<pre><code>using robot_dart::RobotDARTSimu::robot_t =  std::shared_ptr&lt;Robot&gt;;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-robotdartsimu","title":"function RobotDARTSimu","text":"<pre><code>robot_dart::RobotDARTSimu::RobotDARTSimu (\n    double timestep=0.015\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-add_checkerboard_floor","title":"function add_checkerboard_floor","text":"<pre><code>std::shared_ptr&lt; Robot &gt; robot_dart::RobotDARTSimu::add_checkerboard_floor (\n    double floor_width=10.0,\n    double floor_height=0.1,\n    double size=1.,\n    const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity(),\n    const std::string &amp; floor_name=\"checkerboard_floor\",\n    const Eigen::Vector4d &amp; first_color=dart::Color::White(1.),\n    const Eigen::Vector4d &amp; second_color=dart::Color::Gray(1.)\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-add_floor","title":"function add_floor","text":"<pre><code>std::shared_ptr&lt; Robot &gt; robot_dart::RobotDARTSimu::add_floor (\n    double floor_width=10.0,\n    double floor_height=0.1,\n    const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity(),\n    const std::string &amp; floor_name=\"floor\"\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-add_robot","title":"function add_robot","text":"<pre><code>void robot_dart::RobotDARTSimu::add_robot (\n    const robot_t &amp; robot\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-add_sensor-12","title":"function add_sensor [\u00bd]","text":"<pre><code>template&lt;typename T, typename... Args&gt;\ninline std::shared_ptr&lt; T &gt; robot_dart::RobotDARTSimu::add_sensor (\n    Args &amp;&amp;... args\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-add_sensor-22","title":"function add_sensor [2/2]","text":"<pre><code>void robot_dart::RobotDARTSimu::add_sensor (\n    const std::shared_ptr&lt; sensor::Sensor &gt; &amp; sensor\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-add_text","title":"function add_text","text":"<pre><code>std::shared_ptr&lt; simu::TextData &gt; robot_dart::RobotDARTSimu::add_text (\n    const std::string &amp; text,\n    const Eigen::Affine2d &amp; tf=Eigen::Affine2d::Identity(),\n    Eigen::Vector4d color=Eigen::Vector4d(1, 1, 1, 1),\n    std::uint8_t alignment=2&lt;&lt; 2,\n    bool draw_bg=false,\n    Eigen::Vector4d bg_color=Eigen::Vector4d(0, 0, 0, 0.75),\n    double font_size=28\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-add_visual_robot","title":"function add_visual_robot","text":"<pre><code>void robot_dart::RobotDARTSimu::add_visual_robot (\n    const robot_t &amp; robot\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-clear_robots","title":"function clear_robots","text":"<pre><code>void robot_dart::RobotDARTSimu::clear_robots () \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-clear_sensors","title":"function clear_sensors","text":"<pre><code>void robot_dart::RobotDARTSimu::clear_sensors () \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-collision_category-12","title":"function collision_category [\u00bd]","text":"<pre><code>uint32_t robot_dart::RobotDARTSimu::collision_category (\n    size_t robot_index,\n    const std::string &amp; body_name\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-collision_category-22","title":"function collision_category [2/2]","text":"<pre><code>uint32_t robot_dart::RobotDARTSimu::collision_category (\n    size_t robot_index,\n    size_t body_index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-collision_detector","title":"function collision_detector","text":"<pre><code>const std::string &amp; robot_dart::RobotDARTSimu::collision_detector () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-collision_mask-12","title":"function collision_mask [\u00bd]","text":"<pre><code>uint32_t robot_dart::RobotDARTSimu::collision_mask (\n    size_t robot_index,\n    const std::string &amp; body_name\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-collision_mask-22","title":"function collision_mask [2/2]","text":"<pre><code>uint32_t robot_dart::RobotDARTSimu::collision_mask (\n    size_t robot_index,\n    size_t body_index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-collision_masks-12","title":"function collision_masks [\u00bd]","text":"<pre><code>std::pair&lt; uint32_t, uint32_t &gt; robot_dart::RobotDARTSimu::collision_masks (\n    size_t robot_index,\n    const std::string &amp; body_name\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-collision_masks-22","title":"function collision_masks [2/2]","text":"<pre><code>std::pair&lt; uint32_t, uint32_t &gt; robot_dart::RobotDARTSimu::collision_masks (\n    size_t robot_index,\n    size_t body_index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-control_freq","title":"function control_freq","text":"<pre><code>inline int robot_dart::RobotDARTSimu::control_freq () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-enable_status_bar","title":"function enable_status_bar","text":"<pre><code>void robot_dart::RobotDARTSimu::enable_status_bar (\n    bool enable=true,\n    double font_size=-1\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-enable_text_panel","title":"function enable_text_panel","text":"<pre><code>void robot_dart::RobotDARTSimu::enable_text_panel (\n    bool enable=true,\n    double font_size=-1\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-graphics","title":"function graphics","text":"<pre><code>std::shared_ptr&lt; gui::Base &gt; robot_dart::RobotDARTSimu::graphics () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-graphics_freq","title":"function graphics_freq","text":"<pre><code>inline int robot_dart::RobotDARTSimu::graphics_freq () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-gravity","title":"function gravity","text":"<pre><code>Eigen::Vector3d robot_dart::RobotDARTSimu::gravity () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-gui_data","title":"function gui_data","text":"<pre><code>simu::GUIData * robot_dart::RobotDARTSimu::gui_data () \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-halted_sim","title":"function halted_sim","text":"<pre><code>bool robot_dart::RobotDARTSimu::halted_sim () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-num_robots","title":"function num_robots","text":"<pre><code>size_t robot_dart::RobotDARTSimu::num_robots () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-physics_freq","title":"function physics_freq","text":"<pre><code>inline int robot_dart::RobotDARTSimu::physics_freq () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-remove_all_collision_masks","title":"function remove_all_collision_masks","text":"<pre><code>void robot_dart::RobotDARTSimu::remove_all_collision_masks () \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-remove_collision_masks-13","title":"function remove_collision_masks [\u2153]","text":"<pre><code>void robot_dart::RobotDARTSimu::remove_collision_masks (\n    size_t robot_index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-remove_collision_masks-23","title":"function remove_collision_masks [\u2154]","text":"<pre><code>void robot_dart::RobotDARTSimu::remove_collision_masks (\n    size_t robot_index,\n    const std::string &amp; body_name\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-remove_collision_masks-33","title":"function remove_collision_masks [3/3]","text":"<pre><code>void robot_dart::RobotDARTSimu::remove_collision_masks (\n    size_t robot_index,\n    size_t body_index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-remove_robot-12","title":"function remove_robot [\u00bd]","text":"<pre><code>void robot_dart::RobotDARTSimu::remove_robot (\n    const robot_t &amp; robot\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-remove_robot-22","title":"function remove_robot [2/2]","text":"<pre><code>void robot_dart::RobotDARTSimu::remove_robot (\n    size_t index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-remove_sensor-12","title":"function remove_sensor [\u00bd]","text":"<pre><code>void robot_dart::RobotDARTSimu::remove_sensor (\n    const std::shared_ptr&lt; sensor::Sensor &gt; &amp; sensor\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-remove_sensor-22","title":"function remove_sensor [2/2]","text":"<pre><code>void robot_dart::RobotDARTSimu::remove_sensor (\n    size_t index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-remove_sensors","title":"function remove_sensors","text":"<pre><code>void robot_dart::RobotDARTSimu::remove_sensors (\n    const std::string &amp; type\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-robot","title":"function robot","text":"<pre><code>robot_t robot_dart::RobotDARTSimu::robot (\n    size_t index\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-robot_index","title":"function robot_index","text":"<pre><code>int robot_dart::RobotDARTSimu::robot_index (\n    const robot_t &amp; robot\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-robots","title":"function robots","text":"<pre><code>const std::vector&lt; robot_t &gt; &amp; robot_dart::RobotDARTSimu::robots () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-run","title":"function run","text":"<pre><code>void robot_dart::RobotDARTSimu::run (\n    double max_duration=5.0,\n    bool reset_commands=false,\n    bool force_position_bounds=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-schedule","title":"function schedule","text":"<pre><code>inline bool robot_dart::RobotDARTSimu::schedule (\n    int freq\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-scheduler-12","title":"function scheduler [\u00bd]","text":"<pre><code>inline Scheduler &amp; robot_dart::RobotDARTSimu::scheduler () \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-scheduler-22","title":"function scheduler [2/2]","text":"<pre><code>inline const Scheduler &amp; robot_dart::RobotDARTSimu::scheduler () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-sensor","title":"function sensor","text":"<pre><code>std::shared_ptr&lt; sensor::Sensor &gt; robot_dart::RobotDARTSimu::sensor (\n    size_t index\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-sensors","title":"function sensors","text":"<pre><code>std::vector&lt; std::shared_ptr&lt; sensor::Sensor &gt; &gt; robot_dart::RobotDARTSimu::sensors () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-set_collision_detector","title":"function set_collision_detector","text":"<pre><code>void robot_dart::RobotDARTSimu::set_collision_detector (\n    const std::string &amp; collision_detector\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-set_collision_masks-13","title":"function set_collision_masks [\u2153]","text":"<pre><code>void robot_dart::RobotDARTSimu::set_collision_masks (\n    size_t robot_index,\n    uint32_t category_mask,\n    uint32_t collision_mask\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-set_collision_masks-23","title":"function set_collision_masks [\u2154]","text":"<pre><code>void robot_dart::RobotDARTSimu::set_collision_masks (\n    size_t robot_index,\n    const std::string &amp; body_name,\n    uint32_t category_mask,\n    uint32_t collision_mask\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-set_collision_masks-33","title":"function set_collision_masks [3/3]","text":"<pre><code>void robot_dart::RobotDARTSimu::set_collision_masks (\n    size_t robot_index,\n    size_t body_index,\n    uint32_t category_mask,\n    uint32_t collision_mask\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-set_control_freq","title":"function set_control_freq","text":"<pre><code>inline void robot_dart::RobotDARTSimu::set_control_freq (\n    int frequency\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-set_graphics","title":"function set_graphics","text":"<pre><code>void robot_dart::RobotDARTSimu::set_graphics (\n    const std::shared_ptr&lt; gui::Base &gt; &amp; graphics\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-set_graphics_freq","title":"function set_graphics_freq","text":"<pre><code>inline void robot_dart::RobotDARTSimu::set_graphics_freq (\n    int frequency\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-set_gravity","title":"function set_gravity","text":"<pre><code>void robot_dart::RobotDARTSimu::set_gravity (\n    const Eigen::Vector3d &amp; gravity\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-set_text_panel","title":"function set_text_panel","text":"<pre><code>void robot_dart::RobotDARTSimu::set_text_panel (\n    const std::string &amp; str\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-set_timestep","title":"function set_timestep","text":"<pre><code>void robot_dart::RobotDARTSimu::set_timestep (\n    double timestep,\n    bool update_control_freq=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-status_bar_text","title":"function status_bar_text","text":"<pre><code>std::string robot_dart::RobotDARTSimu::status_bar_text () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-step","title":"function step","text":"<pre><code>bool robot_dart::RobotDARTSimu::step (\n    bool reset_commands=false,\n    bool force_position_bounds=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-step_world","title":"function step_world","text":"<pre><code>bool robot_dart::RobotDARTSimu::step_world (\n    bool reset_commands=false,\n    bool force_position_bounds=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-stop_sim","title":"function stop_sim","text":"<pre><code>void robot_dart::RobotDARTSimu::stop_sim (\n    bool disable=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-text_panel_text","title":"function text_panel_text","text":"<pre><code>std::string robot_dart::RobotDARTSimu::text_panel_text () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-timestep","title":"function timestep","text":"<pre><code>double robot_dart::RobotDARTSimu::timestep () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-world","title":"function world","text":"<pre><code>dart::simulation::WorldPtr robot_dart::RobotDARTSimu::world () \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-robotdartsimu_1","title":"function ~RobotDARTSimu","text":"<pre><code>robot_dart::RobotDARTSimu::~RobotDARTSimu () \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#variable-_break","title":"variable _break","text":"<pre><code>bool robot_dart::RobotDARTSimu::_break;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#variable-_control_freq","title":"variable _control_freq","text":"<pre><code>int robot_dart::RobotDARTSimu::_control_freq;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#variable-_graphics","title":"variable _graphics","text":"<pre><code>std::shared_ptr&lt;gui::Base&gt; robot_dart::RobotDARTSimu::_graphics;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#variable-_graphics_freq","title":"variable _graphics_freq","text":"<pre><code>int robot_dart::RobotDARTSimu::_graphics_freq;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#variable-_gui_data","title":"variable _gui_data","text":"<pre><code>std::unique_ptr&lt;simu::GUIData&gt; robot_dart::RobotDARTSimu::_gui_data;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#variable-_old_index","title":"variable _old_index","text":"<pre><code>size_t robot_dart::RobotDARTSimu::_old_index;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#variable-_physics_freq","title":"variable _physics_freq","text":"<pre><code>int robot_dart::RobotDARTSimu::_physics_freq;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#variable-_robots","title":"variable _robots","text":"<pre><code>std::vector&lt;robot_t&gt; robot_dart::RobotDARTSimu::_robots;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#variable-_scheduler","title":"variable _scheduler","text":"<pre><code>Scheduler robot_dart::RobotDARTSimu::_scheduler;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#variable-_sensors","title":"variable _sensors","text":"<pre><code>std::vector&lt;std::shared_ptr&lt;sensor::Sensor&gt; &gt; robot_dart::RobotDARTSimu::_sensors;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#variable-_status_bar","title":"variable _status_bar","text":"<pre><code>std::shared_ptr&lt;simu::TextData&gt; robot_dart::RobotDARTSimu::_status_bar;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#variable-_text_panel","title":"variable _text_panel","text":"<pre><code>std::shared_ptr&lt;simu::TextData&gt; robot_dart::RobotDARTSimu::_text_panel;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#variable-_world","title":"variable _world","text":"<pre><code>dart::simulation::WorldPtr robot_dart::RobotDARTSimu::_world;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#protected-functions-documentation","title":"Protected Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#function-_enable","title":"function _enable","text":"<pre><code>void robot_dart::RobotDARTSimu::_enable (\n    std::shared_ptr&lt; simu::TextData &gt; &amp; text,\n    bool enable,\n    double font_size\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/robot_dart_simu.hpp</code></p>"},{"location":"api/classrobot__dart_1_1RobotPool/","title":"Class robot_dart::RobotPool","text":"<p>ClassList &gt; robot_dart &gt; RobotPool</p>"},{"location":"api/classrobot__dart_1_1RobotPool/#public-types","title":"Public Types","text":"Type Name typedef std::function&lt; std::shared_ptr&lt; Robot &gt;()&gt; robot_creator_t"},{"location":"api/classrobot__dart_1_1RobotPool/#public-functions","title":"Public Functions","text":"Type Name RobotPool (const robot_creator_t &amp; robot_creator, size_t pool_size=32, bool verbose=true)  RobotPool (const RobotPool &amp;) = delete virtual void free_robot (const std::shared_ptr&lt; Robot &gt; &amp; robot)  virtual std::shared_ptr&lt; Robot &gt; get_robot (const std::string &amp; name=\"robot\")  const std::string &amp; model_filename () const void operator= (const RobotPool &amp;) = delete virtual ~RobotPool ()"},{"location":"api/classrobot__dart_1_1RobotPool/#protected-attributes","title":"Protected Attributes","text":"Type Name std::vector&lt; bool &gt; _free std::string _model_filename size_t _pool_size robot_creator_t _robot_creator std::mutex _skeleton_mutex std::vector&lt; dart::dynamics::SkeletonPtr &gt; _skeletons bool _verbose"},{"location":"api/classrobot__dart_1_1RobotPool/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _reset_robot (const std::shared_ptr&lt; Robot &gt; &amp; robot)"},{"location":"api/classrobot__dart_1_1RobotPool/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1RobotPool/#typedef-robot_creator_t","title":"typedef robot_creator_t","text":"<pre><code>using robot_dart::RobotPool::robot_creator_t =  std::function&lt;std::shared_ptr&lt;Robot&gt;()&gt;;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1RobotPool/#function-robotpool-12","title":"function RobotPool [\u00bd]","text":"<pre><code>robot_dart::RobotPool::RobotPool (\n    const robot_creator_t &amp; robot_creator,\n    size_t pool_size=32,\n    bool verbose=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#function-robotpool-22","title":"function RobotPool [2/2]","text":"<pre><code>robot_dart::RobotPool::RobotPool (\n    const RobotPool &amp;\n) = delete\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#function-free_robot","title":"function free_robot","text":"<pre><code>virtual void robot_dart::RobotPool::free_robot (\n    const std::shared_ptr&lt; Robot &gt; &amp; robot\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#function-get_robot","title":"function get_robot","text":"<pre><code>virtual std::shared_ptr&lt; Robot &gt; robot_dart::RobotPool::get_robot (\n    const std::string &amp; name=\"robot\"\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#function-model_filename","title":"function model_filename","text":"<pre><code>inline const std::string &amp; robot_dart::RobotPool::model_filename () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#function-operator","title":"function operator=","text":"<pre><code>void robot_dart::RobotPool::operator= (\n    const RobotPool &amp;\n) = delete\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#function-robotpool","title":"function ~RobotPool","text":"<pre><code>inline virtual robot_dart::RobotPool::~RobotPool () \n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1RobotPool/#variable-_free","title":"variable _free","text":"<pre><code>std::vector&lt;bool&gt; robot_dart::RobotPool::_free;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#variable-_model_filename","title":"variable _model_filename","text":"<pre><code>std::string robot_dart::RobotPool::_model_filename;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#variable-_pool_size","title":"variable _pool_size","text":"<pre><code>size_t robot_dart::RobotPool::_pool_size;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#variable-_robot_creator","title":"variable _robot_creator","text":"<pre><code>robot_creator_t robot_dart::RobotPool::_robot_creator;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#variable-_skeleton_mutex","title":"variable _skeleton_mutex","text":"<pre><code>std::mutex robot_dart::RobotPool::_skeleton_mutex;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#variable-_skeletons","title":"variable _skeletons","text":"<pre><code>std::vector&lt;dart::dynamics::SkeletonPtr&gt; robot_dart::RobotPool::_skeletons;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#variable-_verbose","title":"variable _verbose","text":"<pre><code>bool robot_dart::RobotPool::_verbose;\n</code></pre>"},{"location":"api/classrobot__dart_1_1RobotPool/#protected-functions-documentation","title":"Protected Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1RobotPool/#function-_reset_robot","title":"function _reset_robot","text":"<pre><code>virtual void robot_dart::RobotPool::_reset_robot (\n    const std::shared_ptr&lt; Robot &gt; &amp; robot\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/robot_pool.hpp</code></p>"},{"location":"api/classrobot__dart_1_1Scheduler/","title":"Class robot_dart::Scheduler","text":"<p>ClassList &gt; robot_dart &gt; Scheduler</p>"},{"location":"api/classrobot__dart_1_1Scheduler/#public-functions","title":"Public Functions","text":"Type Name Scheduler (double dt, bool sync=false)  double current_time () constcurrent time according to the simulation (simulation clock) double dt () constdt used by the simulation (simulation clock) double it_duration () const double last_it_duration () const double next_time () constnext time according to the simulation (simulation clock) bool operator() (int frequency)  double real_time () consttime according to the clock's computer (wall clock) double real_time_factor () const void reset (double dt, bool sync=false, double current_time=0., double real_time=0.)  bool schedule (int frequency)  void set_sync (bool enable)  double step ()  bool sync () const"},{"location":"api/classrobot__dart_1_1Scheduler/#protected-types","title":"Protected Types","text":"Type Name typedef std::chrono::high_resolution_clock clock_t"},{"location":"api/classrobot__dart_1_1Scheduler/#protected-attributes","title":"Protected Attributes","text":"Type Name double _average_it_duration   = = 0. int _current_step   = = 0 double _current_time   = = 0. double _dt double _it_duration   = = 0. clock_t::time_point _last_iteration_time int _max_frequency   = = -1 double _real_start_time   = = 0. double _real_time   = = 0. double _simu_start_time   = = 0. clock_t::time_point _start_time bool _sync"},{"location":"api/classrobot__dart_1_1Scheduler/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1Scheduler/#function-scheduler","title":"function Scheduler","text":"<pre><code>inline robot_dart::Scheduler::Scheduler (\n    double dt,\n    bool sync=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#function-current_time","title":"function current_time","text":"<pre><code>inline double robot_dart::Scheduler::current_time () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#function-dt","title":"function dt","text":"<pre><code>inline double robot_dart::Scheduler::dt () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#function-it_duration","title":"function it_duration","text":"<pre><code>inline double robot_dart::Scheduler::it_duration () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#function-last_it_duration","title":"function last_it_duration","text":"<pre><code>inline double robot_dart::Scheduler::last_it_duration () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#function-next_time","title":"function next_time","text":"<pre><code>inline double robot_dart::Scheduler::next_time () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#function-operator","title":"function operator()","text":"<pre><code>inline bool robot_dart::Scheduler::operator() (\n    int frequency\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#function-real_time","title":"function real_time","text":"<pre><code>inline double robot_dart::Scheduler::real_time () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#function-real_time_factor","title":"function real_time_factor","text":"<pre><code>inline double robot_dart::Scheduler::real_time_factor () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#function-reset","title":"function reset","text":"<pre><code>void robot_dart::Scheduler::reset (\n    double dt,\n    bool sync=false,\n    double current_time=0.,\n    double real_time=0.\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#function-schedule","title":"function schedule","text":"<pre><code>bool robot_dart::Scheduler::schedule (\n    int frequency\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#function-set_sync","title":"function set_sync","text":"<pre><code>inline void robot_dart::Scheduler::set_sync (\n    bool enable\n) \n</code></pre> <p>synchronize the simulation clock with the wall clock (when possible, i.e. when the simulation is faster than real time) </p>"},{"location":"api/classrobot__dart_1_1Scheduler/#function-step","title":"function step","text":"<pre><code>double robot_dart::Scheduler::step () \n</code></pre> <p>call this at the end of the loop (see examples) this will synchronize with real time if requested and increase the counter; returns the real-time (in seconds) </p>"},{"location":"api/classrobot__dart_1_1Scheduler/#function-sync","title":"function sync","text":"<pre><code>inline bool robot_dart::Scheduler::sync () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#protected-types-documentation","title":"Protected Types Documentation","text":""},{"location":"api/classrobot__dart_1_1Scheduler/#typedef-clock_t","title":"typedef clock_t","text":"<pre><code>using robot_dart::Scheduler::clock_t =  std::chrono::high_resolution_clock;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1Scheduler/#variable-_average_it_duration","title":"variable _average_it_duration","text":"<pre><code>double robot_dart::Scheduler::_average_it_duration;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#variable-_current_step","title":"variable _current_step","text":"<pre><code>int robot_dart::Scheduler::_current_step;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#variable-_current_time","title":"variable _current_time","text":"<pre><code>double robot_dart::Scheduler::_current_time;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#variable-_dt","title":"variable _dt","text":"<pre><code>double robot_dart::Scheduler::_dt;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#variable-_it_duration","title":"variable _it_duration","text":"<pre><code>double robot_dart::Scheduler::_it_duration;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#variable-_last_iteration_time","title":"variable _last_iteration_time","text":"<pre><code>clock_t::time_point robot_dart::Scheduler::_last_iteration_time;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#variable-_max_frequency","title":"variable _max_frequency","text":"<pre><code>int robot_dart::Scheduler::_max_frequency;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#variable-_real_start_time","title":"variable _real_start_time","text":"<pre><code>double robot_dart::Scheduler::_real_start_time;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#variable-_real_time","title":"variable _real_time","text":"<pre><code>double robot_dart::Scheduler::_real_time;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#variable-_simu_start_time","title":"variable _simu_start_time","text":"<pre><code>double robot_dart::Scheduler::_simu_start_time;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#variable-_start_time","title":"variable _start_time","text":"<pre><code>clock_t::time_point robot_dart::Scheduler::_start_time;\n</code></pre>"},{"location":"api/classrobot__dart_1_1Scheduler/#variable-_sync","title":"variable _sync","text":"<pre><code>bool robot_dart::Scheduler::_sync;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/scheduler.hpp</code></p>"},{"location":"api/namespacerobot__dart_1_1collision__filter/","title":"Namespace robot_dart::collision_filter","text":"<p>Namespace List &gt; robot_dart &gt; collision_filter</p>"},{"location":"api/namespacerobot__dart_1_1collision__filter/#classes","title":"Classes","text":"Type Name class BitmaskContactFilter <p>The documentation for this class was generated from the following file <code>robot_dart/robot_dart_simu.cpp</code></p>"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/","title":"Class robot_dart::collision_filter::BitmaskContactFilter","text":"<p>ClassList &gt; robot_dart &gt; collision_filter &gt; BitmaskContactFilter</p> <p>Inherits the following classes: dart::BodyNodeCollisionFilter</p>"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#classes","title":"Classes","text":"Type Name struct Masks"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#public-types","title":"Public Types","text":"Type Name typedef const dart::CollisionObject * DartCollisionConstPtr typedef const dart::dynamics::ShapeNode * DartShapeConstPtr"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#public-functions","title":"Public Functions","text":"Type Name void add_to_map (DartShapeConstPtr shape, uint32_t col_mask, uint32_t cat_mask)  void add_to_map (dart::dynamics::SkeletonPtr skel, uint32_t col_mask, uint32_t cat_mask)  void clear_all ()  bool ignoresCollision (DartCollisionConstPtr object1, DartCollisionConstPtr object2) override const Masks mask (DartShapeConstPtr shape) const void remove_from_map (DartShapeConstPtr shape)  void remove_from_map (dart::dynamics::SkeletonPtr skel)  virtual ~BitmaskContactFilter () = default"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#typedef-dartcollisionconstptr","title":"typedef DartCollisionConstPtr","text":"<pre><code>using robot_dart::collision_filter::BitmaskContactFilter::DartCollisionConstPtr =  const dart::collision::CollisionObject*;\n</code></pre>"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#typedef-dartshapeconstptr","title":"typedef DartShapeConstPtr","text":"<pre><code>using robot_dart::collision_filter::BitmaskContactFilter::DartShapeConstPtr =  const dart::dynamics::ShapeNode*;\n</code></pre>"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#function-add_to_map-12","title":"function add_to_map [\u00bd]","text":"<pre><code>inline void robot_dart::collision_filter::BitmaskContactFilter::add_to_map (\n    DartShapeConstPtr shape,\n    uint32_t col_mask,\n    uint32_t cat_mask\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#function-add_to_map-22","title":"function add_to_map [2/2]","text":"<pre><code>inline void robot_dart::collision_filter::BitmaskContactFilter::add_to_map (\n    dart::dynamics::SkeletonPtr skel,\n    uint32_t col_mask,\n    uint32_t cat_mask\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#function-clear_all","title":"function clear_all","text":"<pre><code>inline void robot_dart::collision_filter::BitmaskContactFilter::clear_all () \n</code></pre>"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#function-ignorescollision","title":"function ignoresCollision","text":"<pre><code>inline bool robot_dart::collision_filter::BitmaskContactFilter::ignoresCollision (\n    DartCollisionConstPtr object1,\n    DartCollisionConstPtr object2\n) override const\n</code></pre>"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#function-mask","title":"function mask","text":"<pre><code>inline Masks robot_dart::collision_filter::BitmaskContactFilter::mask (\n    DartShapeConstPtr shape\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#function-remove_from_map-12","title":"function remove_from_map [\u00bd]","text":"<pre><code>inline void robot_dart::collision_filter::BitmaskContactFilter::remove_from_map (\n    DartShapeConstPtr shape\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#function-remove_from_map-22","title":"function remove_from_map [2/2]","text":"<pre><code>inline void robot_dart::collision_filter::BitmaskContactFilter::remove_from_map (\n    dart::dynamics::SkeletonPtr skel\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#function-bitmaskcontactfilter","title":"function ~BitmaskContactFilter","text":"<pre><code>virtual robot_dart::collision_filter::BitmaskContactFilter::~BitmaskContactFilter () = default\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/robot_dart_simu.cpp</code></p>"},{"location":"api/structrobot__dart_1_1collision__filter_1_1BitmaskContactFilter_1_1Masks/","title":"Struct robot_dart::collision_filter::BitmaskContactFilter::Masks","text":"<p>ClassList &gt; robot_dart &gt; collision_filter &gt; BitmaskContactFilter &gt; Masks</p>"},{"location":"api/structrobot__dart_1_1collision__filter_1_1BitmaskContactFilter_1_1Masks/#public-attributes","title":"Public Attributes","text":"Type Name uint32_t category_mask   = = 0xffffffff uint32_t collision_mask   = = 0xffffffff"},{"location":"api/structrobot__dart_1_1collision__filter_1_1BitmaskContactFilter_1_1Masks/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1collision__filter_1_1BitmaskContactFilter_1_1Masks/#variable-category_mask","title":"variable category_mask","text":"<pre><code>uint32_t robot_dart::collision_filter::BitmaskContactFilter::Masks::category_mask;\n</code></pre>"},{"location":"api/structrobot__dart_1_1collision__filter_1_1BitmaskContactFilter_1_1Masks/#variable-collision_mask","title":"variable collision_mask","text":"<pre><code>uint32_t robot_dart::collision_filter::BitmaskContactFilter::Masks::collision_mask;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/robot_dart_simu.cpp</code></p>"},{"location":"api/namespacerobot__dart_1_1control/","title":"Namespace robot_dart::control","text":"<p>Namespace List &gt; robot_dart &gt; control</p>"},{"location":"api/namespacerobot__dart_1_1control/#classes","title":"Classes","text":"Type Name class PDControl class PolicyControl &lt;typename Policy&gt; class RobotControl class SimpleControl <p>The documentation for this class was generated from the following file <code>robot_dart/control/pd_control.cpp</code></p>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/","title":"Class robot_dart::control::PDControl","text":"<p>ClassList &gt; robot_dart &gt; control &gt; PDControl</p> <p>Inherits the following classes: robot_dart::control::RobotControl</p>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#public-functions","title":"Public Functions","text":"Type Name PDControl ()  PDControl (const Eigen::VectorXd &amp; ctrl, bool full_control=false, bool use_angular_errors=true)  PDControl (const Eigen::VectorXd &amp; ctrl, const std::vector&lt; std::string &gt; &amp; controllable_dofs, bool use_angular_errors=true)  virtual Eigen::VectorXd calculate (double) override virtual std::shared_ptr&lt; RobotControl &gt; clone () override const virtual void configure () override std::pair&lt; Eigen::VectorXd, Eigen::VectorXd &gt; pd () const void set_pd (double p, double d)  void set_pd (const Eigen::VectorXd &amp; p, const Eigen::VectorXd &amp; d)  void set_use_angular_errors (bool enable=true)  bool using_angular_errors () const"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#public-functions-inherited-from-robot_dartcontrolrobotcontrol","title":"Public Functions inherited from robot_dart::control::RobotControl","text":"<p>See robot_dart::control::RobotControl</p> Type Name RobotControl ()  RobotControl (const Eigen::VectorXd &amp; ctrl, bool full_control=false)  RobotControl (const Eigen::VectorXd &amp; ctrl, const std::vector&lt; std::string &gt; &amp; controllable_dofs)  void activate (bool enable=true)  bool active () const virtual Eigen::VectorXd calculate (double t) = 0 virtual std::shared_ptr&lt; RobotControl &gt; clone () const = 0 virtual void configure () = 0 const std::vector&lt; std::string &gt; &amp; controllable_dofs () const void init ()  const Eigen::VectorXd &amp; parameters () const std::shared_ptr&lt; Robot &gt; robot () const void set_parameters (const Eigen::VectorXd &amp; ctrl)  void set_robot (const std::shared_ptr&lt; Robot &gt; &amp; robot)  void set_weight (double weight)  double weight () const virtual ~RobotControl ()"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#protected-attributes","title":"Protected Attributes","text":"Type Name Eigen::VectorXd _Kd Eigen::VectorXd _Kp bool _use_angular_errors"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#protected-attributes-inherited-from-robot_dartcontrolrobotcontrol","title":"Protected Attributes inherited from robot_dart::control::RobotControl","text":"<p>See robot_dart::control::RobotControl</p> Type Name bool _active bool _check_free   = = false int _control_dof std::vector&lt; std::string &gt; _controllable_dofs Eigen::VectorXd _ctrl int _dof std::weak_ptr&lt; Robot &gt; _robot double _weight"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#protected-static-functions","title":"Protected Static Functions","text":"Type Name double _angle_dist (double target, double current)"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-pdcontrol-13","title":"function PDControl [\u2153]","text":"<pre><code>robot_dart::control::PDControl::PDControl () \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-pdcontrol-23","title":"function PDControl [\u2154]","text":"<pre><code>robot_dart::control::PDControl::PDControl (\n    const Eigen::VectorXd &amp; ctrl,\n    bool full_control=false,\n    bool use_angular_errors=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-pdcontrol-33","title":"function PDControl [3/3]","text":"<pre><code>robot_dart::control::PDControl::PDControl (\n    const Eigen::VectorXd &amp; ctrl,\n    const std::vector&lt; std::string &gt; &amp; controllable_dofs,\n    bool use_angular_errors=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-calculate","title":"function calculate","text":"<pre><code>virtual Eigen::VectorXd robot_dart::control::PDControl::calculate (\n    double\n) override\n</code></pre> <p>Implements robot_dart::control::RobotControl::calculate</p>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-clone","title":"function clone","text":"<pre><code>virtual std::shared_ptr&lt; RobotControl &gt; robot_dart::control::PDControl::clone () override const\n</code></pre> <p>Implements robot_dart::control::RobotControl::clone</p>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-configure","title":"function configure","text":"<pre><code>virtual void robot_dart::control::PDControl::configure () override\n</code></pre> <p>Implements robot_dart::control::RobotControl::configure</p>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-pd","title":"function pd","text":"<pre><code>std::pair&lt; Eigen::VectorXd, Eigen::VectorXd &gt; robot_dart::control::PDControl::pd () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-set_pd-12","title":"function set_pd [\u00bd]","text":"<pre><code>void robot_dart::control::PDControl::set_pd (\n    double p,\n    double d\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-set_pd-22","title":"function set_pd [2/2]","text":"<pre><code>void robot_dart::control::PDControl::set_pd (\n    const Eigen::VectorXd &amp; p,\n    const Eigen::VectorXd &amp; d\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-set_use_angular_errors","title":"function set_use_angular_errors","text":"<pre><code>void robot_dart::control::PDControl::set_use_angular_errors (\n    bool enable=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-using_angular_errors","title":"function using_angular_errors","text":"<pre><code>bool robot_dart::control::PDControl::using_angular_errors () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#variable-_kd","title":"variable _Kd","text":"<pre><code>Eigen::VectorXd robot_dart::control::PDControl::_Kd;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#variable-_kp","title":"variable _Kp","text":"<pre><code>Eigen::VectorXd robot_dart::control::PDControl::_Kp;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#variable-_use_angular_errors","title":"variable _use_angular_errors","text":"<pre><code>bool robot_dart::control::PDControl::_use_angular_errors;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#protected-static-functions-documentation","title":"Protected Static Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-_angle_dist","title":"function _angle_dist","text":"<pre><code>static double robot_dart::control::PDControl::_angle_dist (\n    double target,\n    double current\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/control/pd_control.hpp</code></p>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/","title":"Class robot_dart::control::PolicyControl","text":"<p>template &lt;typename Policy&gt;</p> <p>ClassList &gt; robot_dart &gt; control &gt; PolicyControl</p> <p>Inherits the following classes: robot_dart::control::RobotControl</p>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#public-functions","title":"Public Functions","text":"Type Name PolicyControl ()  PolicyControl (double dt, const Eigen::VectorXd &amp; ctrl, bool full_control=false)  PolicyControl (const Eigen::VectorXd &amp; ctrl, bool full_control=false)  PolicyControl (double dt, const Eigen::VectorXd &amp; ctrl, const std::vector&lt; std::string &gt; &amp; controllable_dofs)  PolicyControl (const Eigen::VectorXd &amp; ctrl, const std::vector&lt; std::string &gt; &amp; controllable_dofs)  virtual Eigen::VectorXd calculate (double t) override virtual std::shared_ptr&lt; RobotControl &gt; clone () override const virtual void configure () override Eigen::VectorXd h_params () const void set_h_params (const Eigen::VectorXd &amp; h_params)"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#public-functions-inherited-from-robot_dartcontrolrobotcontrol","title":"Public Functions inherited from robot_dart::control::RobotControl","text":"<p>See robot_dart::control::RobotControl</p> Type Name RobotControl ()  RobotControl (const Eigen::VectorXd &amp; ctrl, bool full_control=false)  RobotControl (const Eigen::VectorXd &amp; ctrl, const std::vector&lt; std::string &gt; &amp; controllable_dofs)  void activate (bool enable=true)  bool active () const virtual Eigen::VectorXd calculate (double t) = 0 virtual std::shared_ptr&lt; RobotControl &gt; clone () const = 0 virtual void configure () = 0 const std::vector&lt; std::string &gt; &amp; controllable_dofs () const void init ()  const Eigen::VectorXd &amp; parameters () const std::shared_ptr&lt; Robot &gt; robot () const void set_parameters (const Eigen::VectorXd &amp; ctrl)  void set_robot (const std::shared_ptr&lt; Robot &gt; &amp; robot)  void set_weight (double weight)  double weight () const virtual ~RobotControl ()"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#protected-attributes","title":"Protected Attributes","text":"Type Name double _dt bool _first bool _full_dt int _i Policy _policy Eigen::VectorXd _prev_commands double _prev_time double _threshold"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#protected-attributes-inherited-from-robot_dartcontrolrobotcontrol","title":"Protected Attributes inherited from robot_dart::control::RobotControl","text":"<p>See robot_dart::control::RobotControl</p> Type Name bool _active bool _check_free   = = false int _control_dof std::vector&lt; std::string &gt; _controllable_dofs Eigen::VectorXd _ctrl int _dof std::weak_ptr&lt; Robot &gt; _robot double _weight"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#function-policycontrol-15","title":"function PolicyControl [\u2155]","text":"<pre><code>inline robot_dart::control::PolicyControl::PolicyControl () \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#function-policycontrol-25","title":"function PolicyControl [\u2156]","text":"<pre><code>inline robot_dart::control::PolicyControl::PolicyControl (\n    double dt,\n    const Eigen::VectorXd &amp; ctrl,\n    bool full_control=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#function-policycontrol-35","title":"function PolicyControl [\u2157]","text":"<pre><code>inline robot_dart::control::PolicyControl::PolicyControl (\n    const Eigen::VectorXd &amp; ctrl,\n    bool full_control=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#function-policycontrol-45","title":"function PolicyControl [\u2158]","text":"<pre><code>inline robot_dart::control::PolicyControl::PolicyControl (\n    double dt,\n    const Eigen::VectorXd &amp; ctrl,\n    const std::vector&lt; std::string &gt; &amp; controllable_dofs\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#function-policycontrol-55","title":"function PolicyControl [5/5]","text":"<pre><code>inline robot_dart::control::PolicyControl::PolicyControl (\n    const Eigen::VectorXd &amp; ctrl,\n    const std::vector&lt; std::string &gt; &amp; controllable_dofs\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#function-calculate","title":"function calculate","text":"<pre><code>inline virtual Eigen::VectorXd robot_dart::control::PolicyControl::calculate (\n    double t\n) override\n</code></pre> <p>Implements robot_dart::control::RobotControl::calculate</p>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#function-clone","title":"function clone","text":"<pre><code>inline virtual std::shared_ptr&lt; RobotControl &gt; robot_dart::control::PolicyControl::clone () override const\n</code></pre> <p>Implements robot_dart::control::RobotControl::clone</p>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#function-configure","title":"function configure","text":"<pre><code>inline virtual void robot_dart::control::PolicyControl::configure () override\n</code></pre> <p>Implements robot_dart::control::RobotControl::configure</p>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#function-h_params","title":"function h_params","text":"<pre><code>inline Eigen::VectorXd robot_dart::control::PolicyControl::h_params () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#function-set_h_params","title":"function set_h_params","text":"<pre><code>inline void robot_dart::control::PolicyControl::set_h_params (\n    const Eigen::VectorXd &amp; h_params\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#variable-_dt","title":"variable _dt","text":"<pre><code>double robot_dart::control::PolicyControl&lt; Policy &gt;::_dt;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#variable-_first","title":"variable _first","text":"<pre><code>bool robot_dart::control::PolicyControl&lt; Policy &gt;::_first;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#variable-_full_dt","title":"variable _full_dt","text":"<pre><code>bool robot_dart::control::PolicyControl&lt; Policy &gt;::_full_dt;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#variable-_i","title":"variable _i","text":"<pre><code>int robot_dart::control::PolicyControl&lt; Policy &gt;::_i;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#variable-_policy","title":"variable _policy","text":"<pre><code>Policy robot_dart::control::PolicyControl&lt; Policy &gt;::_policy;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#variable-_prev_commands","title":"variable _prev_commands","text":"<pre><code>Eigen::VectorXd robot_dart::control::PolicyControl&lt; Policy &gt;::_prev_commands;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#variable-_prev_time","title":"variable _prev_time","text":"<pre><code>double robot_dart::control::PolicyControl&lt; Policy &gt;::_prev_time;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#variable-_threshold","title":"variable _threshold","text":"<pre><code>double robot_dart::control::PolicyControl&lt; Policy &gt;::_threshold;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/control/policy_control.hpp</code></p>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/","title":"Class robot_dart::control::RobotControl","text":"<p>ClassList &gt; robot_dart &gt; control &gt; RobotControl</p> <p>Inherited by the following classes: robot_dart::control::PDControl,  robot_dart::control::PolicyControl,  robot_dart::control::SimpleControl</p>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#public-functions","title":"Public Functions","text":"Type Name RobotControl ()  RobotControl (const Eigen::VectorXd &amp; ctrl, bool full_control=false)  RobotControl (const Eigen::VectorXd &amp; ctrl, const std::vector&lt; std::string &gt; &amp; controllable_dofs)  void activate (bool enable=true)  bool active () const virtual Eigen::VectorXd calculate (double t) = 0 virtual std::shared_ptr&lt; RobotControl &gt; clone () const = 0 virtual void configure () = 0 const std::vector&lt; std::string &gt; &amp; controllable_dofs () const void init ()  const Eigen::VectorXd &amp; parameters () const std::shared_ptr&lt; Robot &gt; robot () const void set_parameters (const Eigen::VectorXd &amp; ctrl)  void set_robot (const std::shared_ptr&lt; Robot &gt; &amp; robot)  void set_weight (double weight)  double weight () const virtual ~RobotControl ()"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#protected-attributes","title":"Protected Attributes","text":"Type Name bool _active bool _check_free   = = false int _control_dof std::vector&lt; std::string &gt; _controllable_dofs Eigen::VectorXd _ctrl int _dof std::weak_ptr&lt; Robot &gt; _robot double _weight"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-robotcontrol-13","title":"function RobotControl [\u2153]","text":"<pre><code>robot_dart::control::RobotControl::RobotControl () \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-robotcontrol-23","title":"function RobotControl [\u2154]","text":"<pre><code>robot_dart::control::RobotControl::RobotControl (\n    const Eigen::VectorXd &amp; ctrl,\n    bool full_control=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-robotcontrol-33","title":"function RobotControl [3/3]","text":"<pre><code>robot_dart::control::RobotControl::RobotControl (\n    const Eigen::VectorXd &amp; ctrl,\n    const std::vector&lt; std::string &gt; &amp; controllable_dofs\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-activate","title":"function activate","text":"<pre><code>void robot_dart::control::RobotControl::activate (\n    bool enable=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-active","title":"function active","text":"<pre><code>bool robot_dart::control::RobotControl::active () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-calculate","title":"function calculate","text":"<pre><code>virtual Eigen::VectorXd robot_dart::control::RobotControl::calculate (\n    double t\n) = 0\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-clone","title":"function clone","text":"<pre><code>virtual std::shared_ptr&lt; RobotControl &gt; robot_dart::control::RobotControl::clone () const = 0\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-configure","title":"function configure","text":"<pre><code>virtual void robot_dart::control::RobotControl::configure () = 0\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-controllable_dofs","title":"function controllable_dofs","text":"<pre><code>const std::vector&lt; std::string &gt; &amp; robot_dart::control::RobotControl::controllable_dofs () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-init","title":"function init","text":"<pre><code>void robot_dart::control::RobotControl::init () \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-parameters","title":"function parameters","text":"<pre><code>const Eigen::VectorXd &amp; robot_dart::control::RobotControl::parameters () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-robot","title":"function robot","text":"<pre><code>std::shared_ptr&lt; Robot &gt; robot_dart::control::RobotControl::robot () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-set_parameters","title":"function set_parameters","text":"<pre><code>void robot_dart::control::RobotControl::set_parameters (\n    const Eigen::VectorXd &amp; ctrl\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-set_robot","title":"function set_robot","text":"<pre><code>void robot_dart::control::RobotControl::set_robot (\n    const std::shared_ptr&lt; Robot &gt; &amp; robot\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-set_weight","title":"function set_weight","text":"<pre><code>void robot_dart::control::RobotControl::set_weight (\n    double weight\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-weight","title":"function weight","text":"<pre><code>double robot_dart::control::RobotControl::weight () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-robotcontrol","title":"function ~RobotControl","text":"<pre><code>inline virtual robot_dart::control::RobotControl::~RobotControl () \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#variable-_active","title":"variable _active","text":"<pre><code>bool robot_dart::control::RobotControl::_active;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#variable-_check_free","title":"variable _check_free","text":"<pre><code>bool robot_dart::control::RobotControl::_check_free;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#variable-_control_dof","title":"variable _control_dof","text":"<pre><code>int robot_dart::control::RobotControl::_control_dof;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#variable-_controllable_dofs","title":"variable _controllable_dofs","text":"<pre><code>std::vector&lt;std::string&gt; robot_dart::control::RobotControl::_controllable_dofs;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#variable-_ctrl","title":"variable _ctrl","text":"<pre><code>Eigen::VectorXd robot_dart::control::RobotControl::_ctrl;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#variable-_dof","title":"variable _dof","text":"<pre><code>int robot_dart::control::RobotControl::_dof;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#variable-_robot","title":"variable _robot","text":"<pre><code>std::weak_ptr&lt;Robot&gt; robot_dart::control::RobotControl::_robot;\n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#variable-_weight","title":"variable _weight","text":"<pre><code>double robot_dart::control::RobotControl::_weight;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/control/robot_control.hpp</code></p>"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/","title":"Class robot_dart::control::SimpleControl","text":"<p>ClassList &gt; robot_dart &gt; control &gt; SimpleControl</p> <p>Inherits the following classes: robot_dart::control::RobotControl</p>"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#public-functions","title":"Public Functions","text":"Type Name SimpleControl ()  SimpleControl (const Eigen::VectorXd &amp; ctrl, bool full_control=false)  SimpleControl (const Eigen::VectorXd &amp; ctrl, const std::vector&lt; std::string &gt; &amp; controllable_dofs)  virtual Eigen::VectorXd calculate (double) override virtual std::shared_ptr&lt; RobotControl &gt; clone () override const virtual void configure () override"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#public-functions-inherited-from-robot_dartcontrolrobotcontrol","title":"Public Functions inherited from robot_dart::control::RobotControl","text":"<p>See robot_dart::control::RobotControl</p> Type Name RobotControl ()  RobotControl (const Eigen::VectorXd &amp; ctrl, bool full_control=false)  RobotControl (const Eigen::VectorXd &amp; ctrl, const std::vector&lt; std::string &gt; &amp; controllable_dofs)  void activate (bool enable=true)  bool active () const virtual Eigen::VectorXd calculate (double t) = 0 virtual std::shared_ptr&lt; RobotControl &gt; clone () const = 0 virtual void configure () = 0 const std::vector&lt; std::string &gt; &amp; controllable_dofs () const void init ()  const Eigen::VectorXd &amp; parameters () const std::shared_ptr&lt; Robot &gt; robot () const void set_parameters (const Eigen::VectorXd &amp; ctrl)  void set_robot (const std::shared_ptr&lt; Robot &gt; &amp; robot)  void set_weight (double weight)  double weight () const virtual ~RobotControl ()"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#protected-attributes-inherited-from-robot_dartcontrolrobotcontrol","title":"Protected Attributes inherited from robot_dart::control::RobotControl","text":"<p>See robot_dart::control::RobotControl</p> Type Name bool _active bool _check_free   = = false int _control_dof std::vector&lt; std::string &gt; _controllable_dofs Eigen::VectorXd _ctrl int _dof std::weak_ptr&lt; Robot &gt; _robot double _weight"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#function-simplecontrol-13","title":"function SimpleControl [\u2153]","text":"<pre><code>robot_dart::control::SimpleControl::SimpleControl () \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#function-simplecontrol-23","title":"function SimpleControl [\u2154]","text":"<pre><code>robot_dart::control::SimpleControl::SimpleControl (\n    const Eigen::VectorXd &amp; ctrl,\n    bool full_control=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#function-simplecontrol-33","title":"function SimpleControl [3/3]","text":"<pre><code>robot_dart::control::SimpleControl::SimpleControl (\n    const Eigen::VectorXd &amp; ctrl,\n    const std::vector&lt; std::string &gt; &amp; controllable_dofs\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#function-calculate","title":"function calculate","text":"<pre><code>virtual Eigen::VectorXd robot_dart::control::SimpleControl::calculate (\n    double\n) override\n</code></pre> <p>Implements robot_dart::control::RobotControl::calculate</p>"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#function-clone","title":"function clone","text":"<pre><code>virtual std::shared_ptr&lt; RobotControl &gt; robot_dart::control::SimpleControl::clone () override const\n</code></pre> <p>Implements robot_dart::control::RobotControl::clone</p>"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#function-configure","title":"function configure","text":"<pre><code>virtual void robot_dart::control::SimpleControl::configure () override\n</code></pre> <p>Implements robot_dart::control::RobotControl::configure</p> <p>The documentation for this class was generated from the following file <code>robot_dart/control/simple_control.hpp</code></p>"},{"location":"api/namespacerobot__dart_1_1detail/","title":"Namespace robot_dart::detail","text":"<p>Namespace List &gt; robot_dart &gt; detail</p>"},{"location":"api/namespacerobot__dart_1_1detail/#public-functions","title":"Public Functions","text":"Type Name void add_dof_data (const Eigen::VectorXd &amp; data, dart::dynamics::SkeletonPtr skeleton, const std::vector&lt; std::string &gt; &amp; dof_names, const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map)  Eigen::VectorXd dof_data (dart::dynamics::SkeletonPtr skeleton, const std::vector&lt; std::string &gt; &amp; dof_names, const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map)  void set_dof_data (const Eigen::VectorXd &amp; data, dart::dynamics::SkeletonPtr skeleton, const std::vector&lt; std::string &gt; &amp; dof_names, const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map)"},{"location":"api/namespacerobot__dart_1_1detail/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/namespacerobot__dart_1_1detail/#function-add_dof_data","title":"function add_dof_data","text":"<pre><code>template&lt;int content&gt;\nvoid robot_dart::detail::add_dof_data (\n    const Eigen::VectorXd &amp; data,\n    dart::dynamics::SkeletonPtr skeleton,\n    const std::vector&lt; std::string &gt; &amp; dof_names,\n    const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map\n) \n</code></pre>"},{"location":"api/namespacerobot__dart_1_1detail/#function-dof_data","title":"function dof_data","text":"<pre><code>template&lt;int content&gt;\nEigen::VectorXd robot_dart::detail::dof_data (\n    dart::dynamics::SkeletonPtr skeleton,\n    const std::vector&lt; std::string &gt; &amp; dof_names,\n    const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map\n) \n</code></pre>"},{"location":"api/namespacerobot__dart_1_1detail/#function-set_dof_data","title":"function set_dof_data","text":"<pre><code>template&lt;int content&gt;\nvoid robot_dart::detail::set_dof_data (\n    const Eigen::VectorXd &amp; data,\n    dart::dynamics::SkeletonPtr skeleton,\n    const std::vector&lt; std::string &gt; &amp; dof_names,\n    const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/robot.cpp</code></p>"},{"location":"api/namespacerobot__dart_1_1gui/","title":"Namespace robot_dart::gui","text":"<p>Namespace List &gt; robot_dart &gt; gui</p>"},{"location":"api/namespacerobot__dart_1_1gui/#namespaces","title":"Namespaces","text":"Type Name namespace magnum"},{"location":"api/namespacerobot__dart_1_1gui/#classes","title":"Classes","text":"Type Name class Base struct DepthImage struct GrayscaleImage struct Image"},{"location":"api/namespacerobot__dart_1_1gui/#public-functions","title":"Public Functions","text":"Type Name GrayscaleImage convert_rgb_to_grayscale (const Image &amp; rgb)  std::vector&lt; Eigen::Vector3d &gt; point_cloud_from_depth_array (const DepthImage &amp; depth_image, const Eigen::Matrix3d &amp; intrinsic_matrix, const Eigen::Matrix4d &amp; tf, double far_plane)  void save_png_image (const std::string &amp; filename, const Image &amp; rgb)  void save_png_image (const std::string &amp; filename, const GrayscaleImage &amp; gray)"},{"location":"api/namespacerobot__dart_1_1gui/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/namespacerobot__dart_1_1gui/#function-convert_rgb_to_grayscale","title":"function convert_rgb_to_grayscale","text":"<pre><code>GrayscaleImage robot_dart::gui::convert_rgb_to_grayscale (\n    const Image &amp; rgb\n) \n</code></pre>"},{"location":"api/namespacerobot__dart_1_1gui/#function-point_cloud_from_depth_array","title":"function point_cloud_from_depth_array","text":"<pre><code>std::vector&lt; Eigen::Vector3d &gt; robot_dart::gui::point_cloud_from_depth_array (\n    const DepthImage &amp; depth_image,\n    const Eigen::Matrix3d &amp; intrinsic_matrix,\n    const Eigen::Matrix4d &amp; tf,\n    double far_plane\n) \n</code></pre>"},{"location":"api/namespacerobot__dart_1_1gui/#function-save_png_image","title":"function save_png_image","text":"<pre><code>void robot_dart::gui::save_png_image (\n    const std::string &amp; filename,\n    const Image &amp; rgb\n) \n</code></pre>"},{"location":"api/namespacerobot__dart_1_1gui/#function-save_png_image_1","title":"function save_png_image","text":"<pre><code>void robot_dart::gui::save_png_image (\n    const std::string &amp; filename,\n    const GrayscaleImage &amp; gray\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/base.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/","title":"Class robot_dart::gui::Base","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; Base</p> <p>Inherited by the following classes: robot_dart::gui::magnum::BaseGraphics,  robot_dart::gui::magnum::BaseGraphics,  robot_dart::gui::magnum::BaseGraphics</p>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#public-functions","title":"Public Functions","text":"Type Name Base ()  virtual DepthImage depth_array ()  virtual GrayscaleImage depth_image ()  virtual bool done () const virtual size_t height () const virtual Image image ()  virtual GrayscaleImage raw_depth_image ()  virtual void refresh ()  virtual void set_enable (bool)  virtual void set_fps (int)  virtual void set_render_period (double)  virtual void set_simu (RobotDARTSimu * simu)  const RobotDARTSimu * simu () const virtual size_t width () const virtual ~Base ()"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#protected-attributes","title":"Protected Attributes","text":"Type Name RobotDARTSimu * _simu   = = nullptr"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-base","title":"function Base","text":"<pre><code>inline robot_dart::gui::Base::Base () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-depth_array","title":"function depth_array","text":"<pre><code>inline virtual DepthImage robot_dart::gui::Base::depth_array () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-depth_image","title":"function depth_image","text":"<pre><code>inline virtual GrayscaleImage robot_dart::gui::Base::depth_image () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-done","title":"function done","text":"<pre><code>inline virtual bool robot_dart::gui::Base::done () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-height","title":"function height","text":"<pre><code>inline virtual size_t robot_dart::gui::Base::height () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-image","title":"function image","text":"<pre><code>inline virtual Image robot_dart::gui::Base::image () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-raw_depth_image","title":"function raw_depth_image","text":"<pre><code>inline virtual GrayscaleImage robot_dart::gui::Base::raw_depth_image () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-refresh","title":"function refresh","text":"<pre><code>inline virtual void robot_dart::gui::Base::refresh () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-set_enable","title":"function set_enable","text":"<pre><code>inline virtual void robot_dart::gui::Base::set_enable (\n    bool\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-set_fps","title":"function set_fps","text":"<pre><code>inline virtual void robot_dart::gui::Base::set_fps (\n    int\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-set_render_period","title":"function set_render_period","text":"<pre><code>inline virtual void robot_dart::gui::Base::set_render_period (\n    double\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-set_simu","title":"function set_simu","text":"<pre><code>inline virtual void robot_dart::gui::Base::set_simu (\n    RobotDARTSimu * simu\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-simu","title":"function simu","text":"<pre><code>inline const RobotDARTSimu * robot_dart::gui::Base::simu () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-width","title":"function width","text":"<pre><code>inline virtual size_t robot_dart::gui::Base::width () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-base_1","title":"function ~Base","text":"<pre><code>inline virtual robot_dart::gui::Base::~Base () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1Base/#variable-_simu","title":"variable _simu","text":"<pre><code>RobotDARTSimu* robot_dart::gui::Base::_simu;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/base.hpp</code></p>"},{"location":"api/structrobot__dart_1_1gui_1_1DepthImage/","title":"Struct robot_dart::gui::DepthImage","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; DepthImage</p>"},{"location":"api/structrobot__dart_1_1gui_1_1DepthImage/#public-attributes","title":"Public Attributes","text":"Type Name std::vector&lt; double &gt; data size_t height   = = 0 size_t width   = = 0"},{"location":"api/structrobot__dart_1_1gui_1_1DepthImage/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1DepthImage/#variable-data","title":"variable data","text":"<pre><code>std::vector&lt;double&gt; robot_dart::gui::DepthImage::data;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1DepthImage/#variable-height","title":"variable height","text":"<pre><code>size_t robot_dart::gui::DepthImage::height;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1DepthImage/#variable-width","title":"variable width","text":"<pre><code>size_t robot_dart::gui::DepthImage::width;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/helper.hpp</code></p>"},{"location":"api/structrobot__dart_1_1gui_1_1GrayscaleImage/","title":"Struct robot_dart::gui::GrayscaleImage","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; GrayscaleImage</p>"},{"location":"api/structrobot__dart_1_1gui_1_1GrayscaleImage/#public-attributes","title":"Public Attributes","text":"Type Name std::vector&lt; uint8_t &gt; data size_t height   = = 0 size_t width   = = 0"},{"location":"api/structrobot__dart_1_1gui_1_1GrayscaleImage/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1GrayscaleImage/#variable-data","title":"variable data","text":"<pre><code>std::vector&lt;uint8_t&gt; robot_dart::gui::GrayscaleImage::data;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1GrayscaleImage/#variable-height","title":"variable height","text":"<pre><code>size_t robot_dart::gui::GrayscaleImage::height;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1GrayscaleImage/#variable-width","title":"variable width","text":"<pre><code>size_t robot_dart::gui::GrayscaleImage::width;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/helper.hpp</code></p>"},{"location":"api/structrobot__dart_1_1gui_1_1Image/","title":"Struct robot_dart::gui::Image","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; Image</p>"},{"location":"api/structrobot__dart_1_1gui_1_1Image/#public-attributes","title":"Public Attributes","text":"Type Name size_t channels   = = 3 std::vector&lt; uint8_t &gt; data size_t height   = = 0 size_t width   = = 0"},{"location":"api/structrobot__dart_1_1gui_1_1Image/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1Image/#variable-channels","title":"variable channels","text":"<pre><code>size_t robot_dart::gui::Image::channels;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1Image/#variable-data","title":"variable data","text":"<pre><code>std::vector&lt;uint8_t&gt; robot_dart::gui::Image::data;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1Image/#variable-height","title":"variable height","text":"<pre><code>size_t robot_dart::gui::Image::height;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1Image/#variable-width","title":"variable width","text":"<pre><code>size_t robot_dart::gui::Image::width;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/helper.hpp</code></p>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/","title":"Namespace robot_dart::gui::magnum","text":"<p>Namespace List &gt; robot_dart &gt; gui &gt; magnum</p>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#namespaces","title":"Namespaces","text":"Type Name namespace gs namespace sensor"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#classes","title":"Classes","text":"Type Name class BaseApplication class BaseGraphics &lt;typename T&gt; class CubeMapShadowedColorObject class CubeMapShadowedObject struct DebugDrawData class DrawableObject class GlfwApplication struct GlobalData class Graphics struct GraphicsConfiguration struct ObjectStruct struct ShadowData class ShadowedColorObject class ShadowedObject class WindowlessGLApplication class WindowlessGraphics"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#public-types","title":"Public Types","text":"Type Name typedef Magnum::SceneGraph::Camera3D Camera3D typedef Magnum::SceneGraph::Object&lt; Magnum::SceneGraph::MatrixTransformation3D &gt; Object3D typedef Magnum::SceneGraph::Scene&lt; Magnum::SceneGraph::MatrixTransformation3D &gt; Scene3D"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#public-functions","title":"Public Functions","text":"Type Name BaseApplication * make_application (RobotDARTSimu * simu, const GraphicsConfiguration &amp; configuration=GraphicsConfiguration())"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#typedef-camera3d","title":"typedef Camera3D","text":"<pre><code>using robot_dart::gui::magnum::Camera3D =  Magnum::SceneGraph::Camera3D;\n</code></pre>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#typedef-object3d","title":"typedef Object3D","text":"<pre><code>using robot_dart::gui::magnum::Object3D =  Magnum::SceneGraph::Object&lt;Magnum::SceneGraph::MatrixTransformation3D&gt;;\n</code></pre>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#typedef-scene3d","title":"typedef Scene3D","text":"<pre><code>using robot_dart::gui::magnum::Scene3D =  Magnum::SceneGraph::Scene&lt;Magnum::SceneGraph::MatrixTransformation3D&gt;;\n</code></pre>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#function-make_application","title":"function make_application","text":"<pre><code>template&lt;typename T&gt;\ninline BaseApplication * robot_dart::gui::magnum::make_application (\n    RobotDARTSimu * simu,\n    const GraphicsConfiguration &amp; configuration=GraphicsConfiguration ()\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/base_application.cpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/","title":"Class robot_dart::gui::magnum::BaseApplication","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; BaseApplication</p> <p>Inherited by the following classes: robot_dart::gui::magnum::GlfwApplication,  robot_dart::gui::magnum::WindowlessGLApplication</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#public-functions","title":"Public Functions","text":"Type Name BaseApplication (const GraphicsConfiguration &amp; configuration=GraphicsConfiguration())  void add_light (const gs::Light &amp; light)  bool attach_camera (gs::Camera &amp; camera, dart::dynamics::BodyNode * body)  gs::Camera &amp; camera ()  const gs::Camera &amp; camera () const void clear_lights ()  DebugDrawData debug_draw_data ()  DepthImage depth_array ()  GrayscaleImage depth_image ()  bool done () const Magnum::SceneGraph::DrawableGroup3D &amp; drawables ()  void enable_shadows (bool enable=true, bool drawTransparentShadows=false)  Corrade::Containers::Optional&lt; Magnum::Image2D &gt; &amp; image ()  void init (RobotDARTSimu * simu, const GraphicsConfiguration &amp; configuration)  gs::Light &amp; light (size_t i)  std::vector&lt; gs::Light &gt; &amp; lights ()  void look_at (const Eigen::Vector3d &amp; camera_pos, const Eigen::Vector3d &amp; look_at, const Eigen::Vector3d &amp; up)  size_t num_lights () const GrayscaleImage raw_depth_image ()  void record_video (const std::string &amp; video_fname, int fps)  virtual void render ()  void render_shadows ()  Scene3D &amp; scene ()  bool shadowed () const bool transparent_shadows () const void update_graphics ()  void update_lights (const gs::Camera &amp; camera)  virtual ~BaseApplication ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#protected-attributes","title":"Protected Attributes","text":"Type Name std::unique_ptr&lt; Magnum::GL::Mesh &gt; _3D_axis_mesh std::unique_ptr&lt; Magnum::Shaders::VertexColorGL3D &gt; _3D_axis_shader std::unique_ptr&lt; Magnum::GL::Mesh &gt; _background_mesh std::unique_ptr&lt; Magnum::Shaders::FlatGL2D &gt; _background_shader std::unique_ptr&lt; gs::Camera &gt; _camera std::unique_ptr&lt; gs::PhongMultiLight &gt; _color_shader GraphicsConfiguration _configuration Magnum::SceneGraph::DrawableGroup3D _cubemap_color_drawables std::unique_ptr&lt; gs::CubeMapColor &gt; _cubemap_color_shader Magnum::SceneGraph::DrawableGroup3D _cubemap_drawables std::unique_ptr&lt; gs::CubeMap &gt; _cubemap_shader std::unique_ptr&lt; gs::CubeMapColor &gt; _cubemap_texture_color_shader std::unique_ptr&lt; gs::CubeMap &gt; _cubemap_texture_shader std::unique_ptr&lt; Magnum::DartIntegration::World &gt; _dart_world bool _done   = = false std::unordered_map&lt; Magnum::DartIntegration::Object *, ObjectStruct * &gt; _drawable_objects Magnum::SceneGraph::DrawableGroup3D _drawables Corrade::Containers::Pointer&lt; Magnum::Text::AbstractFont &gt; _font Corrade::PluginManager::Manager&lt; Magnum::Text::AbstractFont &gt; _font_manager Corrade::Containers::Pointer&lt; Magnum::Text::DistanceFieldGlyphCache &gt; _glyph_cache Corrade::PluginManager::Manager&lt; Magnum::Trade::AbstractImporter &gt; _importer_manager std::vector&lt; gs::Light &gt; _lights int _max_lights   = = 5 Scene3D _scene std::unique_ptr&lt; Camera3D &gt; _shadow_camera Object3D * _shadow_camera_object std::unique_ptr&lt; Magnum::GL::CubeMapTextureArray &gt; _shadow_color_cube_map std::unique_ptr&lt; gs::ShadowMapColor &gt; _shadow_color_shader std::unique_ptr&lt; Magnum::GL::Texture2DArray &gt; _shadow_color_texture std::unique_ptr&lt; Magnum::GL::CubeMapTextureArray &gt; _shadow_cube_map std::vector&lt; ShadowData &gt; _shadow_data int _shadow_map_size   = = 512 std::unique_ptr&lt; gs::ShadowMap &gt; _shadow_shader std::unique_ptr&lt; Magnum::GL::Texture2DArray &gt; _shadow_texture std::unique_ptr&lt; gs::ShadowMapColor &gt; _shadow_texture_color_shader std::unique_ptr&lt; gs::ShadowMap &gt; _shadow_texture_shader bool _shadowed   = = true Magnum::SceneGraph::DrawableGroup3D _shadowed_color_drawables Magnum::SceneGraph::DrawableGroup3D _shadowed_drawables RobotDARTSimu * _simu Corrade::Containers::Pointer&lt; Magnum::GL::Buffer &gt; _text_indices std::unique_ptr&lt; Magnum::Shaders::DistanceFieldVectorGL2D &gt; _text_shader Corrade::Containers::Pointer&lt; Magnum::GL::Buffer &gt; _text_vertices std::unique_ptr&lt; gs::PhongMultiLight &gt; _texture_shader int _transparentSize   = = 0 bool _transparent_shadows   = = false"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#protected-functions","title":"Protected Functions","text":"Type Name void _gl_clean_up ()  void _prepare_shadows ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-baseapplication","title":"function BaseApplication","text":"<pre><code>robot_dart::gui::magnum::BaseApplication::BaseApplication (\n    const GraphicsConfiguration &amp; configuration=GraphicsConfiguration ()\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-add_light","title":"function add_light","text":"<pre><code>void robot_dart::gui::magnum::BaseApplication::add_light (\n    const gs::Light &amp; light\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-attach_camera","title":"function attach_camera","text":"<pre><code>bool robot_dart::gui::magnum::BaseApplication::attach_camera (\n    gs::Camera &amp; camera,\n    dart::dynamics::BodyNode * body\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-camera-12","title":"function camera [\u00bd]","text":"<pre><code>inline gs::Camera &amp; robot_dart::gui::magnum::BaseApplication::camera () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-camera-22","title":"function camera [2/2]","text":"<pre><code>inline const gs::Camera &amp; robot_dart::gui::magnum::BaseApplication::camera () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-clear_lights","title":"function clear_lights","text":"<pre><code>void robot_dart::gui::magnum::BaseApplication::clear_lights () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-debug_draw_data","title":"function debug_draw_data","text":"<pre><code>inline DebugDrawData robot_dart::gui::magnum::BaseApplication::debug_draw_data () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-depth_array","title":"function depth_array","text":"<pre><code>DepthImage robot_dart::gui::magnum::BaseApplication::depth_array () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-depth_image","title":"function depth_image","text":"<pre><code>GrayscaleImage robot_dart::gui::magnum::BaseApplication::depth_image () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-done","title":"function done","text":"<pre><code>bool robot_dart::gui::magnum::BaseApplication::done () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-drawables","title":"function drawables","text":"<pre><code>inline Magnum::SceneGraph::DrawableGroup3D &amp; robot_dart::gui::magnum::BaseApplication::drawables () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-enable_shadows","title":"function enable_shadows","text":"<pre><code>void robot_dart::gui::magnum::BaseApplication::enable_shadows (\n    bool enable=true,\n    bool drawTransparentShadows=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-image","title":"function image","text":"<pre><code>inline Corrade::Containers::Optional&lt; Magnum::Image2D &gt; &amp; robot_dart::gui::magnum::BaseApplication::image () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-init","title":"function init","text":"<pre><code>void robot_dart::gui::magnum::BaseApplication::init (\n    RobotDARTSimu * simu,\n    const GraphicsConfiguration &amp; configuration\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-light","title":"function light","text":"<pre><code>gs::Light &amp; robot_dart::gui::magnum::BaseApplication::light (\n    size_t i\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-lights","title":"function lights","text":"<pre><code>std::vector&lt; gs::Light &gt; &amp; robot_dart::gui::magnum::BaseApplication::lights () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-look_at","title":"function look_at","text":"<pre><code>void robot_dart::gui::magnum::BaseApplication::look_at (\n    const Eigen::Vector3d &amp; camera_pos,\n    const Eigen::Vector3d &amp; look_at,\n    const Eigen::Vector3d &amp; up\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-num_lights","title":"function num_lights","text":"<pre><code>size_t robot_dart::gui::magnum::BaseApplication::num_lights () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-raw_depth_image","title":"function raw_depth_image","text":"<pre><code>GrayscaleImage robot_dart::gui::magnum::BaseApplication::raw_depth_image () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-record_video","title":"function record_video","text":"<pre><code>inline void robot_dart::gui::magnum::BaseApplication::record_video (\n    const std::string &amp; video_fname,\n    int fps\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-render","title":"function render","text":"<pre><code>inline virtual void robot_dart::gui::magnum::BaseApplication::render () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-render_shadows","title":"function render_shadows","text":"<pre><code>void robot_dart::gui::magnum::BaseApplication::render_shadows () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-scene","title":"function scene","text":"<pre><code>inline Scene3D &amp; robot_dart::gui::magnum::BaseApplication::scene () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-shadowed","title":"function shadowed","text":"<pre><code>inline bool robot_dart::gui::magnum::BaseApplication::shadowed () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-transparent_shadows","title":"function transparent_shadows","text":"<pre><code>inline bool robot_dart::gui::magnum::BaseApplication::transparent_shadows () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-update_graphics","title":"function update_graphics","text":"<pre><code>void robot_dart::gui::magnum::BaseApplication::update_graphics () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-update_lights","title":"function update_lights","text":"<pre><code>void robot_dart::gui::magnum::BaseApplication::update_lights (\n    const gs::Camera &amp; camera\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-baseapplication_1","title":"function ~BaseApplication","text":"<pre><code>inline virtual robot_dart::gui::magnum::BaseApplication::~BaseApplication () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_3d_axis_mesh","title":"variable _3D_axis_mesh","text":"<pre><code>std::unique_ptr&lt;Magnum::GL::Mesh&gt; robot_dart::gui::magnum::BaseApplication::_3D_axis_mesh;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_3d_axis_shader","title":"variable _3D_axis_shader","text":"<pre><code>std::unique_ptr&lt;Magnum::Shaders::VertexColorGL3D&gt; robot_dart::gui::magnum::BaseApplication::_3D_axis_shader;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_background_mesh","title":"variable _background_mesh","text":"<pre><code>std::unique_ptr&lt;Magnum::GL::Mesh&gt; robot_dart::gui::magnum::BaseApplication::_background_mesh;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_background_shader","title":"variable _background_shader","text":"<pre><code>std::unique_ptr&lt;Magnum::Shaders::FlatGL2D&gt; robot_dart::gui::magnum::BaseApplication::_background_shader;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_camera","title":"variable _camera","text":"<pre><code>std::unique_ptr&lt;gs::Camera&gt; robot_dart::gui::magnum::BaseApplication::_camera;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_color_shader","title":"variable _color_shader","text":"<pre><code>std::unique_ptr&lt;gs::PhongMultiLight&gt; robot_dart::gui::magnum::BaseApplication::_color_shader;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_configuration","title":"variable _configuration","text":"<pre><code>GraphicsConfiguration robot_dart::gui::magnum::BaseApplication::_configuration;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_cubemap_color_drawables","title":"variable _cubemap_color_drawables","text":"<pre><code>Magnum::SceneGraph::DrawableGroup3D robot_dart::gui::magnum::BaseApplication::_cubemap_color_drawables;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_cubemap_color_shader","title":"variable _cubemap_color_shader","text":"<pre><code>std::unique_ptr&lt;gs::CubeMapColor&gt; robot_dart::gui::magnum::BaseApplication::_cubemap_color_shader;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_cubemap_drawables","title":"variable _cubemap_drawables","text":"<pre><code>Magnum::SceneGraph::DrawableGroup3D robot_dart::gui::magnum::BaseApplication::_cubemap_drawables;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_cubemap_shader","title":"variable _cubemap_shader","text":"<pre><code>std::unique_ptr&lt;gs::CubeMap&gt; robot_dart::gui::magnum::BaseApplication::_cubemap_shader;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_cubemap_texture_color_shader","title":"variable _cubemap_texture_color_shader","text":"<pre><code>std::unique_ptr&lt;gs::CubeMapColor&gt; robot_dart::gui::magnum::BaseApplication::_cubemap_texture_color_shader;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_cubemap_texture_shader","title":"variable _cubemap_texture_shader","text":"<pre><code>std::unique_ptr&lt;gs::CubeMap&gt; robot_dart::gui::magnum::BaseApplication::_cubemap_texture_shader;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_dart_world","title":"variable _dart_world","text":"<pre><code>std::unique_ptr&lt;Magnum::DartIntegration::World&gt; robot_dart::gui::magnum::BaseApplication::_dart_world;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_done","title":"variable _done","text":"<pre><code>bool robot_dart::gui::magnum::BaseApplication::_done;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_drawable_objects","title":"variable _drawable_objects","text":"<pre><code>std::unordered_map&lt;Magnum::DartIntegration::Object*, ObjectStruct*&gt; robot_dart::gui::magnum::BaseApplication::_drawable_objects;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_drawables","title":"variable _drawables","text":"<pre><code>Magnum::SceneGraph::DrawableGroup3D robot_dart::gui::magnum::BaseApplication::_drawables;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_font","title":"variable _font","text":"<pre><code>Corrade::Containers::Pointer&lt;Magnum::Text::AbstractFont&gt; robot_dart::gui::magnum::BaseApplication::_font;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_font_manager","title":"variable _font_manager","text":"<pre><code>Corrade::PluginManager::Manager&lt;Magnum::Text::AbstractFont&gt; robot_dart::gui::magnum::BaseApplication::_font_manager;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_glyph_cache","title":"variable _glyph_cache","text":"<pre><code>Corrade::Containers::Pointer&lt;Magnum::Text::DistanceFieldGlyphCache&gt; robot_dart::gui::magnum::BaseApplication::_glyph_cache;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_importer_manager","title":"variable _importer_manager","text":"<pre><code>Corrade::PluginManager::Manager&lt;Magnum::Trade::AbstractImporter&gt; robot_dart::gui::magnum::BaseApplication::_importer_manager;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_lights","title":"variable _lights","text":"<pre><code>std::vector&lt;gs::Light&gt; robot_dart::gui::magnum::BaseApplication::_lights;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_max_lights","title":"variable _max_lights","text":"<pre><code>int robot_dart::gui::magnum::BaseApplication::_max_lights;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_scene","title":"variable _scene","text":"<pre><code>Scene3D robot_dart::gui::magnum::BaseApplication::_scene;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_camera","title":"variable _shadow_camera","text":"<pre><code>std::unique_ptr&lt;Camera3D&gt; robot_dart::gui::magnum::BaseApplication::_shadow_camera;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_camera_object","title":"variable _shadow_camera_object","text":"<pre><code>Object3D* robot_dart::gui::magnum::BaseApplication::_shadow_camera_object;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_color_cube_map","title":"variable _shadow_color_cube_map","text":"<pre><code>std::unique_ptr&lt;Magnum::GL::CubeMapTextureArray&gt; robot_dart::gui::magnum::BaseApplication::_shadow_color_cube_map;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_color_shader","title":"variable _shadow_color_shader","text":"<pre><code>std::unique_ptr&lt;gs::ShadowMapColor&gt; robot_dart::gui::magnum::BaseApplication::_shadow_color_shader;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_color_texture","title":"variable _shadow_color_texture","text":"<pre><code>std::unique_ptr&lt;Magnum::GL::Texture2DArray&gt; robot_dart::gui::magnum::BaseApplication::_shadow_color_texture;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_cube_map","title":"variable _shadow_cube_map","text":"<pre><code>std::unique_ptr&lt;Magnum::GL::CubeMapTextureArray&gt; robot_dart::gui::magnum::BaseApplication::_shadow_cube_map;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_data","title":"variable _shadow_data","text":"<pre><code>std::vector&lt;ShadowData&gt; robot_dart::gui::magnum::BaseApplication::_shadow_data;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_map_size","title":"variable _shadow_map_size","text":"<pre><code>int robot_dart::gui::magnum::BaseApplication::_shadow_map_size;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_shader","title":"variable _shadow_shader","text":"<pre><code>std::unique_ptr&lt;gs::ShadowMap&gt; robot_dart::gui::magnum::BaseApplication::_shadow_shader;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_texture","title":"variable _shadow_texture","text":"<pre><code>std::unique_ptr&lt;Magnum::GL::Texture2DArray&gt; robot_dart::gui::magnum::BaseApplication::_shadow_texture;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_texture_color_shader","title":"variable _shadow_texture_color_shader","text":"<pre><code>std::unique_ptr&lt;gs::ShadowMapColor&gt; robot_dart::gui::magnum::BaseApplication::_shadow_texture_color_shader;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadow_texture_shader","title":"variable _shadow_texture_shader","text":"<pre><code>std::unique_ptr&lt;gs::ShadowMap&gt; robot_dart::gui::magnum::BaseApplication::_shadow_texture_shader;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadowed","title":"variable _shadowed","text":"<pre><code>bool robot_dart::gui::magnum::BaseApplication::_shadowed;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadowed_color_drawables","title":"variable _shadowed_color_drawables","text":"<pre><code>Magnum::SceneGraph::DrawableGroup3D robot_dart::gui::magnum::BaseApplication::_shadowed_color_drawables;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_shadowed_drawables","title":"variable _shadowed_drawables","text":"<pre><code>Magnum::SceneGraph::DrawableGroup3D robot_dart::gui::magnum::BaseApplication::_shadowed_drawables;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_simu","title":"variable _simu","text":"<pre><code>RobotDARTSimu* robot_dart::gui::magnum::BaseApplication::_simu;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_text_indices","title":"variable _text_indices","text":"<pre><code>Corrade::Containers::Pointer&lt;Magnum::GL::Buffer&gt; robot_dart::gui::magnum::BaseApplication::_text_indices;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_text_shader","title":"variable _text_shader","text":"<pre><code>std::unique_ptr&lt;Magnum::Shaders::DistanceFieldVectorGL2D&gt; robot_dart::gui::magnum::BaseApplication::_text_shader;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_text_vertices","title":"variable _text_vertices","text":"<pre><code>Corrade::Containers::Pointer&lt;Magnum::GL::Buffer&gt; robot_dart::gui::magnum::BaseApplication::_text_vertices;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_texture_shader","title":"variable _texture_shader","text":"<pre><code>std::unique_ptr&lt;gs::PhongMultiLight&gt; robot_dart::gui::magnum::BaseApplication::_texture_shader;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_transparentsize","title":"variable _transparentSize","text":"<pre><code>int robot_dart::gui::magnum::BaseApplication::_transparentSize;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#variable-_transparent_shadows","title":"variable _transparent_shadows","text":"<pre><code>bool robot_dart::gui::magnum::BaseApplication::_transparent_shadows;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#protected-functions-documentation","title":"Protected Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-_gl_clean_up","title":"function _gl_clean_up","text":"<pre><code>void robot_dart::gui::magnum::BaseApplication::_gl_clean_up () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-_prepare_shadows","title":"function _prepare_shadows","text":"<pre><code>void robot_dart::gui::magnum::BaseApplication::_prepare_shadows () \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/base_application.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/","title":"Class robot_dart::gui::magnum::BaseGraphics","text":"<p>template &lt;typename T&gt;</p> <p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; BaseGraphics</p> <p>Inherits the following classes: robot_dart::gui::Base</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#public-functions","title":"Public Functions","text":"Type Name BaseGraphics (const GraphicsConfiguration &amp; configuration=GraphicsConfiguration())  void add_light (const magnum::Light &amp; light)  gs::Camera &amp; camera ()  const gs::Camera &amp; camera () const Eigen::Matrix4d camera_extrinsic_matrix () const Eigen::Matrix3d camera_intrinsic_matrix () const void clear_lights ()  virtual DepthImage depth_array () override virtual GrayscaleImage depth_image () override virtual bool done () override const void enable_shadows (bool enable=true, bool transparent=true)  virtual size_t height () override const virtual Image image () override magnum::Light &amp; light (size_t i)  std::vector&lt; gs::Light &gt; &amp; lights ()  void look_at (const Eigen::Vector3d &amp; camera_pos, const Eigen::Vector3d &amp; look_at=Eigen::Vector3d(0, 0, 0), const Eigen::Vector3d &amp; up=Eigen::Vector3d(0, 0, 1))  BaseApplication * magnum_app ()  const BaseApplication * magnum_app () const Magnum::Image2D * magnum_image ()  size_t num_lights () const virtual GrayscaleImage raw_depth_image () override void record_video (const std::string &amp; video_fname, int fps=-1)  virtual void refresh () override virtual void set_enable (bool enable) override virtual void set_fps (int fps) override virtual void set_simu (RobotDARTSimu * simu) override bool shadowed () const bool transparent_shadows () const virtual size_t width () override const virtual ~BaseGraphics ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#public-functions-inherited-from-robot_dartguibase","title":"Public Functions inherited from robot_dart::gui::Base","text":"<p>See robot_dart::gui::Base</p> Type Name Base ()  virtual DepthImage depth_array ()  virtual GrayscaleImage depth_image ()  virtual bool done () const virtual size_t height () const virtual Image image ()  virtual GrayscaleImage raw_depth_image ()  virtual void refresh ()  virtual void set_enable (bool)  virtual void set_fps (int)  virtual void set_render_period (double)  virtual void set_simu (RobotDARTSimu * simu)  const RobotDARTSimu * simu () const virtual size_t width () const virtual ~Base ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#protected-attributes","title":"Protected Attributes","text":"Type Name GraphicsConfiguration _configuration bool _enabled int _fps std::unique_ptr&lt; BaseApplication &gt; _magnum_app Corrade::Utility::Debug _magnum_silence_output   = {nullptr}"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#protected-attributes-inherited-from-robot_dartguibase","title":"Protected Attributes inherited from robot_dart::gui::Base","text":"<p>See robot_dart::gui::Base</p> Type Name RobotDARTSimu * _simu   = = nullptr"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-basegraphics","title":"function BaseGraphics","text":"<pre><code>inline robot_dart::gui::magnum::BaseGraphics::BaseGraphics (\n    const GraphicsConfiguration &amp; configuration=GraphicsConfiguration ()\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-add_light","title":"function add_light","text":"<pre><code>inline void robot_dart::gui::magnum::BaseGraphics::add_light (\n    const magnum::gs::Light &amp; light\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-camera-12","title":"function camera [\u00bd]","text":"<pre><code>inline gs::Camera &amp; robot_dart::gui::magnum::BaseGraphics::camera () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-camera-22","title":"function camera [2/2]","text":"<pre><code>inline const gs::Camera &amp; robot_dart::gui::magnum::BaseGraphics::camera () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-camera_extrinsic_matrix","title":"function camera_extrinsic_matrix","text":"<pre><code>inline Eigen::Matrix4d robot_dart::gui::magnum::BaseGraphics::camera_extrinsic_matrix () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-camera_intrinsic_matrix","title":"function camera_intrinsic_matrix","text":"<pre><code>inline Eigen::Matrix3d robot_dart::gui::magnum::BaseGraphics::camera_intrinsic_matrix () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-clear_lights","title":"function clear_lights","text":"<pre><code>inline void robot_dart::gui::magnum::BaseGraphics::clear_lights () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-depth_array","title":"function depth_array","text":"<pre><code>inline virtual DepthImage robot_dart::gui::magnum::BaseGraphics::depth_array () override\n</code></pre> <p>Implements robot_dart::gui::Base::depth_array</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-depth_image","title":"function depth_image","text":"<pre><code>inline virtual GrayscaleImage robot_dart::gui::magnum::BaseGraphics::depth_image () override\n</code></pre> <p>Implements robot_dart::gui::Base::depth_image</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-done","title":"function done","text":"<pre><code>inline virtual bool robot_dart::gui::magnum::BaseGraphics::done () override const\n</code></pre> <p>Implements robot_dart::gui::Base::done</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-enable_shadows","title":"function enable_shadows","text":"<pre><code>inline void robot_dart::gui::magnum::BaseGraphics::enable_shadows (\n    bool enable=true,\n    bool transparent=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-height","title":"function height","text":"<pre><code>inline virtual size_t robot_dart::gui::magnum::BaseGraphics::height () override const\n</code></pre> <p>Implements robot_dart::gui::Base::height</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-image","title":"function image","text":"<pre><code>inline virtual Image robot_dart::gui::magnum::BaseGraphics::image () override\n</code></pre> <p>Implements robot_dart::gui::Base::image</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-light","title":"function light","text":"<pre><code>inline magnum::gs::Light &amp; robot_dart::gui::magnum::BaseGraphics::light (\n    size_t i\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-lights","title":"function lights","text":"<pre><code>inline std::vector&lt; gs::Light &gt; &amp; robot_dart::gui::magnum::BaseGraphics::lights () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-look_at","title":"function look_at","text":"<pre><code>inline void robot_dart::gui::magnum::BaseGraphics::look_at (\n    const Eigen::Vector3d &amp; camera_pos,\n    const Eigen::Vector3d &amp; look_at=Eigen::Vector3d(0, 0, 0),\n    const Eigen::Vector3d &amp; up=Eigen::Vector3d(0, 0, 1)\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-magnum_app-12","title":"function magnum_app [\u00bd]","text":"<pre><code>inline BaseApplication * robot_dart::gui::magnum::BaseGraphics::magnum_app () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-magnum_app-22","title":"function magnum_app [2/2]","text":"<pre><code>inline const BaseApplication * robot_dart::gui::magnum::BaseGraphics::magnum_app () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-magnum_image","title":"function magnum_image","text":"<pre><code>inline Magnum::Image2D * robot_dart::gui::magnum::BaseGraphics::magnum_image () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-num_lights","title":"function num_lights","text":"<pre><code>inline size_t robot_dart::gui::magnum::BaseGraphics::num_lights () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-raw_depth_image","title":"function raw_depth_image","text":"<pre><code>inline virtual GrayscaleImage robot_dart::gui::magnum::BaseGraphics::raw_depth_image () override\n</code></pre> <p>Implements robot_dart::gui::Base::raw_depth_image</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-record_video","title":"function record_video","text":"<pre><code>inline void robot_dart::gui::magnum::BaseGraphics::record_video (\n    const std::string &amp; video_fname,\n    int fps=-1\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-refresh","title":"function refresh","text":"<pre><code>inline virtual void robot_dart::gui::magnum::BaseGraphics::refresh () override\n</code></pre> <p>Implements robot_dart::gui::Base::refresh</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-set_enable","title":"function set_enable","text":"<pre><code>inline virtual void robot_dart::gui::magnum::BaseGraphics::set_enable (\n    bool enable\n) override\n</code></pre> <p>Implements robot_dart::gui::Base::set_enable</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-set_fps","title":"function set_fps","text":"<pre><code>inline virtual void robot_dart::gui::magnum::BaseGraphics::set_fps (\n    int fps\n) override\n</code></pre> <p>Implements robot_dart::gui::Base::set_fps</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-set_simu","title":"function set_simu","text":"<pre><code>inline virtual void robot_dart::gui::magnum::BaseGraphics::set_simu (\n    RobotDARTSimu * simu\n) override\n</code></pre> <p>Implements robot_dart::gui::Base::set_simu</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-shadowed","title":"function shadowed","text":"<pre><code>inline bool robot_dart::gui::magnum::BaseGraphics::shadowed () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-transparent_shadows","title":"function transparent_shadows","text":"<pre><code>inline bool robot_dart::gui::magnum::BaseGraphics::transparent_shadows () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-width","title":"function width","text":"<pre><code>inline virtual size_t robot_dart::gui::magnum::BaseGraphics::width () override const\n</code></pre> <p>Implements robot_dart::gui::Base::width</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-basegraphics_1","title":"function ~BaseGraphics","text":"<pre><code>inline virtual robot_dart::gui::magnum::BaseGraphics::~BaseGraphics () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#variable-_configuration","title":"variable _configuration","text":"<pre><code>GraphicsConfiguration robot_dart::gui::magnum::BaseGraphics&lt; T &gt;::_configuration;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#variable-_enabled","title":"variable _enabled","text":"<pre><code>bool robot_dart::gui::magnum::BaseGraphics&lt; T &gt;::_enabled;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#variable-_fps","title":"variable _fps","text":"<pre><code>int robot_dart::gui::magnum::BaseGraphics&lt; T &gt;::_fps;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#variable-_magnum_app","title":"variable _magnum_app","text":"<pre><code>std::unique_ptr&lt;BaseApplication&gt; robot_dart::gui::magnum::BaseGraphics&lt; T &gt;::_magnum_app;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#variable-_magnum_silence_output","title":"variable _magnum_silence_output","text":"<pre><code>Corrade::Utility::Debug robot_dart::gui::magnum::BaseGraphics&lt; T &gt;::_magnum_silence_output;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/base_graphics.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedColorObject/","title":"Class robot_dart::gui::magnum::CubeMapShadowedColorObject","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; CubeMapShadowedColorObject</p> <p>Inherits the following classes: Object3D,  Magnum::SceneGraph::Drawable3D</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedColorObject/#public-functions","title":"Public Functions","text":"Type Name CubeMapShadowedColorObject (RobotDARTSimu * simu, dart::dynamics::ShapeNode * shape, const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes, gs::CubeMapColor &amp; shader, gs::CubeMapColor &amp; texture_shader, Object3D * parent, Magnum::SceneGraph::DrawableGroup3D * group)  CubeMapShadowedColorObject &amp; set_materials (const std::vector&lt; gs::Material &gt; &amp; materials)  CubeMapShadowedColorObject &amp; set_meshes (const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes)  CubeMapShadowedColorObject &amp; set_scalings (const std::vector&lt; Magnum::Vector3 &gt; &amp; scalings)  dart::dynamics::ShapeNode * shape () const RobotDARTSimu * simu () const"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedColorObject/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedColorObject/#function-cubemapshadowedcolorobject","title":"function CubeMapShadowedColorObject","text":"<pre><code>explicit robot_dart::gui::magnum::CubeMapShadowedColorObject::CubeMapShadowedColorObject (\n    RobotDARTSimu * simu,\n    dart::dynamics::ShapeNode * shape,\n    const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes,\n    gs::CubeMapColor &amp; shader,\n    gs::CubeMapColor &amp; texture_shader,\n    Object3D * parent,\n    Magnum::SceneGraph::DrawableGroup3D * group\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedColorObject/#function-set_materials","title":"function set_materials","text":"<pre><code>CubeMapShadowedColorObject &amp; robot_dart::gui::magnum::CubeMapShadowedColorObject::set_materials (\n    const std::vector&lt; gs::Material &gt; &amp; materials\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedColorObject/#function-set_meshes","title":"function set_meshes","text":"<pre><code>CubeMapShadowedColorObject &amp; robot_dart::gui::magnum::CubeMapShadowedColorObject::set_meshes (\n    const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedColorObject/#function-set_scalings","title":"function set_scalings","text":"<pre><code>CubeMapShadowedColorObject &amp; robot_dart::gui::magnum::CubeMapShadowedColorObject::set_scalings (\n    const std::vector&lt; Magnum::Vector3 &gt; &amp; scalings\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedColorObject/#function-shape","title":"function shape","text":"<pre><code>inline dart::dynamics::ShapeNode * robot_dart::gui::magnum::CubeMapShadowedColorObject::shape () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedColorObject/#function-simu","title":"function simu","text":"<pre><code>inline RobotDARTSimu * robot_dart::gui::magnum::CubeMapShadowedColorObject::simu () const\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/drawables.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedObject/","title":"Class robot_dart::gui::magnum::CubeMapShadowedObject","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; CubeMapShadowedObject</p> <p>Inherits the following classes: Object3D,  Magnum::SceneGraph::Drawable3D</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedObject/#public-functions","title":"Public Functions","text":"Type Name CubeMapShadowedObject (RobotDARTSimu * simu, dart::dynamics::ShapeNode * shape, const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes, gs::CubeMap &amp; shader, gs::CubeMap &amp; texture_shader, Object3D * parent, Magnum::SceneGraph::DrawableGroup3D * group)  CubeMapShadowedObject &amp; set_materials (const std::vector&lt; gs::Material &gt; &amp; materials)  CubeMapShadowedObject &amp; set_meshes (const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes)  CubeMapShadowedObject &amp; set_scalings (const std::vector&lt; Magnum::Vector3 &gt; &amp; scalings)  dart::dynamics::ShapeNode * shape () const RobotDARTSimu * simu () const"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedObject/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedObject/#function-cubemapshadowedobject","title":"function CubeMapShadowedObject","text":"<pre><code>explicit robot_dart::gui::magnum::CubeMapShadowedObject::CubeMapShadowedObject (\n    RobotDARTSimu * simu,\n    dart::dynamics::ShapeNode * shape,\n    const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes,\n    gs::CubeMap &amp; shader,\n    gs::CubeMap &amp; texture_shader,\n    Object3D * parent,\n    Magnum::SceneGraph::DrawableGroup3D * group\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedObject/#function-set_materials","title":"function set_materials","text":"<pre><code>CubeMapShadowedObject &amp; robot_dart::gui::magnum::CubeMapShadowedObject::set_materials (\n    const std::vector&lt; gs::Material &gt; &amp; materials\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedObject/#function-set_meshes","title":"function set_meshes","text":"<pre><code>CubeMapShadowedObject &amp; robot_dart::gui::magnum::CubeMapShadowedObject::set_meshes (\n    const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedObject/#function-set_scalings","title":"function set_scalings","text":"<pre><code>CubeMapShadowedObject &amp; robot_dart::gui::magnum::CubeMapShadowedObject::set_scalings (\n    const std::vector&lt; Magnum::Vector3 &gt; &amp; scalings\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedObject/#function-shape","title":"function shape","text":"<pre><code>inline dart::dynamics::ShapeNode * robot_dart::gui::magnum::CubeMapShadowedObject::shape () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedObject/#function-simu","title":"function simu","text":"<pre><code>inline RobotDARTSimu * robot_dart::gui::magnum::CubeMapShadowedObject::simu () const\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/drawables.hpp</code></p>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/","title":"Struct robot_dart::gui::magnum::DebugDrawData","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; DebugDrawData</p>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/#public-attributes","title":"Public Attributes","text":"Type Name Magnum::GL::Mesh * axes_mesh Magnum::Shaders::VertexColorGL3D * axes_shader Magnum::GL::Mesh * background_mesh Magnum::Shaders::FlatGL2D * background_shader Magnum::Text::DistanceFieldGlyphCache * cache Magnum::Text::AbstractFont * font Magnum::GL::Buffer * text_indices Magnum::Shaders::DistanceFieldVectorGL2D * text_shader Magnum::GL::Buffer * text_vertices"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/#variable-axes_mesh","title":"variable axes_mesh","text":"<pre><code>Magnum::GL::Mesh* robot_dart::gui::magnum::DebugDrawData::axes_mesh;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/#variable-axes_shader","title":"variable axes_shader","text":"<pre><code>Magnum::Shaders::VertexColorGL3D* robot_dart::gui::magnum::DebugDrawData::axes_shader;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/#variable-background_mesh","title":"variable background_mesh","text":"<pre><code>Magnum::GL::Mesh* robot_dart::gui::magnum::DebugDrawData::background_mesh;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/#variable-background_shader","title":"variable background_shader","text":"<pre><code>Magnum::Shaders::FlatGL2D* robot_dart::gui::magnum::DebugDrawData::background_shader;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/#variable-cache","title":"variable cache","text":"<pre><code>Magnum::Text::DistanceFieldGlyphCache* robot_dart::gui::magnum::DebugDrawData::cache;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/#variable-font","title":"variable font","text":"<pre><code>Magnum::Text::AbstractFont* robot_dart::gui::magnum::DebugDrawData::font;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/#variable-text_indices","title":"variable text_indices","text":"<pre><code>Magnum::GL::Buffer* robot_dart::gui::magnum::DebugDrawData::text_indices;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/#variable-text_shader","title":"variable text_shader","text":"<pre><code>Magnum::Shaders::DistanceFieldVectorGL2D* robot_dart::gui::magnum::DebugDrawData::text_shader;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/#variable-text_vertices","title":"variable text_vertices","text":"<pre><code>Magnum::GL::Buffer* robot_dart::gui::magnum::DebugDrawData::text_vertices;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/base_application.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/","title":"Class robot_dart::gui::magnum::DrawableObject","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; DrawableObject</p> <p>Inherits the following classes: Object3D,  Magnum::SceneGraph::Drawable3D</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#public-functions","title":"Public Functions","text":"Type Name DrawableObject (RobotDARTSimu * simu, dart::dynamics::ShapeNode * shape, const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes, const std::vector&lt; gs::Material &gt; &amp; materials, gs::PhongMultiLight &amp; color, gs::PhongMultiLight &amp; texture, Object3D * parent, Magnum::SceneGraph::DrawableGroup3D * group)  const std::vector&lt; gs::Material &gt; &amp; materials () const DrawableObject &amp; set_color_shader (std::reference_wrapper&lt; gs::PhongMultiLight &gt; shader)  DrawableObject &amp; set_materials (const std::vector&lt; gs::Material &gt; &amp; materials)  DrawableObject &amp; set_meshes (const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes)  DrawableObject &amp; set_scalings (const std::vector&lt; Magnum::Vector3 &gt; &amp; scalings)  DrawableObject &amp; set_soft_bodies (const std::vector&lt; bool &gt; &amp; softBody)  DrawableObject &amp; set_texture_shader (std::reference_wrapper&lt; gs::PhongMultiLight &gt; shader)  DrawableObject &amp; set_transparent (bool transparent=true)  dart::dynamics::ShapeNode * shape () const RobotDARTSimu * simu () const bool transparent () const"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#function-drawableobject","title":"function DrawableObject","text":"<pre><code>explicit robot_dart::gui::magnum::DrawableObject::DrawableObject (\n    RobotDARTSimu * simu,\n    dart::dynamics::ShapeNode * shape,\n    const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes,\n    const std::vector&lt; gs::Material &gt; &amp; materials,\n    gs::PhongMultiLight &amp; color,\n    gs::PhongMultiLight &amp; texture,\n    Object3D * parent,\n    Magnum::SceneGraph::DrawableGroup3D * group\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#function-materials","title":"function materials","text":"<pre><code>inline const std::vector&lt; gs::Material &gt; &amp; robot_dart::gui::magnum::DrawableObject::materials () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#function-set_color_shader","title":"function set_color_shader","text":"<pre><code>DrawableObject &amp; robot_dart::gui::magnum::DrawableObject::set_color_shader (\n    std::reference_wrapper&lt; gs::PhongMultiLight &gt; shader\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#function-set_materials","title":"function set_materials","text":"<pre><code>DrawableObject &amp; robot_dart::gui::magnum::DrawableObject::set_materials (\n    const std::vector&lt; gs::Material &gt; &amp; materials\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#function-set_meshes","title":"function set_meshes","text":"<pre><code>DrawableObject &amp; robot_dart::gui::magnum::DrawableObject::set_meshes (\n    const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#function-set_scalings","title":"function set_scalings","text":"<pre><code>DrawableObject &amp; robot_dart::gui::magnum::DrawableObject::set_scalings (\n    const std::vector&lt; Magnum::Vector3 &gt; &amp; scalings\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#function-set_soft_bodies","title":"function set_soft_bodies","text":"<pre><code>DrawableObject &amp; robot_dart::gui::magnum::DrawableObject::set_soft_bodies (\n    const std::vector&lt; bool &gt; &amp; softBody\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#function-set_texture_shader","title":"function set_texture_shader","text":"<pre><code>DrawableObject &amp; robot_dart::gui::magnum::DrawableObject::set_texture_shader (\n    std::reference_wrapper&lt; gs::PhongMultiLight &gt; shader\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#function-set_transparent","title":"function set_transparent","text":"<pre><code>DrawableObject &amp; robot_dart::gui::magnum::DrawableObject::set_transparent (\n    bool transparent=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#function-shape","title":"function shape","text":"<pre><code>inline dart::dynamics::ShapeNode * robot_dart::gui::magnum::DrawableObject::shape () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#function-simu","title":"function simu","text":"<pre><code>inline RobotDARTSimu * robot_dart::gui::magnum::DrawableObject::simu () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#function-transparent","title":"function transparent","text":"<pre><code>inline bool robot_dart::gui::magnum::DrawableObject::transparent () const\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/drawables.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/","title":"Class robot_dart::gui::magnum::GlfwApplication","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; GlfwApplication</p> <p>Inherits the following classes: robot_dart::gui::magnum::BaseApplication,  Magnum::Platform::Application</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#public-functions","title":"Public Functions","text":"Type Name GlfwApplication (int argc, char ** argv, RobotDARTSimu * simu, const GraphicsConfiguration &amp; configuration=GraphicsConfiguration())  virtual void render () override ~GlfwApplication ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#public-functions-inherited-from-robot_dartguimagnumbaseapplication","title":"Public Functions inherited from robot_dart::gui::magnum::BaseApplication","text":"<p>See robot_dart::gui::magnum::BaseApplication</p> Type Name BaseApplication (const GraphicsConfiguration &amp; configuration=GraphicsConfiguration())  void add_light (const gs::Light &amp; light)  bool attach_camera (gs::Camera &amp; camera, dart::dynamics::BodyNode * body)  gs::Camera &amp; camera ()  const gs::Camera &amp; camera () const void clear_lights ()  DebugDrawData debug_draw_data ()  DepthImage depth_array ()  GrayscaleImage depth_image ()  bool done () const Magnum::SceneGraph::DrawableGroup3D &amp; drawables ()  void enable_shadows (bool enable=true, bool drawTransparentShadows=false)  Corrade::Containers::Optional&lt; Magnum::Image2D &gt; &amp; image ()  void init (RobotDARTSimu * simu, const GraphicsConfiguration &amp; configuration)  gs::Light &amp; light (size_t i)  std::vector&lt; gs::Light &gt; &amp; lights ()  void look_at (const Eigen::Vector3d &amp; camera_pos, const Eigen::Vector3d &amp; look_at, const Eigen::Vector3d &amp; up)  size_t num_lights () const GrayscaleImage raw_depth_image ()  void record_video (const std::string &amp; video_fname, int fps)  virtual void render ()  void render_shadows ()  Scene3D &amp; scene ()  bool shadowed () const bool transparent_shadows () const void update_graphics ()  void update_lights (const gs::Camera &amp; camera)  virtual ~BaseApplication ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#protected-attributes","title":"Protected Attributes","text":"Type Name Magnum::Color4 _bg_color bool _draw_debug bool _draw_main_camera RobotDARTSimu * _simu Magnum::Float _speed_move Magnum::Float _speed_strafe"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#protected-attributes-inherited-from-robot_dartguimagnumbaseapplication","title":"Protected Attributes inherited from robot_dart::gui::magnum::BaseApplication","text":"<p>See robot_dart::gui::magnum::BaseApplication</p> Type Name std::unique_ptr&lt; Magnum::GL::Mesh &gt; _3D_axis_mesh std::unique_ptr&lt; Magnum::Shaders::VertexColorGL3D &gt; _3D_axis_shader std::unique_ptr&lt; Magnum::GL::Mesh &gt; _background_mesh std::unique_ptr&lt; Magnum::Shaders::FlatGL2D &gt; _background_shader std::unique_ptr&lt; gs::Camera &gt; _camera std::unique_ptr&lt; gs::PhongMultiLight &gt; _color_shader GraphicsConfiguration _configuration Magnum::SceneGraph::DrawableGroup3D _cubemap_color_drawables std::unique_ptr&lt; gs::CubeMapColor &gt; _cubemap_color_shader Magnum::SceneGraph::DrawableGroup3D _cubemap_drawables std::unique_ptr&lt; gs::CubeMap &gt; _cubemap_shader std::unique_ptr&lt; gs::CubeMapColor &gt; _cubemap_texture_color_shader std::unique_ptr&lt; gs::CubeMap &gt; _cubemap_texture_shader std::unique_ptr&lt; Magnum::DartIntegration::World &gt; _dart_world bool _done   = = false std::unordered_map&lt; Magnum::DartIntegration::Object *, ObjectStruct * &gt; _drawable_objects Magnum::SceneGraph::DrawableGroup3D _drawables Corrade::Containers::Pointer&lt; Magnum::Text::AbstractFont &gt; _font Corrade::PluginManager::Manager&lt; Magnum::Text::AbstractFont &gt; _font_manager Corrade::Containers::Pointer&lt; Magnum::Text::DistanceFieldGlyphCache &gt; _glyph_cache Corrade::PluginManager::Manager&lt; Magnum::Trade::AbstractImporter &gt; _importer_manager std::vector&lt; gs::Light &gt; _lights int _max_lights   = = 5 Scene3D _scene std::unique_ptr&lt; Camera3D &gt; _shadow_camera Object3D * _shadow_camera_object std::unique_ptr&lt; Magnum::GL::CubeMapTextureArray &gt; _shadow_color_cube_map std::unique_ptr&lt; gs::ShadowMapColor &gt; _shadow_color_shader std::unique_ptr&lt; Magnum::GL::Texture2DArray &gt; _shadow_color_texture std::unique_ptr&lt; Magnum::GL::CubeMapTextureArray &gt; _shadow_cube_map std::vector&lt; ShadowData &gt; _shadow_data int _shadow_map_size   = = 512 std::unique_ptr&lt; gs::ShadowMap &gt; _shadow_shader std::unique_ptr&lt; Magnum::GL::Texture2DArray &gt; _shadow_texture std::unique_ptr&lt; gs::ShadowMapColor &gt; _shadow_texture_color_shader std::unique_ptr&lt; gs::ShadowMap &gt; _shadow_texture_shader bool _shadowed   = = true Magnum::SceneGraph::DrawableGroup3D _shadowed_color_drawables Magnum::SceneGraph::DrawableGroup3D _shadowed_drawables RobotDARTSimu * _simu Corrade::Containers::Pointer&lt; Magnum::GL::Buffer &gt; _text_indices std::unique_ptr&lt; Magnum::Shaders::DistanceFieldVectorGL2D &gt; _text_shader Corrade::Containers::Pointer&lt; Magnum::GL::Buffer &gt; _text_vertices std::unique_ptr&lt; gs::PhongMultiLight &gt; _texture_shader int _transparentSize   = = 0 bool _transparent_shadows   = = false"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#protected-static-attributes","title":"Protected Static Attributes","text":"Type Name Magnum::Float _speed   = = 0.05f"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#protected-functions","title":"Protected Functions","text":"Type Name void drawEvent () override void exitEvent (ExitEvent &amp; event) override virtual void keyPressEvent (KeyEvent &amp; event) override virtual void keyReleaseEvent (KeyEvent &amp; event) override virtual void mouseMoveEvent (MouseMoveEvent &amp; event) override virtual void mouseScrollEvent (MouseScrollEvent &amp; event) override void viewportEvent (ViewportEvent &amp; event) override"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#protected-functions-inherited-from-robot_dartguimagnumbaseapplication","title":"Protected Functions inherited from robot_dart::gui::magnum::BaseApplication","text":"<p>See robot_dart::gui::magnum::BaseApplication</p> Type Name void _gl_clean_up ()  void _prepare_shadows ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#function-glfwapplication","title":"function GlfwApplication","text":"<pre><code>explicit robot_dart::gui::magnum::GlfwApplication::GlfwApplication (\n    int argc,\n    char ** argv,\n    RobotDARTSimu * simu,\n    const GraphicsConfiguration &amp; configuration=GraphicsConfiguration ()\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#function-render","title":"function render","text":"<pre><code>virtual void robot_dart::gui::magnum::GlfwApplication::render () override\n</code></pre> <p>Implements robot_dart::gui::magnum::BaseApplication::render</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#function-glfwapplication_1","title":"function ~GlfwApplication","text":"<pre><code>robot_dart::gui::magnum::GlfwApplication::~GlfwApplication () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#variable-_bg_color","title":"variable _bg_color","text":"<pre><code>Magnum::Color4 robot_dart::gui::magnum::GlfwApplication::_bg_color;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#variable-_draw_debug","title":"variable _draw_debug","text":"<pre><code>bool robot_dart::gui::magnum::GlfwApplication::_draw_debug;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#variable-_draw_main_camera","title":"variable _draw_main_camera","text":"<pre><code>bool robot_dart::gui::magnum::GlfwApplication::_draw_main_camera;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#variable-_simu","title":"variable _simu","text":"<pre><code>RobotDARTSimu* robot_dart::gui::magnum::GlfwApplication::_simu;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#variable-_speed_move","title":"variable _speed_move","text":"<pre><code>Magnum::Float robot_dart::gui::magnum::GlfwApplication::_speed_move;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#variable-_speed_strafe","title":"variable _speed_strafe","text":"<pre><code>Magnum::Float robot_dart::gui::magnum::GlfwApplication::_speed_strafe;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#protected-static-attributes-documentation","title":"Protected Static Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#variable-_speed","title":"variable _speed","text":"<pre><code>Magnum::Float robot_dart::gui::magnum::GlfwApplication::_speed;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#protected-functions-documentation","title":"Protected Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#function-drawevent","title":"function drawEvent","text":"<pre><code>void robot_dart::gui::magnum::GlfwApplication::drawEvent () override\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#function-exitevent","title":"function exitEvent","text":"<pre><code>void robot_dart::gui::magnum::GlfwApplication::exitEvent (\n    ExitEvent &amp; event\n) override\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#function-keypressevent","title":"function keyPressEvent","text":"<pre><code>virtual void robot_dart::gui::magnum::GlfwApplication::keyPressEvent (\n    KeyEvent &amp; event\n) override\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#function-keyreleaseevent","title":"function keyReleaseEvent","text":"<pre><code>virtual void robot_dart::gui::magnum::GlfwApplication::keyReleaseEvent (\n    KeyEvent &amp; event\n) override\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#function-mousemoveevent","title":"function mouseMoveEvent","text":"<pre><code>virtual void robot_dart::gui::magnum::GlfwApplication::mouseMoveEvent (\n    MouseMoveEvent &amp; event\n) override\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#function-mousescrollevent","title":"function mouseScrollEvent","text":"<pre><code>virtual void robot_dart::gui::magnum::GlfwApplication::mouseScrollEvent (\n    MouseScrollEvent &amp; event\n) override\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#function-viewportevent","title":"function viewportEvent","text":"<pre><code>void robot_dart::gui::magnum::GlfwApplication::viewportEvent (\n    ViewportEvent &amp; event\n) override\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/glfw_application.hpp</code></p>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/","title":"Struct robot_dart::gui::magnum::GlobalData","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; GlobalData</p>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/#public-functions","title":"Public Functions","text":"Type Name GlobalData (const GlobalData &amp;) = delete void free_gl_context (Magnum::Platform::WindowlessGLContext * context)  Magnum::Platform::WindowlessGLContext * gl_context ()  void operator= (const GlobalData &amp;) = delete void set_max_contexts (size_t N)"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/#public-static-functions","title":"Public Static Functions","text":"Type Name GlobalData * instance ()"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/#function-globaldata-12","title":"function GlobalData [\u00bd]","text":"<pre><code>robot_dart::gui::magnum::GlobalData::GlobalData (\n    const GlobalData &amp;\n) = delete\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/#function-free_gl_context","title":"function free_gl_context","text":"<pre><code>void robot_dart::gui::magnum::GlobalData::free_gl_context (\n    Magnum::Platform::WindowlessGLContext * context\n) \n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/#function-gl_context","title":"function gl_context","text":"<pre><code>Magnum::Platform::WindowlessGLContext * robot_dart::gui::magnum::GlobalData::gl_context () \n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/#function-operator","title":"function operator=","text":"<pre><code>void robot_dart::gui::magnum::GlobalData::operator= (\n    const GlobalData &amp;\n) = delete\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/#function-set_max_contexts","title":"function set_max_contexts","text":"<pre><code>void robot_dart::gui::magnum::GlobalData::set_max_contexts (\n    size_t N\n) \n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/#public-static-functions-documentation","title":"Public Static Functions Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/#function-instance","title":"function instance","text":"<pre><code>static inline GlobalData * robot_dart::gui::magnum::GlobalData::instance () \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/base_application.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/","title":"Class robot_dart::gui::magnum::Graphics","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; Graphics</p> <p>Inherits the following classes: robot_dart::gui::magnum::BaseGraphics</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#public-functions","title":"Public Functions","text":"Type Name Graphics (const GraphicsConfiguration &amp; configuration=default_configuration())  virtual void set_simu (RobotDARTSimu * simu) override ~Graphics ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#public-functions-inherited-from-robot_dartguimagnumbasegraphics","title":"Public Functions inherited from robot_dart::gui::magnum::BaseGraphics","text":"<p>See robot_dart::gui::magnum::BaseGraphics</p> Type Name BaseGraphics (const GraphicsConfiguration &amp; configuration=GraphicsConfiguration())  void add_light (const magnum::Light &amp; light)  gs::Camera &amp; camera ()  const gs::Camera &amp; camera () const Eigen::Matrix4d camera_extrinsic_matrix () const Eigen::Matrix3d camera_intrinsic_matrix () const void clear_lights ()  virtual DepthImage depth_array () override virtual GrayscaleImage depth_image () override virtual bool done () override const void enable_shadows (bool enable=true, bool transparent=true)  virtual size_t height () override const virtual Image image () override magnum::Light &amp; light (size_t i)  std::vector&lt; gs::Light &gt; &amp; lights ()  void look_at (const Eigen::Vector3d &amp; camera_pos, const Eigen::Vector3d &amp; look_at=Eigen::Vector3d(0, 0, 0), const Eigen::Vector3d &amp; up=Eigen::Vector3d(0, 0, 1))  BaseApplication * magnum_app ()  const BaseApplication * magnum_app () const Magnum::Image2D * magnum_image ()  size_t num_lights () const virtual GrayscaleImage raw_depth_image () override void record_video (const std::string &amp; video_fname, int fps=-1)  virtual void refresh () override virtual void set_enable (bool enable) override virtual void set_fps (int fps) override virtual void set_simu (RobotDARTSimu * simu) override bool shadowed () const bool transparent_shadows () const virtual size_t width () override const virtual ~BaseGraphics ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#public-functions-inherited-from-robot_dartguibase","title":"Public Functions inherited from robot_dart::gui::Base","text":"<p>See robot_dart::gui::Base</p> Type Name Base ()  virtual DepthImage depth_array ()  virtual GrayscaleImage depth_image ()  virtual bool done () const virtual size_t height () const virtual Image image ()  virtual GrayscaleImage raw_depth_image ()  virtual void refresh ()  virtual void set_enable (bool)  virtual void set_fps (int)  virtual void set_render_period (double)  virtual void set_simu (RobotDARTSimu * simu)  const RobotDARTSimu * simu () const virtual size_t width () const virtual ~Base ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#public-static-functions","title":"Public Static Functions","text":"Type Name GraphicsConfiguration default_configuration ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#protected-attributes-inherited-from-robot_dartguimagnumbasegraphics","title":"Protected Attributes inherited from robot_dart::gui::magnum::BaseGraphics","text":"<p>See robot_dart::gui::magnum::BaseGraphics</p> Type Name GraphicsConfiguration _configuration bool _enabled int _fps std::unique_ptr&lt; BaseApplication &gt; _magnum_app Corrade::Utility::Debug _magnum_silence_output   = {nullptr}"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#protected-attributes-inherited-from-robot_dartguibase","title":"Protected Attributes inherited from robot_dart::gui::Base","text":"<p>See robot_dart::gui::Base</p> Type Name RobotDARTSimu * _simu   = = nullptr"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#function-graphics","title":"function Graphics","text":"<pre><code>inline robot_dart::gui::magnum::Graphics::Graphics (\n    const GraphicsConfiguration &amp; configuration=default_configuration()\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#function-set_simu","title":"function set_simu","text":"<pre><code>virtual void robot_dart::gui::magnum::Graphics::set_simu (\n    RobotDARTSimu * simu\n) override\n</code></pre> <p>Implements robot_dart::gui::magnum::BaseGraphics::set_simu</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#function-graphics_1","title":"function ~Graphics","text":"<pre><code>inline robot_dart::gui::magnum::Graphics::~Graphics () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#public-static-functions-documentation","title":"Public Static Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#function-default_configuration","title":"function default_configuration","text":"<pre><code>static GraphicsConfiguration robot_dart::gui::magnum::Graphics::default_configuration () \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/graphics.hpp</code></p>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/","title":"Struct robot_dart::gui::magnum::GraphicsConfiguration","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; GraphicsConfiguration</p>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#public-attributes","title":"Public Attributes","text":"Type Name Eigen::Vector4d bg_color   = {0.0, 0.0, 0.0, 1.0} bool draw_debug   = = true bool draw_main_camera   = = true bool draw_text   = = true size_t height   = = 480 size_t max_lights   = = 3 size_t shadow_map_size   = = 1024 bool shadowed   = = true double specular_strength   = = 0.25 std::string title   = = \"DART\" bool transparent_shadows   = = true size_t width   = = 640"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#variable-bg_color","title":"variable bg_color","text":"<pre><code>Eigen::Vector4d robot_dart::gui::magnum::GraphicsConfiguration::bg_color;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#variable-draw_debug","title":"variable draw_debug","text":"<pre><code>bool robot_dart::gui::magnum::GraphicsConfiguration::draw_debug;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#variable-draw_main_camera","title":"variable draw_main_camera","text":"<pre><code>bool robot_dart::gui::magnum::GraphicsConfiguration::draw_main_camera;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#variable-draw_text","title":"variable draw_text","text":"<pre><code>bool robot_dart::gui::magnum::GraphicsConfiguration::draw_text;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#variable-height","title":"variable height","text":"<pre><code>size_t robot_dart::gui::magnum::GraphicsConfiguration::height;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#variable-max_lights","title":"variable max_lights","text":"<pre><code>size_t robot_dart::gui::magnum::GraphicsConfiguration::max_lights;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#variable-shadow_map_size","title":"variable shadow_map_size","text":"<pre><code>size_t robot_dart::gui::magnum::GraphicsConfiguration::shadow_map_size;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#variable-shadowed","title":"variable shadowed","text":"<pre><code>bool robot_dart::gui::magnum::GraphicsConfiguration::shadowed;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#variable-specular_strength","title":"variable specular_strength","text":"<pre><code>double robot_dart::gui::magnum::GraphicsConfiguration::specular_strength;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#variable-title","title":"variable title","text":"<pre><code>std::string robot_dart::gui::magnum::GraphicsConfiguration::title;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#variable-transparent_shadows","title":"variable transparent_shadows","text":"<pre><code>bool robot_dart::gui::magnum::GraphicsConfiguration::transparent_shadows;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#variable-width","title":"variable width","text":"<pre><code>size_t robot_dart::gui::magnum::GraphicsConfiguration::width;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/base_application.hpp</code></p>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ObjectStruct/","title":"Struct robot_dart::gui::magnum::ObjectStruct","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; ObjectStruct</p>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ObjectStruct/#public-attributes","title":"Public Attributes","text":"Type Name CubeMapShadowedObject * cubemapped CubeMapShadowedColorObject * cubemapped_color DrawableObject * drawable ShadowedObject * shadowed ShadowedColorObject * shadowed_color"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ObjectStruct/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ObjectStruct/#variable-cubemapped","title":"variable cubemapped","text":"<pre><code>CubeMapShadowedObject* robot_dart::gui::magnum::ObjectStruct::cubemapped;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ObjectStruct/#variable-cubemapped_color","title":"variable cubemapped_color","text":"<pre><code>CubeMapShadowedColorObject* robot_dart::gui::magnum::ObjectStruct::cubemapped_color;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ObjectStruct/#variable-drawable","title":"variable drawable","text":"<pre><code>DrawableObject* robot_dart::gui::magnum::ObjectStruct::drawable;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ObjectStruct/#variable-shadowed","title":"variable shadowed","text":"<pre><code>ShadowedObject* robot_dart::gui::magnum::ObjectStruct::shadowed;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ObjectStruct/#variable-shadowed_color","title":"variable shadowed_color","text":"<pre><code>ShadowedColorObject* robot_dart::gui::magnum::ObjectStruct::shadowed_color;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/drawables.hpp</code></p>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ShadowData/","title":"Struct robot_dart::gui::magnum::ShadowData","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; ShadowData</p>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ShadowData/#public-attributes","title":"Public Attributes","text":"Type Name Magnum::GL::Framebuffer shadow_color_framebuffer   = {Magnum::NoCreate} Magnum::GL::Framebuffer shadow_framebuffer   = {Magnum::NoCreate}"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ShadowData/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ShadowData/#variable-shadow_color_framebuffer","title":"variable shadow_color_framebuffer","text":"<pre><code>Magnum::GL::Framebuffer robot_dart::gui::magnum::ShadowData::shadow_color_framebuffer;\n</code></pre>"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ShadowData/#variable-shadow_framebuffer","title":"variable shadow_framebuffer","text":"<pre><code>Magnum::GL::Framebuffer robot_dart::gui::magnum::ShadowData::shadow_framebuffer;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/drawables.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedColorObject/","title":"Class robot_dart::gui::magnum::ShadowedColorObject","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; ShadowedColorObject</p> <p>Inherits the following classes: Object3D,  Magnum::SceneGraph::Drawable3D</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedColorObject/#public-functions","title":"Public Functions","text":"Type Name ShadowedColorObject (RobotDARTSimu * simu, dart::dynamics::ShapeNode * shape, const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes, gs::ShadowMapColor &amp; shader, gs::ShadowMapColor &amp; texture_shader, Object3D * parent, Magnum::SceneGraph::DrawableGroup3D * group)  ShadowedColorObject &amp; set_materials (const std::vector&lt; gs::Material &gt; &amp; materials)  ShadowedColorObject &amp; set_meshes (const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes)  ShadowedColorObject &amp; set_scalings (const std::vector&lt; Magnum::Vector3 &gt; &amp; scalings)  dart::dynamics::ShapeNode * shape () const RobotDARTSimu * simu () const"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedColorObject/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedColorObject/#function-shadowedcolorobject","title":"function ShadowedColorObject","text":"<pre><code>explicit robot_dart::gui::magnum::ShadowedColorObject::ShadowedColorObject (\n    RobotDARTSimu * simu,\n    dart::dynamics::ShapeNode * shape,\n    const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes,\n    gs::ShadowMapColor &amp; shader,\n    gs::ShadowMapColor &amp; texture_shader,\n    Object3D * parent,\n    Magnum::SceneGraph::DrawableGroup3D * group\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedColorObject/#function-set_materials","title":"function set_materials","text":"<pre><code>ShadowedColorObject &amp; robot_dart::gui::magnum::ShadowedColorObject::set_materials (\n    const std::vector&lt; gs::Material &gt; &amp; materials\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedColorObject/#function-set_meshes","title":"function set_meshes","text":"<pre><code>ShadowedColorObject &amp; robot_dart::gui::magnum::ShadowedColorObject::set_meshes (\n    const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedColorObject/#function-set_scalings","title":"function set_scalings","text":"<pre><code>ShadowedColorObject &amp; robot_dart::gui::magnum::ShadowedColorObject::set_scalings (\n    const std::vector&lt; Magnum::Vector3 &gt; &amp; scalings\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedColorObject/#function-shape","title":"function shape","text":"<pre><code>inline dart::dynamics::ShapeNode * robot_dart::gui::magnum::ShadowedColorObject::shape () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedColorObject/#function-simu","title":"function simu","text":"<pre><code>inline RobotDARTSimu * robot_dart::gui::magnum::ShadowedColorObject::simu () const\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/drawables.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedObject/","title":"Class robot_dart::gui::magnum::ShadowedObject","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; ShadowedObject</p> <p>Inherits the following classes: Object3D,  Magnum::SceneGraph::Drawable3D</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedObject/#public-functions","title":"Public Functions","text":"Type Name ShadowedObject (RobotDARTSimu * simu, dart::dynamics::ShapeNode * shape, const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes, gs::ShadowMap &amp; shader, gs::ShadowMap &amp; texture_shader, Object3D * parent, Magnum::SceneGraph::DrawableGroup3D * group)  ShadowedObject &amp; set_materials (const std::vector&lt; gs::Material &gt; &amp; materials)  ShadowedObject &amp; set_meshes (const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes)  ShadowedObject &amp; set_scalings (const std::vector&lt; Magnum::Vector3 &gt; &amp; scalings)  dart::dynamics::ShapeNode * shape () const RobotDARTSimu * simu () const"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedObject/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedObject/#function-shadowedobject","title":"function ShadowedObject","text":"<pre><code>explicit robot_dart::gui::magnum::ShadowedObject::ShadowedObject (\n    RobotDARTSimu * simu,\n    dart::dynamics::ShapeNode * shape,\n    const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes,\n    gs::ShadowMap &amp; shader,\n    gs::ShadowMap &amp; texture_shader,\n    Object3D * parent,\n    Magnum::SceneGraph::DrawableGroup3D * group\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedObject/#function-set_materials","title":"function set_materials","text":"<pre><code>ShadowedObject &amp; robot_dart::gui::magnum::ShadowedObject::set_materials (\n    const std::vector&lt; gs::Material &gt; &amp; materials\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedObject/#function-set_meshes","title":"function set_meshes","text":"<pre><code>ShadowedObject &amp; robot_dart::gui::magnum::ShadowedObject::set_meshes (\n    const std::vector&lt; std::reference_wrapper&lt; Magnum::GL::Mesh &gt; &gt; &amp; meshes\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedObject/#function-set_scalings","title":"function set_scalings","text":"<pre><code>ShadowedObject &amp; robot_dart::gui::magnum::ShadowedObject::set_scalings (\n    const std::vector&lt; Magnum::Vector3 &gt; &amp; scalings\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedObject/#function-shape","title":"function shape","text":"<pre><code>inline dart::dynamics::ShapeNode * robot_dart::gui::magnum::ShadowedObject::shape () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedObject/#function-simu","title":"function simu","text":"<pre><code>inline RobotDARTSimu * robot_dart::gui::magnum::ShadowedObject::simu () const\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/drawables.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/","title":"Class robot_dart::gui::magnum::WindowlessGLApplication","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; WindowlessGLApplication</p> <p>Inherits the following classes: robot_dart::gui::magnum::BaseApplication,  Magnum::Platform::WindowlessApplication</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#public-functions","title":"Public Functions","text":"Type Name WindowlessGLApplication (int argc, char ** argv, RobotDARTSimu * simu, const GraphicsConfiguration &amp; configuration=GraphicsConfiguration())  virtual void render () override ~WindowlessGLApplication ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#public-functions-inherited-from-robot_dartguimagnumbaseapplication","title":"Public Functions inherited from robot_dart::gui::magnum::BaseApplication","text":"<p>See robot_dart::gui::magnum::BaseApplication</p> Type Name BaseApplication (const GraphicsConfiguration &amp; configuration=GraphicsConfiguration())  void add_light (const gs::Light &amp; light)  bool attach_camera (gs::Camera &amp; camera, dart::dynamics::BodyNode * body)  gs::Camera &amp; camera ()  const gs::Camera &amp; camera () const void clear_lights ()  DebugDrawData debug_draw_data ()  DepthImage depth_array ()  GrayscaleImage depth_image ()  bool done () const Magnum::SceneGraph::DrawableGroup3D &amp; drawables ()  void enable_shadows (bool enable=true, bool drawTransparentShadows=false)  Corrade::Containers::Optional&lt; Magnum::Image2D &gt; &amp; image ()  void init (RobotDARTSimu * simu, const GraphicsConfiguration &amp; configuration)  gs::Light &amp; light (size_t i)  std::vector&lt; gs::Light &gt; &amp; lights ()  void look_at (const Eigen::Vector3d &amp; camera_pos, const Eigen::Vector3d &amp; look_at, const Eigen::Vector3d &amp; up)  size_t num_lights () const GrayscaleImage raw_depth_image ()  void record_video (const std::string &amp; video_fname, int fps)  virtual void render ()  void render_shadows ()  Scene3D &amp; scene ()  bool shadowed () const bool transparent_shadows () const void update_graphics ()  void update_lights (const gs::Camera &amp; camera)  virtual ~BaseApplication ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#protected-attributes","title":"Protected Attributes","text":"Type Name Magnum::Color4 _bg_color Magnum::GL::Renderbuffer _color   = {Magnum::NoCreate} Magnum::GL::Renderbuffer _depth   = {Magnum::NoCreate} bool _draw_debug bool _draw_main_camera Magnum::PixelFormat _format Magnum::GL::Framebuffer _framebuffer   = {Magnum::NoCreate} RobotDARTSimu * _simu"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#protected-attributes-inherited-from-robot_dartguimagnumbaseapplication","title":"Protected Attributes inherited from robot_dart::gui::magnum::BaseApplication","text":"<p>See robot_dart::gui::magnum::BaseApplication</p> Type Name std::unique_ptr&lt; Magnum::GL::Mesh &gt; _3D_axis_mesh std::unique_ptr&lt; Magnum::Shaders::VertexColorGL3D &gt; _3D_axis_shader std::unique_ptr&lt; Magnum::GL::Mesh &gt; _background_mesh std::unique_ptr&lt; Magnum::Shaders::FlatGL2D &gt; _background_shader std::unique_ptr&lt; gs::Camera &gt; _camera std::unique_ptr&lt; gs::PhongMultiLight &gt; _color_shader GraphicsConfiguration _configuration Magnum::SceneGraph::DrawableGroup3D _cubemap_color_drawables std::unique_ptr&lt; gs::CubeMapColor &gt; _cubemap_color_shader Magnum::SceneGraph::DrawableGroup3D _cubemap_drawables std::unique_ptr&lt; gs::CubeMap &gt; _cubemap_shader std::unique_ptr&lt; gs::CubeMapColor &gt; _cubemap_texture_color_shader std::unique_ptr&lt; gs::CubeMap &gt; _cubemap_texture_shader std::unique_ptr&lt; Magnum::DartIntegration::World &gt; _dart_world bool _done   = = false std::unordered_map&lt; Magnum::DartIntegration::Object *, ObjectStruct * &gt; _drawable_objects Magnum::SceneGraph::DrawableGroup3D _drawables Corrade::Containers::Pointer&lt; Magnum::Text::AbstractFont &gt; _font Corrade::PluginManager::Manager&lt; Magnum::Text::AbstractFont &gt; _font_manager Corrade::Containers::Pointer&lt; Magnum::Text::DistanceFieldGlyphCache &gt; _glyph_cache Corrade::PluginManager::Manager&lt; Magnum::Trade::AbstractImporter &gt; _importer_manager std::vector&lt; gs::Light &gt; _lights int _max_lights   = = 5 Scene3D _scene std::unique_ptr&lt; Camera3D &gt; _shadow_camera Object3D * _shadow_camera_object std::unique_ptr&lt; Magnum::GL::CubeMapTextureArray &gt; _shadow_color_cube_map std::unique_ptr&lt; gs::ShadowMapColor &gt; _shadow_color_shader std::unique_ptr&lt; Magnum::GL::Texture2DArray &gt; _shadow_color_texture std::unique_ptr&lt; Magnum::GL::CubeMapTextureArray &gt; _shadow_cube_map std::vector&lt; ShadowData &gt; _shadow_data int _shadow_map_size   = = 512 std::unique_ptr&lt; gs::ShadowMap &gt; _shadow_shader std::unique_ptr&lt; Magnum::GL::Texture2DArray &gt; _shadow_texture std::unique_ptr&lt; gs::ShadowMapColor &gt; _shadow_texture_color_shader std::unique_ptr&lt; gs::ShadowMap &gt; _shadow_texture_shader bool _shadowed   = = true Magnum::SceneGraph::DrawableGroup3D _shadowed_color_drawables Magnum::SceneGraph::DrawableGroup3D _shadowed_drawables RobotDARTSimu * _simu Corrade::Containers::Pointer&lt; Magnum::GL::Buffer &gt; _text_indices std::unique_ptr&lt; Magnum::Shaders::DistanceFieldVectorGL2D &gt; _text_shader Corrade::Containers::Pointer&lt; Magnum::GL::Buffer &gt; _text_vertices std::unique_ptr&lt; gs::PhongMultiLight &gt; _texture_shader int _transparentSize   = = 0 bool _transparent_shadows   = = false"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#protected-functions","title":"Protected Functions","text":"Type Name virtual int exec () override"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#protected-functions-inherited-from-robot_dartguimagnumbaseapplication","title":"Protected Functions inherited from robot_dart::gui::magnum::BaseApplication","text":"<p>See robot_dart::gui::magnum::BaseApplication</p> Type Name void _gl_clean_up ()  void _prepare_shadows ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#function-windowlessglapplication","title":"function WindowlessGLApplication","text":"<pre><code>explicit robot_dart::gui::magnum::WindowlessGLApplication::WindowlessGLApplication (\n    int argc,\n    char ** argv,\n    RobotDARTSimu * simu,\n    const GraphicsConfiguration &amp; configuration=GraphicsConfiguration ()\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#function-render","title":"function render","text":"<pre><code>virtual void robot_dart::gui::magnum::WindowlessGLApplication::render () override\n</code></pre> <p>Implements robot_dart::gui::magnum::BaseApplication::render</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#function-windowlessglapplication_1","title":"function ~WindowlessGLApplication","text":"<pre><code>robot_dart::gui::magnum::WindowlessGLApplication::~WindowlessGLApplication () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#variable-_bg_color","title":"variable _bg_color","text":"<pre><code>Magnum::Color4 robot_dart::gui::magnum::WindowlessGLApplication::_bg_color;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#variable-_color","title":"variable _color","text":"<pre><code>Magnum::GL::Renderbuffer robot_dart::gui::magnum::WindowlessGLApplication::_color;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#variable-_depth","title":"variable _depth","text":"<pre><code>Magnum::GL::Renderbuffer robot_dart::gui::magnum::WindowlessGLApplication::_depth;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#variable-_draw_debug","title":"variable _draw_debug","text":"<pre><code>bool robot_dart::gui::magnum::WindowlessGLApplication::_draw_debug;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#variable-_draw_main_camera","title":"variable _draw_main_camera","text":"<pre><code>bool robot_dart::gui::magnum::WindowlessGLApplication::_draw_main_camera;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#variable-_format","title":"variable _format","text":"<pre><code>Magnum::PixelFormat robot_dart::gui::magnum::WindowlessGLApplication::_format;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#variable-_framebuffer","title":"variable _framebuffer","text":"<pre><code>Magnum::GL::Framebuffer robot_dart::gui::magnum::WindowlessGLApplication::_framebuffer;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#variable-_simu","title":"variable _simu","text":"<pre><code>RobotDARTSimu* robot_dart::gui::magnum::WindowlessGLApplication::_simu;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#protected-functions-documentation","title":"Protected Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#function-exec","title":"function exec","text":"<pre><code>inline virtual int robot_dart::gui::magnum::WindowlessGLApplication::exec () override\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/windowless_gl_application.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/","title":"Class robot_dart::gui::magnum::WindowlessGraphics","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; WindowlessGraphics</p> <p>Inherits the following classes: robot_dart::gui::magnum::BaseGraphics</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#public-functions","title":"Public Functions","text":"Type Name WindowlessGraphics (const GraphicsConfiguration &amp; configuration=default_configuration())  virtual void set_simu (RobotDARTSimu * simu) override ~WindowlessGraphics ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#public-functions-inherited-from-robot_dartguimagnumbasegraphics","title":"Public Functions inherited from robot_dart::gui::magnum::BaseGraphics","text":"<p>See robot_dart::gui::magnum::BaseGraphics</p> Type Name BaseGraphics (const GraphicsConfiguration &amp; configuration=GraphicsConfiguration())  void add_light (const magnum::Light &amp; light)  gs::Camera &amp; camera ()  const gs::Camera &amp; camera () const Eigen::Matrix4d camera_extrinsic_matrix () const Eigen::Matrix3d camera_intrinsic_matrix () const void clear_lights ()  virtual DepthImage depth_array () override virtual GrayscaleImage depth_image () override virtual bool done () override const void enable_shadows (bool enable=true, bool transparent=true)  virtual size_t height () override const virtual Image image () override magnum::Light &amp; light (size_t i)  std::vector&lt; gs::Light &gt; &amp; lights ()  void look_at (const Eigen::Vector3d &amp; camera_pos, const Eigen::Vector3d &amp; look_at=Eigen::Vector3d(0, 0, 0), const Eigen::Vector3d &amp; up=Eigen::Vector3d(0, 0, 1))  BaseApplication * magnum_app ()  const BaseApplication * magnum_app () const Magnum::Image2D * magnum_image ()  size_t num_lights () const virtual GrayscaleImage raw_depth_image () override void record_video (const std::string &amp; video_fname, int fps=-1)  virtual void refresh () override virtual void set_enable (bool enable) override virtual void set_fps (int fps) override virtual void set_simu (RobotDARTSimu * simu) override bool shadowed () const bool transparent_shadows () const virtual size_t width () override const virtual ~BaseGraphics ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#public-functions-inherited-from-robot_dartguibase","title":"Public Functions inherited from robot_dart::gui::Base","text":"<p>See robot_dart::gui::Base</p> Type Name Base ()  virtual DepthImage depth_array ()  virtual GrayscaleImage depth_image ()  virtual bool done () const virtual size_t height () const virtual Image image ()  virtual GrayscaleImage raw_depth_image ()  virtual void refresh ()  virtual void set_enable (bool)  virtual void set_fps (int)  virtual void set_render_period (double)  virtual void set_simu (RobotDARTSimu * simu)  const RobotDARTSimu * simu () const virtual size_t width () const virtual ~Base ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#public-static-functions","title":"Public Static Functions","text":"Type Name GraphicsConfiguration default_configuration ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#protected-attributes-inherited-from-robot_dartguimagnumbasegraphics","title":"Protected Attributes inherited from robot_dart::gui::magnum::BaseGraphics","text":"<p>See robot_dart::gui::magnum::BaseGraphics</p> Type Name GraphicsConfiguration _configuration bool _enabled int _fps std::unique_ptr&lt; BaseApplication &gt; _magnum_app Corrade::Utility::Debug _magnum_silence_output   = {nullptr}"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#protected-attributes-inherited-from-robot_dartguibase","title":"Protected Attributes inherited from robot_dart::gui::Base","text":"<p>See robot_dart::gui::Base</p> Type Name RobotDARTSimu * _simu   = = nullptr"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#function-windowlessgraphics","title":"function WindowlessGraphics","text":"<pre><code>inline robot_dart::gui::magnum::WindowlessGraphics::WindowlessGraphics (\n    const GraphicsConfiguration &amp; configuration=default_configuration()\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#function-set_simu","title":"function set_simu","text":"<pre><code>virtual void robot_dart::gui::magnum::WindowlessGraphics::set_simu (\n    RobotDARTSimu * simu\n) override\n</code></pre> <p>Implements robot_dart::gui::magnum::BaseGraphics::set_simu</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#function-windowlessgraphics_1","title":"function ~WindowlessGraphics","text":"<pre><code>inline robot_dart::gui::magnum::WindowlessGraphics::~WindowlessGraphics () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#public-static-functions-documentation","title":"Public Static Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#function-default_configuration","title":"function default_configuration","text":"<pre><code>static GraphicsConfiguration robot_dart::gui::magnum::WindowlessGraphics::default_configuration () \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/windowless_graphics.hpp</code></p>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/","title":"Namespace robot_dart::gui::magnum::gs","text":"<p>Namespace List &gt; robot_dart &gt; gui &gt; magnum &gt; gs</p>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#classes","title":"Classes","text":"Type Name class Camera class CubeMap class CubeMapColor class Light class Material class PhongMultiLight class ShadowMap class ShadowMapColor"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#public-functions","title":"Public Functions","text":"Type Name Light create_directional_light (const Magnum::Vector3 &amp; direction, const Material &amp; material)  Light create_point_light (const Magnum::Vector3 &amp; position, const Material &amp; material, Magnum::Float intensity, const Magnum::Vector3 &amp; attenuationTerms)  Light create_spot_light (const Magnum::Vector3 &amp; position, const Material &amp; material, const Magnum::Vector3 &amp; spot_direction, Magnum::Float spot_exponent, Magnum::Float spot_cut_off, Magnum::Float intensity, const Magnum::Vector3 &amp; attenuationTerms)  DepthImage depth_array_from_image (Magnum::Image2D * image, Magnum::Float near_plane, Magnum::Float far_plane)  GrayscaleImage depth_from_image (Magnum::Image2D * image, bool linearize, Magnum::Float near_plane, Magnum::Float far_plane)  Image rgb_from_image (Magnum::Image2D * image)"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#public-static-functions","title":"Public Static Functions","text":"Type Name fs::path search_path (const fs::path &amp; filename)"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#function-create_directional_light","title":"function create_directional_light","text":"<pre><code>inline Light robot_dart::gui::magnum::gs::create_directional_light (\n    const Magnum::Vector3 &amp; direction,\n    const Material &amp; material\n) \n</code></pre>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#function-create_point_light","title":"function create_point_light","text":"<pre><code>inline Light robot_dart::gui::magnum::gs::create_point_light (\n    const Magnum::Vector3 &amp; position,\n    const Material &amp; material,\n    Magnum::Float intensity,\n    const Magnum::Vector3 &amp; attenuationTerms\n) \n</code></pre>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#function-create_spot_light","title":"function create_spot_light","text":"<pre><code>inline Light robot_dart::gui::magnum::gs::create_spot_light (\n    const Magnum::Vector3 &amp; position,\n    const Material &amp; material,\n    const Magnum::Vector3 &amp; spot_direction,\n    Magnum::Float spot_exponent,\n    Magnum::Float spot_cut_off,\n    Magnum::Float intensity,\n    const Magnum::Vector3 &amp; attenuationTerms\n) \n</code></pre>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#function-depth_array_from_image","title":"function depth_array_from_image","text":"<pre><code>DepthImage robot_dart::gui::magnum::gs::depth_array_from_image (\n    Magnum::Image2D * image,\n    Magnum::Float near_plane,\n    Magnum::Float far_plane\n) \n</code></pre>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#function-depth_from_image","title":"function depth_from_image","text":"<pre><code>GrayscaleImage robot_dart::gui::magnum::gs::depth_from_image (\n    Magnum::Image2D * image,\n    bool linearize,\n    Magnum::Float near_plane,\n    Magnum::Float far_plane\n) \n</code></pre>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#function-rgb_from_image","title":"function rgb_from_image","text":"<pre><code>Image robot_dart::gui::magnum::gs::rgb_from_image (\n    Magnum::Image2D * image\n) \n</code></pre>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#public-static-functions-documentation","title":"Public Static Functions Documentation","text":""},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#function-search_path","title":"function search_path","text":"<pre><code>static fs::path robot_dart::gui::magnum::gs::search_path (\n    const fs::path &amp; filename\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/camera.cpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/","title":"Class robot_dart::gui::magnum::Camera","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; gs &gt; Camera</p> <p>Inherits the following classes: Object3D</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#public-functions","title":"Public Functions","text":"Type Name Camera (Object3D &amp; object, Magnum::Int width, Magnum::Int height)  Camera3D &amp; camera () const Object3D &amp; camera_object () const Corrade::Containers::Optional&lt; Magnum::Image2D &gt; &amp; depth_image ()  void draw (Magnum::SceneGraph::DrawableGroup3D &amp; drawables, Magnum::GL::AbstractFramebuffer &amp; framebuffer, Magnum::PixelFormat format, RobotDARTSimu * simu, const DebugDrawData &amp; debug_data, bool draw_debug=true)  Magnum::Matrix4 extrinsic_matrix () const Magnum::Float far_plane () const Camera &amp; forward (Magnum::Float speed)  Magnum::Float fov () const Magnum::Int height () const Corrade::Containers::Optional&lt; Magnum::Image2D &gt; &amp; image ()  Magnum::Matrix3 intrinsic_matrix () const Camera &amp; look_at (const Magnum::Vector3 &amp; camera, const Magnum::Vector3 &amp; center, const Magnum::Vector3 &amp; up=Magnum::Vector3::zAxis())  Camera &amp; move (const Magnum::Vector2i &amp; shift)  Magnum::Float near_plane () const void record (bool recording, bool recording_depth=false)  void record_video (const std::string &amp; video_fname, int fps)  bool recording ()  bool recording_depth ()  Object3D &amp; root_object ()  Camera &amp; set_camera_params (Magnum::Float near_plane, Magnum::Float far_plane, Magnum::Float fov, Magnum::Int width, Magnum::Int height)  Camera &amp; set_far_plane (Magnum::Float far_plane)  Camera &amp; set_fov (Magnum::Float fov)  Camera &amp; set_near_plane (Magnum::Float near_plane)  Camera &amp; set_speed (const Magnum::Vector2 &amp; speed)  Camera &amp; set_viewport (const Magnum::Vector2i &amp; size)  Magnum::Vector2 speed () const Camera &amp; strafe (Magnum::Float speed)  void transform_lights (std::vector&lt; gs::Light &gt; &amp; lights) const Magnum::Int width () const ~Camera ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-camera","title":"function Camera","text":"<pre><code>explicit robot_dart::gui::magnum::gs::Camera::Camera (\n    Object3D &amp; object,\n    Magnum::Int width,\n    Magnum::Int height\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-camera_1","title":"function camera","text":"<pre><code>Camera3D &amp; robot_dart::gui::magnum::gs::Camera::camera () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-camera_object","title":"function camera_object","text":"<pre><code>Object3D &amp; robot_dart::gui::magnum::gs::Camera::camera_object () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-depth_image","title":"function depth_image","text":"<pre><code>inline Corrade::Containers::Optional&lt; Magnum::Image2D &gt; &amp; robot_dart::gui::magnum::gs::Camera::depth_image () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-draw","title":"function draw","text":"<pre><code>void robot_dart::gui::magnum::gs::Camera::draw (\n    Magnum::SceneGraph::DrawableGroup3D &amp; drawables,\n    Magnum::GL::AbstractFramebuffer &amp; framebuffer,\n    Magnum::PixelFormat format,\n    RobotDARTSimu * simu,\n    const DebugDrawData &amp; debug_data,\n    bool draw_debug=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-extrinsic_matrix","title":"function extrinsic_matrix","text":"<pre><code>Magnum::Matrix4 robot_dart::gui::magnum::gs::Camera::extrinsic_matrix () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-far_plane","title":"function far_plane","text":"<pre><code>inline Magnum::Float robot_dart::gui::magnum::gs::Camera::far_plane () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-forward","title":"function forward","text":"<pre><code>Camera &amp; robot_dart::gui::magnum::gs::Camera::forward (\n    Magnum::Float speed\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-fov","title":"function fov","text":"<pre><code>inline Magnum::Float robot_dart::gui::magnum::gs::Camera::fov () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-height","title":"function height","text":"<pre><code>inline Magnum::Int robot_dart::gui::magnum::gs::Camera::height () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-image","title":"function image","text":"<pre><code>inline Corrade::Containers::Optional&lt; Magnum::Image2D &gt; &amp; robot_dart::gui::magnum::gs::Camera::image () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-intrinsic_matrix","title":"function intrinsic_matrix","text":"<pre><code>Magnum::Matrix3 robot_dart::gui::magnum::gs::Camera::intrinsic_matrix () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-look_at","title":"function look_at","text":"<pre><code>Camera &amp; robot_dart::gui::magnum::gs::Camera::look_at (\n    const Magnum::Vector3 &amp; camera,\n    const Magnum::Vector3 &amp; center,\n    const Magnum::Vector3 &amp; up=Magnum::Vector3::zAxis()\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-move","title":"function move","text":"<pre><code>Camera &amp; robot_dart::gui::magnum::gs::Camera::move (\n    const Magnum::Vector2i &amp; shift\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-near_plane","title":"function near_plane","text":"<pre><code>inline Magnum::Float robot_dart::gui::magnum::gs::Camera::near_plane () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-record","title":"function record","text":"<pre><code>inline void robot_dart::gui::magnum::gs::Camera::record (\n    bool recording,\n    bool recording_depth=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-record_video","title":"function record_video","text":"<pre><code>void robot_dart::gui::magnum::gs::Camera::record_video (\n    const std::string &amp; video_fname,\n    int fps\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-recording","title":"function recording","text":"<pre><code>inline bool robot_dart::gui::magnum::gs::Camera::recording () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-recording_depth","title":"function recording_depth","text":"<pre><code>inline bool robot_dart::gui::magnum::gs::Camera::recording_depth () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-root_object","title":"function root_object","text":"<pre><code>Object3D &amp; robot_dart::gui::magnum::gs::Camera::root_object () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-set_camera_params","title":"function set_camera_params","text":"<pre><code>Camera &amp; robot_dart::gui::magnum::gs::Camera::set_camera_params (\n    Magnum::Float near_plane,\n    Magnum::Float far_plane,\n    Magnum::Float fov,\n    Magnum::Int width,\n    Magnum::Int height\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-set_far_plane","title":"function set_far_plane","text":"<pre><code>Camera &amp; robot_dart::gui::magnum::gs::Camera::set_far_plane (\n    Magnum::Float far_plane\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-set_fov","title":"function set_fov","text":"<pre><code>Camera &amp; robot_dart::gui::magnum::gs::Camera::set_fov (\n    Magnum::Float fov\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-set_near_plane","title":"function set_near_plane","text":"<pre><code>Camera &amp; robot_dart::gui::magnum::gs::Camera::set_near_plane (\n    Magnum::Float near_plane\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-set_speed","title":"function set_speed","text":"<pre><code>Camera &amp; robot_dart::gui::magnum::gs::Camera::set_speed (\n    const Magnum::Vector2 &amp; speed\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-set_viewport","title":"function set_viewport","text":"<pre><code>Camera &amp; robot_dart::gui::magnum::gs::Camera::set_viewport (\n    const Magnum::Vector2i &amp; size\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-speed","title":"function speed","text":"<pre><code>inline Magnum::Vector2 robot_dart::gui::magnum::gs::Camera::speed () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-strafe","title":"function strafe","text":"<pre><code>Camera &amp; robot_dart::gui::magnum::gs::Camera::strafe (\n    Magnum::Float speed\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-transform_lights","title":"function transform_lights","text":"<pre><code>void robot_dart::gui::magnum::gs::Camera::transform_lights (\n    std::vector&lt; gs::Light &gt; &amp; lights\n) const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-width","title":"function width","text":"<pre><code>inline Magnum::Int robot_dart::gui::magnum::gs::Camera::width () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-camera_2","title":"function ~Camera","text":"<pre><code>robot_dart::gui::magnum::gs::Camera::~Camera () \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/camera.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/","title":"Class robot_dart::gui::magnum::CubeMap","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; gs &gt; CubeMap</p> <p>Inherits the following classes: Magnum::GL::AbstractShaderProgram</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#public-types","title":"Public Types","text":"Type Name enum Magnum::UnsignedByte Flag typedef Magnum::Containers::EnumSet&lt; Flag &gt; Flags typedef Magnum::Shaders::Generic3D::Position Position typedef Magnum::Shaders::Generic3D::TextureCoordinates TextureCoordinates"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#public-functions","title":"Public Functions","text":"Type Name CubeMap (Flags flags={})  CubeMap (Magnum::NoCreateT) noexcept Flags flags () const CubeMap &amp; set_far_plane (Magnum::Float far_plane)  CubeMap &amp; set_light_index (Magnum::Int index)  CubeMap &amp; set_light_position (const Magnum::Vector3 &amp; position)  CubeMap &amp; set_material (Material &amp; material)  CubeMap &amp; set_shadow_matrices (Magnum::Matrix4 matrices)  CubeMap &amp; set_transformation_matrix (const Magnum::Matrix4 &amp; matrix)"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#enum-flag","title":"enum Flag","text":"<pre><code>enum robot_dart::gui::magnum::gs::CubeMap::Flag {\n    DiffuseTexture = 1 &lt;&lt; 0\n};\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#typedef-flags","title":"typedef Flags","text":"<pre><code>using robot_dart::gui::magnum::gs::CubeMap::Flags =  Magnum::Containers::EnumSet&lt;Flag&gt;;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#typedef-position","title":"typedef Position","text":"<pre><code>using robot_dart::gui::magnum::gs::CubeMap::Position =  Magnum::Shaders::Generic3D::Position;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#typedef-texturecoordinates","title":"typedef TextureCoordinates","text":"<pre><code>using robot_dart::gui::magnum::gs::CubeMap::TextureCoordinates =  Magnum::Shaders::Generic3D::TextureCoordinates;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#function-cubemap-12","title":"function CubeMap [\u00bd]","text":"<pre><code>explicit robot_dart::gui::magnum::gs::CubeMap::CubeMap (\n    Flags flags={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#function-cubemap-22","title":"function CubeMap [2/2]","text":"<pre><code>explicit robot_dart::gui::magnum::gs::CubeMap::CubeMap (\n    Magnum::NoCreateT\n) noexcept\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#function-flags","title":"function flags","text":"<pre><code>Flags robot_dart::gui::magnum::gs::CubeMap::flags () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#function-set_far_plane","title":"function set_far_plane","text":"<pre><code>CubeMap &amp; robot_dart::gui::magnum::gs::CubeMap::set_far_plane (\n    Magnum::Float far_plane\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#function-set_light_index","title":"function set_light_index","text":"<pre><code>CubeMap &amp; robot_dart::gui::magnum::gs::CubeMap::set_light_index (\n    Magnum::Int index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#function-set_light_position","title":"function set_light_position","text":"<pre><code>CubeMap &amp; robot_dart::gui::magnum::gs::CubeMap::set_light_position (\n    const Magnum::Vector3 &amp; position\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#function-set_material","title":"function set_material","text":"<pre><code>CubeMap &amp; robot_dart::gui::magnum::gs::CubeMap::set_material (\n    Material &amp; material\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#function-set_shadow_matrices","title":"function set_shadow_matrices","text":"<pre><code>CubeMap &amp; robot_dart::gui::magnum::gs::CubeMap::set_shadow_matrices (\n    Magnum::Matrix4 matrices\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#function-set_transformation_matrix","title":"function set_transformation_matrix","text":"<pre><code>CubeMap &amp; robot_dart::gui::magnum::gs::CubeMap::set_transformation_matrix (\n    const Magnum::Matrix4 &amp; matrix\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/cube_map.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/","title":"Class robot_dart::gui::magnum::CubeMapColor","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; gs &gt; CubeMapColor</p> <p>Inherits the following classes: Magnum::GL::AbstractShaderProgram</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#public-types","title":"Public Types","text":"Type Name enum Magnum::UnsignedByte Flag typedef Magnum::Containers::EnumSet&lt; Flag &gt; Flags typedef Magnum::Shaders::Generic3D::Position Position typedef Magnum::Shaders::Generic3D::TextureCoordinates TextureCoordinates"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#public-functions","title":"Public Functions","text":"Type Name CubeMapColor (Flags flags={})  CubeMapColor (Magnum::NoCreateT) noexcept CubeMapColor &amp; bind_cube_map_texture (Magnum::GL::CubeMapTextureArray &amp; texture)  Flags flags () const CubeMapColor &amp; set_far_plane (Magnum::Float far_plane)  CubeMapColor &amp; set_light_index (Magnum::Int index)  CubeMapColor &amp; set_light_position (const Magnum::Vector3 &amp; position)  CubeMapColor &amp; set_material (Material &amp; material)  CubeMapColor &amp; set_shadow_matrices (Magnum::Matrix4 matrices)  CubeMapColor &amp; set_transformation_matrix (const Magnum::Matrix4 &amp; matrix)"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#enum-flag","title":"enum Flag","text":"<pre><code>enum robot_dart::gui::magnum::gs::CubeMapColor::Flag {\n    DiffuseTexture = 1 &lt;&lt; 0\n};\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#typedef-flags","title":"typedef Flags","text":"<pre><code>using robot_dart::gui::magnum::gs::CubeMapColor::Flags =  Magnum::Containers::EnumSet&lt;Flag&gt;;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#typedef-position","title":"typedef Position","text":"<pre><code>using robot_dart::gui::magnum::gs::CubeMapColor::Position =  Magnum::Shaders::Generic3D::Position;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#typedef-texturecoordinates","title":"typedef TextureCoordinates","text":"<pre><code>using robot_dart::gui::magnum::gs::CubeMapColor::TextureCoordinates =  Magnum::Shaders::Generic3D::TextureCoordinates;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#function-cubemapcolor-12","title":"function CubeMapColor [\u00bd]","text":"<pre><code>explicit robot_dart::gui::magnum::gs::CubeMapColor::CubeMapColor (\n    Flags flags={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#function-cubemapcolor-22","title":"function CubeMapColor [2/2]","text":"<pre><code>explicit robot_dart::gui::magnum::gs::CubeMapColor::CubeMapColor (\n    Magnum::NoCreateT\n) noexcept\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#function-bind_cube_map_texture","title":"function bind_cube_map_texture","text":"<pre><code>CubeMapColor &amp; robot_dart::gui::magnum::gs::CubeMapColor::bind_cube_map_texture (\n    Magnum::GL::CubeMapTextureArray &amp; texture\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#function-flags","title":"function flags","text":"<pre><code>Flags robot_dart::gui::magnum::gs::CubeMapColor::flags () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#function-set_far_plane","title":"function set_far_plane","text":"<pre><code>CubeMapColor &amp; robot_dart::gui::magnum::gs::CubeMapColor::set_far_plane (\n    Magnum::Float far_plane\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#function-set_light_index","title":"function set_light_index","text":"<pre><code>CubeMapColor &amp; robot_dart::gui::magnum::gs::CubeMapColor::set_light_index (\n    Magnum::Int index\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#function-set_light_position","title":"function set_light_position","text":"<pre><code>CubeMapColor &amp; robot_dart::gui::magnum::gs::CubeMapColor::set_light_position (\n    const Magnum::Vector3 &amp; position\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#function-set_material","title":"function set_material","text":"<pre><code>CubeMapColor &amp; robot_dart::gui::magnum::gs::CubeMapColor::set_material (\n    Material &amp; material\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#function-set_shadow_matrices","title":"function set_shadow_matrices","text":"<pre><code>CubeMapColor &amp; robot_dart::gui::magnum::gs::CubeMapColor::set_shadow_matrices (\n    Magnum::Matrix4 matrices\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#function-set_transformation_matrix","title":"function set_transformation_matrix","text":"<pre><code>CubeMapColor &amp; robot_dart::gui::magnum::gs::CubeMapColor::set_transformation_matrix (\n    const Magnum::Matrix4 &amp; matrix\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/cube_map_color.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/","title":"Class robot_dart::gui::magnum::Light","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; gs &gt; Light</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#public-functions","title":"Public Functions","text":"Type Name Light ()  Light (const Magnum::Vector4 &amp; position, const Material &amp; material, const Magnum::Vector3 &amp; spot_direction, Magnum::Float spot_exponent, Magnum::Float spot_cut_off, const Magnum::Vector4 &amp; attenuation, bool cast_shadows=true)  Magnum::Vector4 &amp; attenuation ()  Magnum::Vector4 attenuation () const bool casts_shadows () const Material &amp; material ()  Material material () const Magnum::Vector4 position () const Light &amp; set_attenuation (const Magnum::Vector4 &amp; attenuation)  Light &amp; set_casts_shadows (bool cast_shadows)  Light &amp; set_material (const Material &amp; material)  Light &amp; set_position (const Magnum::Vector4 &amp; position)  Light &amp; set_shadow_matrix (const Magnum::Matrix4 &amp; shadowTransform)  Light &amp; set_spot_cut_off (Magnum::Float spot_cut_off)  Light &amp; set_spot_direction (const Magnum::Vector3 &amp; spot_direction)  Light &amp; set_spot_exponent (Magnum::Float spot_exponent)  Light &amp; set_transformed_position (const Magnum::Vector4 &amp; transformed_position)  Light &amp; set_transformed_spot_direction (const Magnum::Vector3 &amp; transformed_spot_direction)  Magnum::Matrix4 shadow_matrix () const Magnum::Float &amp; spot_cut_off ()  Magnum::Float spot_cut_off () const Magnum::Vector3 spot_direction () const Magnum::Float &amp; spot_exponent ()  Magnum::Float spot_exponent () const Magnum::Vector4 &amp; transformed_position ()  Magnum::Vector4 transformed_position () const Magnum::Vector3 &amp; transformed_spot_direction ()  Magnum::Vector3 transformed_spot_direction () const"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#protected-attributes","title":"Protected Attributes","text":"Type Name Magnum::Vector4 _attenuation bool _cast_shadows   = = true Material _material Magnum::Vector4 _position Magnum::Matrix4 _shadow_transform   = {} Magnum::Float _spot_cut_off Magnum::Vector3 _spot_direction Magnum::Float _spot_exponent Magnum::Vector4 _transformed_position Magnum::Vector3 _transformed_spot_direction"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-light-12","title":"function Light [\u00bd]","text":"<pre><code>robot_dart::gui::magnum::gs::Light::Light () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-light-22","title":"function Light [2/2]","text":"<pre><code>robot_dart::gui::magnum::gs::Light::Light (\n    const Magnum::Vector4 &amp; position,\n    const Material &amp; material,\n    const Magnum::Vector3 &amp; spot_direction,\n    Magnum::Float spot_exponent,\n    Magnum::Float spot_cut_off,\n    const Magnum::Vector4 &amp; attenuation,\n    bool cast_shadows=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-attenuation-12","title":"function attenuation [\u00bd]","text":"<pre><code>Magnum::Vector4 &amp; robot_dart::gui::magnum::gs::Light::attenuation () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-attenuation-22","title":"function attenuation [2/2]","text":"<pre><code>Magnum::Vector4 robot_dart::gui::magnum::gs::Light::attenuation () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-casts_shadows","title":"function casts_shadows","text":"<pre><code>bool robot_dart::gui::magnum::gs::Light::casts_shadows () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-material-12","title":"function material [\u00bd]","text":"<pre><code>Material &amp; robot_dart::gui::magnum::gs::Light::material () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-material-22","title":"function material [2/2]","text":"<pre><code>Material robot_dart::gui::magnum::gs::Light::material () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-position","title":"function position","text":"<pre><code>Magnum::Vector4 robot_dart::gui::magnum::gs::Light::position () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-set_attenuation","title":"function set_attenuation","text":"<pre><code>Light &amp; robot_dart::gui::magnum::gs::Light::set_attenuation (\n    const Magnum::Vector4 &amp; attenuation\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-set_casts_shadows","title":"function set_casts_shadows","text":"<pre><code>Light &amp; robot_dart::gui::magnum::gs::Light::set_casts_shadows (\n    bool cast_shadows\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-set_material","title":"function set_material","text":"<pre><code>Light &amp; robot_dart::gui::magnum::gs::Light::set_material (\n    const Material &amp; material\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-set_position","title":"function set_position","text":"<pre><code>Light &amp; robot_dart::gui::magnum::gs::Light::set_position (\n    const Magnum::Vector4 &amp; position\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-set_shadow_matrix","title":"function set_shadow_matrix","text":"<pre><code>Light &amp; robot_dart::gui::magnum::gs::Light::set_shadow_matrix (\n    const Magnum::Matrix4 &amp; shadowTransform\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-set_spot_cut_off","title":"function set_spot_cut_off","text":"<pre><code>Light &amp; robot_dart::gui::magnum::gs::Light::set_spot_cut_off (\n    Magnum::Float spot_cut_off\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-set_spot_direction","title":"function set_spot_direction","text":"<pre><code>Light &amp; robot_dart::gui::magnum::gs::Light::set_spot_direction (\n    const Magnum::Vector3 &amp; spot_direction\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-set_spot_exponent","title":"function set_spot_exponent","text":"<pre><code>Light &amp; robot_dart::gui::magnum::gs::Light::set_spot_exponent (\n    Magnum::Float spot_exponent\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-set_transformed_position","title":"function set_transformed_position","text":"<pre><code>Light &amp; robot_dart::gui::magnum::gs::Light::set_transformed_position (\n    const Magnum::Vector4 &amp; transformed_position\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-set_transformed_spot_direction","title":"function set_transformed_spot_direction","text":"<pre><code>Light &amp; robot_dart::gui::magnum::gs::Light::set_transformed_spot_direction (\n    const Magnum::Vector3 &amp; transformed_spot_direction\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-shadow_matrix","title":"function shadow_matrix","text":"<pre><code>Magnum::Matrix4 robot_dart::gui::magnum::gs::Light::shadow_matrix () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-spot_cut_off-12","title":"function spot_cut_off [\u00bd]","text":"<pre><code>Magnum::Float &amp; robot_dart::gui::magnum::gs::Light::spot_cut_off () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-spot_cut_off-22","title":"function spot_cut_off [2/2]","text":"<pre><code>Magnum::Float robot_dart::gui::magnum::gs::Light::spot_cut_off () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-spot_direction","title":"function spot_direction","text":"<pre><code>Magnum::Vector3 robot_dart::gui::magnum::gs::Light::spot_direction () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-spot_exponent-12","title":"function spot_exponent [\u00bd]","text":"<pre><code>Magnum::Float &amp; robot_dart::gui::magnum::gs::Light::spot_exponent () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-spot_exponent-22","title":"function spot_exponent [2/2]","text":"<pre><code>Magnum::Float robot_dart::gui::magnum::gs::Light::spot_exponent () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-transformed_position-12","title":"function transformed_position [\u00bd]","text":"<pre><code>Magnum::Vector4 &amp; robot_dart::gui::magnum::gs::Light::transformed_position () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-transformed_position-22","title":"function transformed_position [2/2]","text":"<pre><code>Magnum::Vector4 robot_dart::gui::magnum::gs::Light::transformed_position () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-transformed_spot_direction-12","title":"function transformed_spot_direction [\u00bd]","text":"<pre><code>Magnum::Vector3 &amp; robot_dart::gui::magnum::gs::Light::transformed_spot_direction () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-transformed_spot_direction-22","title":"function transformed_spot_direction [2/2]","text":"<pre><code>Magnum::Vector3 robot_dart::gui::magnum::gs::Light::transformed_spot_direction () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#variable-_attenuation","title":"variable _attenuation","text":"<pre><code>Magnum::Vector4 robot_dart::gui::magnum::gs::Light::_attenuation;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#variable-_cast_shadows","title":"variable _cast_shadows","text":"<pre><code>bool robot_dart::gui::magnum::gs::Light::_cast_shadows;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#variable-_material","title":"variable _material","text":"<pre><code>Material robot_dart::gui::magnum::gs::Light::_material;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#variable-_position","title":"variable _position","text":"<pre><code>Magnum::Vector4 robot_dart::gui::magnum::gs::Light::_position;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#variable-_shadow_transform","title":"variable _shadow_transform","text":"<pre><code>Magnum::Matrix4 robot_dart::gui::magnum::gs::Light::_shadow_transform;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#variable-_spot_cut_off","title":"variable _spot_cut_off","text":"<pre><code>Magnum::Float robot_dart::gui::magnum::gs::Light::_spot_cut_off;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#variable-_spot_direction","title":"variable _spot_direction","text":"<pre><code>Magnum::Vector3 robot_dart::gui::magnum::gs::Light::_spot_direction;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#variable-_spot_exponent","title":"variable _spot_exponent","text":"<pre><code>Magnum::Float robot_dart::gui::magnum::gs::Light::_spot_exponent;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#variable-_transformed_position","title":"variable _transformed_position","text":"<pre><code>Magnum::Vector4 robot_dart::gui::magnum::gs::Light::_transformed_position;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#variable-_transformed_spot_direction","title":"variable _transformed_spot_direction","text":"<pre><code>Magnum::Vector3 robot_dart::gui::magnum::gs::Light::_transformed_spot_direction;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/light.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/","title":"Class robot_dart::gui::magnum::Material","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; gs &gt; Material</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#public-functions","title":"Public Functions","text":"Type Name Material ()  Material (const Magnum::Color4 &amp; ambient, const Magnum::Color4 &amp; diffuse, const Magnum::Color4 &amp; specular, Magnum::Float shininess)  Material (Magnum::GL::Texture2D * ambient_texture, Magnum::GL::Texture2D * diffuse_texture, Magnum::GL::Texture2D * specular_texture, Magnum::Float shininess)  Magnum::Color4 &amp; ambient_color ()  Magnum::Color4 ambient_color () const Magnum::GL::Texture2D * ambient_texture ()  Magnum::Color4 &amp; diffuse_color ()  Magnum::Color4 diffuse_color () const Magnum::GL::Texture2D * diffuse_texture ()  bool has_ambient_texture () const bool has_diffuse_texture () const bool has_specular_texture () const Material &amp; set_ambient_color (const Magnum::Color4 &amp; ambient)  Material &amp; set_ambient_texture (Magnum::GL::Texture2D * ambient_texture)  Material &amp; set_diffuse_color (const Magnum::Color4 &amp; diffuse)  Material &amp; set_diffuse_texture (Magnum::GL::Texture2D * diffuse_texture)  Material &amp; set_shininess (Magnum::Float shininess)  Material &amp; set_specular_color (const Magnum::Color4 &amp; specular)  Material &amp; set_specular_texture (Magnum::GL::Texture2D * specular_texture)  Magnum::Float &amp; shininess ()  Magnum::Float shininess () const Magnum::Color4 &amp; specular_color ()  Magnum::Color4 specular_color () const Magnum::GL::Texture2D * specular_texture ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#protected-attributes","title":"Protected Attributes","text":"Type Name Magnum::Color4 _ambient Magnum::GL::Texture2D * _ambient_texture   = = NULL Magnum::Color4 _diffuse Magnum::GL::Texture2D * _diffuse_texture   = = NULL Magnum::Float _shininess Magnum::Color4 _specular Magnum::GL::Texture2D * _specular_texture   = = NULL"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-material-13","title":"function Material [\u2153]","text":"<pre><code>robot_dart::gui::magnum::gs::Material::Material () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-material-23","title":"function Material [\u2154]","text":"<pre><code>robot_dart::gui::magnum::gs::Material::Material (\n    const Magnum::Color4 &amp; ambient,\n    const Magnum::Color4 &amp; diffuse,\n    const Magnum::Color4 &amp; specular,\n    Magnum::Float shininess\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-material-33","title":"function Material [3/3]","text":"<pre><code>robot_dart::gui::magnum::gs::Material::Material (\n    Magnum::GL::Texture2D * ambient_texture,\n    Magnum::GL::Texture2D * diffuse_texture,\n    Magnum::GL::Texture2D * specular_texture,\n    Magnum::Float shininess\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-ambient_color-12","title":"function ambient_color [\u00bd]","text":"<pre><code>Magnum::Color4 &amp; robot_dart::gui::magnum::gs::Material::ambient_color () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-ambient_color-22","title":"function ambient_color [2/2]","text":"<pre><code>Magnum::Color4 robot_dart::gui::magnum::gs::Material::ambient_color () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-ambient_texture","title":"function ambient_texture","text":"<pre><code>Magnum::GL::Texture2D * robot_dart::gui::magnum::gs::Material::ambient_texture () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-diffuse_color-12","title":"function diffuse_color [\u00bd]","text":"<pre><code>Magnum::Color4 &amp; robot_dart::gui::magnum::gs::Material::diffuse_color () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-diffuse_color-22","title":"function diffuse_color [2/2]","text":"<pre><code>Magnum::Color4 robot_dart::gui::magnum::gs::Material::diffuse_color () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-diffuse_texture","title":"function diffuse_texture","text":"<pre><code>Magnum::GL::Texture2D * robot_dart::gui::magnum::gs::Material::diffuse_texture () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-has_ambient_texture","title":"function has_ambient_texture","text":"<pre><code>bool robot_dart::gui::magnum::gs::Material::has_ambient_texture () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-has_diffuse_texture","title":"function has_diffuse_texture","text":"<pre><code>bool robot_dart::gui::magnum::gs::Material::has_diffuse_texture () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-has_specular_texture","title":"function has_specular_texture","text":"<pre><code>bool robot_dart::gui::magnum::gs::Material::has_specular_texture () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-set_ambient_color","title":"function set_ambient_color","text":"<pre><code>Material &amp; robot_dart::gui::magnum::gs::Material::set_ambient_color (\n    const Magnum::Color4 &amp; ambient\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-set_ambient_texture","title":"function set_ambient_texture","text":"<pre><code>Material &amp; robot_dart::gui::magnum::gs::Material::set_ambient_texture (\n    Magnum::GL::Texture2D * ambient_texture\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-set_diffuse_color","title":"function set_diffuse_color","text":"<pre><code>Material &amp; robot_dart::gui::magnum::gs::Material::set_diffuse_color (\n    const Magnum::Color4 &amp; diffuse\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-set_diffuse_texture","title":"function set_diffuse_texture","text":"<pre><code>Material &amp; robot_dart::gui::magnum::gs::Material::set_diffuse_texture (\n    Magnum::GL::Texture2D * diffuse_texture\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-set_shininess","title":"function set_shininess","text":"<pre><code>Material &amp; robot_dart::gui::magnum::gs::Material::set_shininess (\n    Magnum::Float shininess\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-set_specular_color","title":"function set_specular_color","text":"<pre><code>Material &amp; robot_dart::gui::magnum::gs::Material::set_specular_color (\n    const Magnum::Color4 &amp; specular\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-set_specular_texture","title":"function set_specular_texture","text":"<pre><code>Material &amp; robot_dart::gui::magnum::gs::Material::set_specular_texture (\n    Magnum::GL::Texture2D * specular_texture\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-shininess-12","title":"function shininess [\u00bd]","text":"<pre><code>Magnum::Float &amp; robot_dart::gui::magnum::gs::Material::shininess () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-shininess-22","title":"function shininess [2/2]","text":"<pre><code>Magnum::Float robot_dart::gui::magnum::gs::Material::shininess () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-specular_color-12","title":"function specular_color [\u00bd]","text":"<pre><code>Magnum::Color4 &amp; robot_dart::gui::magnum::gs::Material::specular_color () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-specular_color-22","title":"function specular_color [2/2]","text":"<pre><code>Magnum::Color4 robot_dart::gui::magnum::gs::Material::specular_color () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-specular_texture","title":"function specular_texture","text":"<pre><code>Magnum::GL::Texture2D * robot_dart::gui::magnum::gs::Material::specular_texture () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#variable-_ambient","title":"variable _ambient","text":"<pre><code>Magnum::Color4 robot_dart::gui::magnum::gs::Material::_ambient;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#variable-_ambient_texture","title":"variable _ambient_texture","text":"<pre><code>Magnum::GL::Texture2D* robot_dart::gui::magnum::gs::Material::_ambient_texture;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#variable-_diffuse","title":"variable _diffuse","text":"<pre><code>Magnum::Color4 robot_dart::gui::magnum::gs::Material::_diffuse;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#variable-_diffuse_texture","title":"variable _diffuse_texture","text":"<pre><code>Magnum::GL::Texture2D* robot_dart::gui::magnum::gs::Material::_diffuse_texture;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#variable-_shininess","title":"variable _shininess","text":"<pre><code>Magnum::Float robot_dart::gui::magnum::gs::Material::_shininess;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#variable-_specular","title":"variable _specular","text":"<pre><code>Magnum::Color4 robot_dart::gui::magnum::gs::Material::_specular;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#variable-_specular_texture","title":"variable _specular_texture","text":"<pre><code>Magnum::GL::Texture2D* robot_dart::gui::magnum::gs::Material::_specular_texture;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/material.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/","title":"Class robot_dart::gui::magnum::PhongMultiLight","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; gs &gt; PhongMultiLight</p> <p>Inherits the following classes: Magnum::GL::AbstractShaderProgram</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#public-types","title":"Public Types","text":"Type Name enum Magnum::UnsignedByte Flag typedef Magnum::Containers::EnumSet&lt; Flag &gt; Flags typedef Magnum::Shaders::Generic3D::Normal Normal typedef Magnum::Shaders::Generic3D::Position Position typedef Magnum::Shaders::Generic3D::TextureCoordinates TextureCoordinates"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#public-functions","title":"Public Functions","text":"Type Name PhongMultiLight (Flags flags={}, Magnum::Int max_lights=10)  PhongMultiLight (Magnum::NoCreateT) noexcept PhongMultiLight &amp; bind_cube_map_color_texture (Magnum::GL::CubeMapTextureArray &amp; texture)  PhongMultiLight &amp; bind_cube_map_texture (Magnum::GL::CubeMapTextureArray &amp; texture)  PhongMultiLight &amp; bind_shadow_color_texture (Magnum::GL::Texture2DArray &amp; texture)  PhongMultiLight &amp; bind_shadow_texture (Magnum::GL::Texture2DArray &amp; texture)  Flags flags () const Magnum::Int max_lights () const PhongMultiLight &amp; set_camera_matrix (const Magnum::Matrix4 &amp; matrix)  PhongMultiLight &amp; set_far_plane (Magnum::Float far_plane)  PhongMultiLight &amp; set_is_shadowed (bool shadows)  PhongMultiLight &amp; set_light (Magnum::Int i, const Light &amp; light)  PhongMultiLight &amp; set_material (Material &amp; material)  PhongMultiLight &amp; set_normal_matrix (const Magnum::Matrix3x3 &amp; matrix)  PhongMultiLight &amp; set_projection_matrix (const Magnum::Matrix4 &amp; matrix)  PhongMultiLight &amp; set_specular_strength (Magnum::Float specular_strength)  PhongMultiLight &amp; set_transformation_matrix (const Magnum::Matrix4 &amp; matrix)  PhongMultiLight &amp; set_transparent_shadows (bool shadows)"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#enum-flag","title":"enum Flag","text":"<pre><code>enum robot_dart::gui::magnum::gs::PhongMultiLight::Flag {\n    AmbientTexture = 1 &lt;&lt; 0,\n    DiffuseTexture = 1 &lt;&lt; 1,\n    SpecularTexture = 1 &lt;&lt; 2\n};\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#typedef-flags","title":"typedef Flags","text":"<pre><code>using robot_dart::gui::magnum::gs::PhongMultiLight::Flags =  Magnum::Containers::EnumSet&lt;Flag&gt;;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#typedef-normal","title":"typedef Normal","text":"<pre><code>using robot_dart::gui::magnum::gs::PhongMultiLight::Normal =  Magnum::Shaders::Generic3D::Normal;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#typedef-position","title":"typedef Position","text":"<pre><code>using robot_dart::gui::magnum::gs::PhongMultiLight::Position =  Magnum::Shaders::Generic3D::Position;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#typedef-texturecoordinates","title":"typedef TextureCoordinates","text":"<pre><code>using robot_dart::gui::magnum::gs::PhongMultiLight::TextureCoordinates =  Magnum::Shaders::Generic3D::TextureCoordinates;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-phongmultilight-12","title":"function PhongMultiLight [\u00bd]","text":"<pre><code>explicit robot_dart::gui::magnum::gs::PhongMultiLight::PhongMultiLight (\n    Flags flags={},\n    Magnum::Int max_lights=10\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-phongmultilight-22","title":"function PhongMultiLight [2/2]","text":"<pre><code>explicit robot_dart::gui::magnum::gs::PhongMultiLight::PhongMultiLight (\n    Magnum::NoCreateT\n) noexcept\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-bind_cube_map_color_texture","title":"function bind_cube_map_color_texture","text":"<pre><code>PhongMultiLight &amp; robot_dart::gui::magnum::gs::PhongMultiLight::bind_cube_map_color_texture (\n    Magnum::GL::CubeMapTextureArray &amp; texture\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-bind_cube_map_texture","title":"function bind_cube_map_texture","text":"<pre><code>PhongMultiLight &amp; robot_dart::gui::magnum::gs::PhongMultiLight::bind_cube_map_texture (\n    Magnum::GL::CubeMapTextureArray &amp; texture\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-bind_shadow_color_texture","title":"function bind_shadow_color_texture","text":"<pre><code>PhongMultiLight &amp; robot_dart::gui::magnum::gs::PhongMultiLight::bind_shadow_color_texture (\n    Magnum::GL::Texture2DArray &amp; texture\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-bind_shadow_texture","title":"function bind_shadow_texture","text":"<pre><code>PhongMultiLight &amp; robot_dart::gui::magnum::gs::PhongMultiLight::bind_shadow_texture (\n    Magnum::GL::Texture2DArray &amp; texture\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-flags","title":"function flags","text":"<pre><code>Flags robot_dart::gui::magnum::gs::PhongMultiLight::flags () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-max_lights","title":"function max_lights","text":"<pre><code>Magnum::Int robot_dart::gui::magnum::gs::PhongMultiLight::max_lights () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-set_camera_matrix","title":"function set_camera_matrix","text":"<pre><code>PhongMultiLight &amp; robot_dart::gui::magnum::gs::PhongMultiLight::set_camera_matrix (\n    const Magnum::Matrix4 &amp; matrix\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-set_far_plane","title":"function set_far_plane","text":"<pre><code>PhongMultiLight &amp; robot_dart::gui::magnum::gs::PhongMultiLight::set_far_plane (\n    Magnum::Float far_plane\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-set_is_shadowed","title":"function set_is_shadowed","text":"<pre><code>PhongMultiLight &amp; robot_dart::gui::magnum::gs::PhongMultiLight::set_is_shadowed (\n    bool shadows\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-set_light","title":"function set_light","text":"<pre><code>PhongMultiLight &amp; robot_dart::gui::magnum::gs::PhongMultiLight::set_light (\n    Magnum::Int i,\n    const Light &amp; light\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-set_material","title":"function set_material","text":"<pre><code>PhongMultiLight &amp; robot_dart::gui::magnum::gs::PhongMultiLight::set_material (\n    Material &amp; material\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-set_normal_matrix","title":"function set_normal_matrix","text":"<pre><code>PhongMultiLight &amp; robot_dart::gui::magnum::gs::PhongMultiLight::set_normal_matrix (\n    const Magnum::Matrix3x3 &amp; matrix\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-set_projection_matrix","title":"function set_projection_matrix","text":"<pre><code>PhongMultiLight &amp; robot_dart::gui::magnum::gs::PhongMultiLight::set_projection_matrix (\n    const Magnum::Matrix4 &amp; matrix\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-set_specular_strength","title":"function set_specular_strength","text":"<pre><code>PhongMultiLight &amp; robot_dart::gui::magnum::gs::PhongMultiLight::set_specular_strength (\n    Magnum::Float specular_strength\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-set_transformation_matrix","title":"function set_transformation_matrix","text":"<pre><code>PhongMultiLight &amp; robot_dart::gui::magnum::gs::PhongMultiLight::set_transformation_matrix (\n    const Magnum::Matrix4 &amp; matrix\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#function-set_transparent_shadows","title":"function set_transparent_shadows","text":"<pre><code>PhongMultiLight &amp; robot_dart::gui::magnum::gs::PhongMultiLight::set_transparent_shadows (\n    bool shadows\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/phong_multi_light.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/","title":"Class robot_dart::gui::magnum::ShadowMap","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; gs &gt; ShadowMap</p> <p>Inherits the following classes: Magnum::GL::AbstractShaderProgram</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#public-types","title":"Public Types","text":"Type Name enum Magnum::UnsignedByte Flag typedef Magnum::Containers::EnumSet&lt; Flag &gt; Flags typedef Magnum::Shaders::Generic3D::Position Position typedef Magnum::Shaders::Generic3D::TextureCoordinates TextureCoordinates"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#public-functions","title":"Public Functions","text":"Type Name ShadowMap (Flags flags={})  ShadowMap (Magnum::NoCreateT) noexcept Flags flags () const ShadowMap &amp; set_material (Material &amp; material)  ShadowMap &amp; set_projection_matrix (const Magnum::Matrix4 &amp; matrix)  ShadowMap &amp; set_transformation_matrix (const Magnum::Matrix4 &amp; matrix)"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#enum-flag","title":"enum Flag","text":"<pre><code>enum robot_dart::gui::magnum::gs::ShadowMap::Flag {\n    DiffuseTexture = 1 &lt;&lt; 0\n};\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#typedef-flags","title":"typedef Flags","text":"<pre><code>using robot_dart::gui::magnum::gs::ShadowMap::Flags =  Magnum::Containers::EnumSet&lt;Flag&gt;;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#typedef-position","title":"typedef Position","text":"<pre><code>using robot_dart::gui::magnum::gs::ShadowMap::Position =  Magnum::Shaders::Generic3D::Position;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#typedef-texturecoordinates","title":"typedef TextureCoordinates","text":"<pre><code>using robot_dart::gui::magnum::gs::ShadowMap::TextureCoordinates =  Magnum::Shaders::Generic3D::TextureCoordinates;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#function-shadowmap-12","title":"function ShadowMap [\u00bd]","text":"<pre><code>explicit robot_dart::gui::magnum::gs::ShadowMap::ShadowMap (\n    Flags flags={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#function-shadowmap-22","title":"function ShadowMap [2/2]","text":"<pre><code>explicit robot_dart::gui::magnum::gs::ShadowMap::ShadowMap (\n    Magnum::NoCreateT\n) noexcept\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#function-flags","title":"function flags","text":"<pre><code>Flags robot_dart::gui::magnum::gs::ShadowMap::flags () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#function-set_material","title":"function set_material","text":"<pre><code>ShadowMap &amp; robot_dart::gui::magnum::gs::ShadowMap::set_material (\n    Material &amp; material\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#function-set_projection_matrix","title":"function set_projection_matrix","text":"<pre><code>ShadowMap &amp; robot_dart::gui::magnum::gs::ShadowMap::set_projection_matrix (\n    const Magnum::Matrix4 &amp; matrix\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#function-set_transformation_matrix","title":"function set_transformation_matrix","text":"<pre><code>ShadowMap &amp; robot_dart::gui::magnum::gs::ShadowMap::set_transformation_matrix (\n    const Magnum::Matrix4 &amp; matrix\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/shadow_map.hpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/","title":"Class robot_dart::gui::magnum::ShadowMapColor","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; gs &gt; ShadowMapColor</p> <p>Inherits the following classes: Magnum::GL::AbstractShaderProgram</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#public-types","title":"Public Types","text":"Type Name enum Magnum::UnsignedByte Flag typedef Magnum::Containers::EnumSet&lt; Flag &gt; Flags typedef Magnum::Shaders::Generic3D::Position Position typedef Magnum::Shaders::Generic3D::TextureCoordinates TextureCoordinates"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#public-functions","title":"Public Functions","text":"Type Name ShadowMapColor (Flags flags={})  ShadowMapColor (Magnum::NoCreateT) noexcept Flags flags () const ShadowMapColor &amp; set_material (Material &amp; material)  ShadowMapColor &amp; set_projection_matrix (const Magnum::Matrix4 &amp; matrix)  ShadowMapColor &amp; set_transformation_matrix (const Magnum::Matrix4 &amp; matrix)"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#enum-flag","title":"enum Flag","text":"<pre><code>enum robot_dart::gui::magnum::gs::ShadowMapColor::Flag {\n    DiffuseTexture = 1 &lt;&lt; 0\n};\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#typedef-flags","title":"typedef Flags","text":"<pre><code>using robot_dart::gui::magnum::gs::ShadowMapColor::Flags =  Magnum::Containers::EnumSet&lt;Flag&gt;;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#typedef-position","title":"typedef Position","text":"<pre><code>using robot_dart::gui::magnum::gs::ShadowMapColor::Position =  Magnum::Shaders::Generic3D::Position;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#typedef-texturecoordinates","title":"typedef TextureCoordinates","text":"<pre><code>using robot_dart::gui::magnum::gs::ShadowMapColor::TextureCoordinates =  Magnum::Shaders::Generic3D::TextureCoordinates;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#function-shadowmapcolor-12","title":"function ShadowMapColor [\u00bd]","text":"<pre><code>explicit robot_dart::gui::magnum::gs::ShadowMapColor::ShadowMapColor (\n    Flags flags={}\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#function-shadowmapcolor-22","title":"function ShadowMapColor [2/2]","text":"<pre><code>explicit robot_dart::gui::magnum::gs::ShadowMapColor::ShadowMapColor (\n    Magnum::NoCreateT\n) noexcept\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#function-flags","title":"function flags","text":"<pre><code>Flags robot_dart::gui::magnum::gs::ShadowMapColor::flags () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#function-set_material","title":"function set_material","text":"<pre><code>ShadowMapColor &amp; robot_dart::gui::magnum::gs::ShadowMapColor::set_material (\n    Material &amp; material\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#function-set_projection_matrix","title":"function set_projection_matrix","text":"<pre><code>ShadowMapColor &amp; robot_dart::gui::magnum::gs::ShadowMapColor::set_projection_matrix (\n    const Magnum::Matrix4 &amp; matrix\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#function-set_transformation_matrix","title":"function set_transformation_matrix","text":"<pre><code>ShadowMapColor &amp; robot_dart::gui::magnum::gs::ShadowMapColor::set_transformation_matrix (\n    const Magnum::Matrix4 &amp; matrix\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/shadow_map_color.hpp</code></p>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1sensor/","title":"Namespace robot_dart::gui::magnum::sensor","text":"<p>Namespace List &gt; robot_dart &gt; gui &gt; magnum &gt; sensor</p>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1sensor/#classes","title":"Classes","text":"Type Name class Camera <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/sensor/camera.cpp</code></p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/","title":"Class robot_dart::gui::magnum::sensor::Camera","text":"<p>ClassList &gt; robot_dart &gt; gui &gt; magnum &gt; sensor &gt; Camera</p> <p>Inherits the following classes: robot_dart::sensor::Sensor</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#public-functions","title":"Public Functions","text":"Type Name Camera (BaseApplication * app, size_t width, size_t height, size_t freq=30, bool draw_debug=false)  virtual void attach_to_body (dart::dynamics::BodyNode * body, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()) override virtual void attach_to_joint (dart::dynamics::Joint *, const Eigen::Isometry3d &amp;) override virtual void calculate (double) override gs::Camera &amp; camera ()  const gs::Camera &amp; camera () const Eigen::Matrix4d camera_extrinsic_matrix () const Eigen::Matrix3d camera_intrinsic_matrix () const DepthImage depth_array ()  GrayscaleImage depth_image ()  void draw_debug (bool draw=true)  bool drawing_debug () const Image image ()  virtual void init () override void look_at (const Eigen::Vector3d &amp; camera_pos, const Eigen::Vector3d &amp; look_at=Eigen::Vector3d(0, 0, 0), const Eigen::Vector3d &amp; up=Eigen::Vector3d(0, 0, 1))  Magnum::Image2D * magnum_depth_image ()  Magnum::Image2D * magnum_image ()  GrayscaleImage raw_depth_image ()  void record_video (const std::string &amp; video_fname)  virtual std::string type () override const ~Camera ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#public-functions-inherited-from-robot_dartsensorsensor","title":"Public Functions inherited from robot_dart::sensor::Sensor","text":"<p>See robot_dart::sensor::Sensor</p> Type Name Sensor (size_t freq=40)  void activate (bool enable=true)  bool active () const virtual void attach_to_body (dart::dynamics::BodyNode * body, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  void attach_to_body (const std::shared_ptr&lt; Robot &gt; &amp; robot, const std::string &amp; body_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  virtual void attach_to_joint (dart::dynamics::Joint * joint, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  void attach_to_joint (const std::shared_ptr&lt; Robot &gt; &amp; robot, const std::string &amp; joint_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  const std::string &amp; attached_to () const virtual void calculate (double) = 0 void detach ()  size_t frequency () const virtual void init () = 0 const Eigen::Isometry3d &amp; pose () const void refresh (double t)  void set_frequency (size_t freq)  void set_pose (const Eigen::Isometry3d &amp; tf)  void set_simu (RobotDARTSimu * simu)  const RobotDARTSimu * simu () const virtual std::string type () const = 0 virtual ~Sensor ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#protected-attributes","title":"Protected Attributes","text":"Type Name std::unique_ptr&lt; gs::Camera &gt; _camera Magnum::GL::Renderbuffer _color Magnum::GL::Renderbuffer _depth bool _draw_debug Magnum::PixelFormat _format Magnum::GL::Framebuffer _framebuffer   = {Magnum::NoCreate} size_t _height BaseApplication * _magnum_app size_t _width"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#protected-attributes-inherited-from-robot_dartsensorsensor","title":"Protected Attributes inherited from robot_dart::sensor::Sensor","text":"<p>See robot_dart::sensor::Sensor</p> Type Name bool _active Eigen::Isometry3d _attached_tf bool _attached_to_body   = = false bool _attached_to_joint   = = false bool _attaching_to_body   = = false bool _attaching_to_joint   = = false dart::dynamics::BodyNode * _body_attached size_t _frequency dart::dynamics::Joint * _joint_attached RobotDARTSimu * _simu   = = nullptr Eigen::Isometry3d _world_pose"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-camera","title":"function Camera","text":"<pre><code>robot_dart::gui::magnum::sensor::Camera::Camera (\n    BaseApplication * app,\n    size_t width,\n    size_t height,\n    size_t freq=30,\n    bool draw_debug=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-attach_to_body","title":"function attach_to_body","text":"<pre><code>virtual void robot_dart::gui::magnum::sensor::Camera::attach_to_body (\n    dart::dynamics::BodyNode * body,\n    const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()\n) override\n</code></pre> <p>Implements robot_dart::sensor::Sensor::attach_to_body</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-attach_to_joint","title":"function attach_to_joint","text":"<pre><code>inline virtual void robot_dart::gui::magnum::sensor::Camera::attach_to_joint (\n    dart::dynamics::Joint *,\n    const Eigen::Isometry3d &amp;\n) override\n</code></pre> <p>Implements robot_dart::sensor::Sensor::attach_to_joint</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-calculate","title":"function calculate","text":"<pre><code>virtual void robot_dart::gui::magnum::sensor::Camera::calculate (\n    double\n) override\n</code></pre> <p>Implements robot_dart::sensor::Sensor::calculate</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-camera-12","title":"function camera [\u00bd]","text":"<pre><code>inline gs::Camera &amp; robot_dart::gui::magnum::sensor::Camera::camera () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-camera-22","title":"function camera [2/2]","text":"<pre><code>inline const gs::Camera &amp; robot_dart::gui::magnum::sensor::Camera::camera () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-camera_extrinsic_matrix","title":"function camera_extrinsic_matrix","text":"<pre><code>Eigen::Matrix4d robot_dart::gui::magnum::sensor::Camera::camera_extrinsic_matrix () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-camera_intrinsic_matrix","title":"function camera_intrinsic_matrix","text":"<pre><code>Eigen::Matrix3d robot_dart::gui::magnum::sensor::Camera::camera_intrinsic_matrix () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-depth_array","title":"function depth_array","text":"<pre><code>DepthImage robot_dart::gui::magnum::sensor::Camera::depth_array () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-depth_image","title":"function depth_image","text":"<pre><code>GrayscaleImage robot_dart::gui::magnum::sensor::Camera::depth_image () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-draw_debug","title":"function draw_debug","text":"<pre><code>inline void robot_dart::gui::magnum::sensor::Camera::draw_debug (\n    bool draw=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-drawing_debug","title":"function drawing_debug","text":"<pre><code>inline bool robot_dart::gui::magnum::sensor::Camera::drawing_debug () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-image","title":"function image","text":"<pre><code>inline Image robot_dart::gui::magnum::sensor::Camera::image () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-init","title":"function init","text":"<pre><code>virtual void robot_dart::gui::magnum::sensor::Camera::init () override\n</code></pre> <p>Implements robot_dart::sensor::Sensor::init</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-look_at","title":"function look_at","text":"<pre><code>void robot_dart::gui::magnum::sensor::Camera::look_at (\n    const Eigen::Vector3d &amp; camera_pos,\n    const Eigen::Vector3d &amp; look_at=Eigen::Vector3d(0, 0, 0),\n    const Eigen::Vector3d &amp; up=Eigen::Vector3d(0, 0, 1)\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-magnum_depth_image","title":"function magnum_depth_image","text":"<pre><code>inline Magnum::Image2D * robot_dart::gui::magnum::sensor::Camera::magnum_depth_image () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-magnum_image","title":"function magnum_image","text":"<pre><code>inline Magnum::Image2D * robot_dart::gui::magnum::sensor::Camera::magnum_image () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-raw_depth_image","title":"function raw_depth_image","text":"<pre><code>GrayscaleImage robot_dart::gui::magnum::sensor::Camera::raw_depth_image () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-record_video","title":"function record_video","text":"<pre><code>inline void robot_dart::gui::magnum::sensor::Camera::record_video (\n    const std::string &amp; video_fname\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-type","title":"function type","text":"<pre><code>virtual std::string robot_dart::gui::magnum::sensor::Camera::type () override const\n</code></pre> <p>Implements robot_dart::sensor::Sensor::type</p>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-camera_1","title":"function ~Camera","text":"<pre><code>inline robot_dart::gui::magnum::sensor::Camera::~Camera () \n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#variable-_camera","title":"variable _camera","text":"<pre><code>std::unique_ptr&lt;gs::Camera&gt; robot_dart::gui::magnum::sensor::Camera::_camera;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#variable-_color","title":"variable _color","text":"<pre><code>Magnum::GL::Renderbuffer robot_dart::gui::magnum::sensor::Camera::_color;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#variable-_depth","title":"variable _depth","text":"<pre><code>Magnum::GL::Renderbuffer robot_dart::gui::magnum::sensor::Camera::_depth;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#variable-_draw_debug","title":"variable _draw_debug","text":"<pre><code>bool robot_dart::gui::magnum::sensor::Camera::_draw_debug;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#variable-_format","title":"variable _format","text":"<pre><code>Magnum::PixelFormat robot_dart::gui::magnum::sensor::Camera::_format;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#variable-_framebuffer","title":"variable _framebuffer","text":"<pre><code>Magnum::GL::Framebuffer robot_dart::gui::magnum::sensor::Camera::_framebuffer;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#variable-_height","title":"variable _height","text":"<pre><code>size_t robot_dart::gui::magnum::sensor::Camera::_height;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#variable-_magnum_app","title":"variable _magnum_app","text":"<pre><code>BaseApplication* robot_dart::gui::magnum::sensor::Camera::_magnum_app;\n</code></pre>"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#variable-_width","title":"variable _width","text":"<pre><code>size_t robot_dart::gui::magnum::sensor::Camera::_width;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/sensor/camera.hpp</code></p>"},{"location":"api/namespacerobot__dart_1_1robots/","title":"Namespace robot_dart::robots","text":"<p>Namespace List &gt; robot_dart &gt; robots</p>"},{"location":"api/namespacerobot__dart_1_1robots/#classes","title":"Classes","text":"Type Name class A1 class Arm class Franka class Hexapod class ICub class Iiwa class Pendulum class Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __ class TalosFastCollision class TalosLight class Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __ class Ur3e class Ur3eHand class Vx300 <p>The documentation for this class was generated from the following file <code>robot_dart/robots/a1.cpp</code></p>"},{"location":"api/classrobot__dart_1_1robots_1_1A1/","title":"Class robot_dart::robots::A1","text":"<p>ClassList &gt; robot_dart &gt; robots &gt; A1</p> <p>Inherits the following classes: robot_dart::Robot</p>"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#public-functions","title":"Public Functions","text":"Type Name A1 (size_t frequency=1000, const std::string &amp; urdf=\"unitree_a1/a1.urdf\", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('a1\\_description', 'unitree\\_a1/a1\\_description'))  const sensor::IMU &amp; imu () const virtual void reset () override"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#protected-attributes","title":"Protected Attributes","text":"Type Name std::shared_ptr&lt; sensor::IMU &gt; _imu"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1A1/#function-a1","title":"function A1","text":"<pre><code>robot_dart::robots::A1::A1 (\n    size_t frequency=1000,\n    const std::string &amp; urdf=\"unitree_a1/a1.urdf\",\n    const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('a1_description', 'unitree_a1/a1_description')\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#function-imu","title":"function imu","text":"<pre><code>inline const sensor::IMU &amp; robot_dart::robots::A1::imu () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#function-reset","title":"function reset","text":"<pre><code>virtual void robot_dart::robots::A1::reset () override\n</code></pre> <p>Implements robot_dart::Robot::reset</p>"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1A1/#variable-_imu","title":"variable _imu","text":"<pre><code>std::shared_ptr&lt;sensor::IMU&gt; robot_dart::robots::A1::_imu;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/robots/a1.hpp</code></p>"},{"location":"api/classrobot__dart_1_1robots_1_1Arm/","title":"Class robot_dart::robots::Arm","text":"<p>ClassList &gt; robot_dart &gt; robots &gt; Arm</p> <p>Inherits the following classes: robot_dart::Robot</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Arm/#public-functions","title":"Public Functions","text":"Type Name Arm (const std::string &amp; urdf=\"arm.urdf\")"},{"location":"api/classrobot__dart_1_1robots_1_1Arm/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Arm/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Arm/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Arm/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Arm/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Arm/#function-arm","title":"function Arm","text":"<pre><code>inline robot_dart::robots::Arm::Arm (\n    const std::string &amp; urdf=\"arm.urdf\"\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/robots/arm.hpp</code></p>"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/","title":"Class robot_dart::robots::Franka","text":"<p>ClassList &gt; robot_dart &gt; robots &gt; Franka</p> <p>Inherits the following classes: robot_dart::Robot</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#public-functions","title":"Public Functions","text":"Type Name Franka (size_t frequency=1000, const std::string &amp; urdf=\"franka/franka.urdf\", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('franka\\_description', 'franka/franka\\_description'))  const sensor::ForceTorque &amp; ft_wrist () const"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#protected-attributes","title":"Protected Attributes","text":"Type Name std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_wrist"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#function-franka","title":"function Franka","text":"<pre><code>robot_dart::robots::Franka::Franka (\n    size_t frequency=1000,\n    const std::string &amp; urdf=\"franka/franka.urdf\",\n    const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('franka_description', 'franka/franka_description')\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#function-ft_wrist","title":"function ft_wrist","text":"<pre><code>inline const sensor::ForceTorque &amp; robot_dart::robots::Franka::ft_wrist () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#variable-_ft_wrist","title":"variable _ft_wrist","text":"<pre><code>std::shared_ptr&lt;sensor::ForceTorque&gt; robot_dart::robots::Franka::_ft_wrist;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#protected-functions-documentation","title":"Protected Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#function-_post_addition","title":"function _post_addition","text":"<pre><code>virtual void robot_dart::robots::Franka::_post_addition (\n    RobotDARTSimu *\n) override\n</code></pre> <p>Implements robot_dart::Robot::_post_addition</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#function-_post_removal","title":"function _post_removal","text":"<pre><code>virtual void robot_dart::robots::Franka::_post_removal (\n    RobotDARTSimu *\n) override\n</code></pre> <p>Implements robot_dart::Robot::_post_removal</p> <p>The documentation for this class was generated from the following file <code>robot_dart/robots/franka.hpp</code></p>"},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/","title":"Class robot_dart::robots::Hexapod","text":"<p>ClassList &gt; robot_dart &gt; robots &gt; Hexapod</p> <p>Inherits the following classes: robot_dart::Robot</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#public-functions","title":"Public Functions","text":"Type Name Hexapod (const std::string &amp; urdf=\"pexod.urdf\")  virtual void reset () override"},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#function-hexapod","title":"function Hexapod","text":"<pre><code>inline robot_dart::robots::Hexapod::Hexapod (\n    const std::string &amp; urdf=\"pexod.urdf\"\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#function-reset","title":"function reset","text":"<pre><code>inline virtual void robot_dart::robots::Hexapod::reset () override\n</code></pre> <p>Implements robot_dart::Robot::reset</p> <p>The documentation for this class was generated from the following file <code>robot_dart/robots/hexapod.hpp</code></p>"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/","title":"Class robot_dart::robots::ICub","text":"<p>ClassList &gt; robot_dart &gt; robots &gt; ICub</p> <p>Inherits the following classes: robot_dart::Robot</p>"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#public-functions","title":"Public Functions","text":"Type Name ICub (size_t frequency=1000, const std::string &amp; urdf=\"icub/icub.urdf\", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('icub\\_description', 'icub/icub\\_description'))  const sensor::ForceTorque &amp; ft_foot_left () const const sensor::ForceTorque &amp; ft_foot_right () const const sensor::IMU &amp; imu () const virtual void reset () override"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#protected-attributes","title":"Protected Attributes","text":"Type Name std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_foot_left std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_foot_right std::shared_ptr&lt; sensor::IMU &gt; _imu"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#function-icub","title":"function ICub","text":"<pre><code>robot_dart::robots::ICub::ICub (\n    size_t frequency=1000,\n    const std::string &amp; urdf=\"icub/icub.urdf\",\n    const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('icub_description', 'icub/icub_description')\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#function-ft_foot_left","title":"function ft_foot_left","text":"<pre><code>inline const sensor::ForceTorque &amp; robot_dart::robots::ICub::ft_foot_left () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#function-ft_foot_right","title":"function ft_foot_right","text":"<pre><code>inline const sensor::ForceTorque &amp; robot_dart::robots::ICub::ft_foot_right () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#function-imu","title":"function imu","text":"<pre><code>inline const sensor::IMU &amp; robot_dart::robots::ICub::imu () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#function-reset","title":"function reset","text":"<pre><code>virtual void robot_dart::robots::ICub::reset () override\n</code></pre> <p>Implements robot_dart::Robot::reset</p>"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#variable-_ft_foot_left","title":"variable _ft_foot_left","text":"<pre><code>std::shared_ptr&lt;sensor::ForceTorque&gt; robot_dart::robots::ICub::_ft_foot_left;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#variable-_ft_foot_right","title":"variable _ft_foot_right","text":"<pre><code>std::shared_ptr&lt;sensor::ForceTorque&gt; robot_dart::robots::ICub::_ft_foot_right;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#variable-_imu","title":"variable _imu","text":"<pre><code>std::shared_ptr&lt;sensor::IMU&gt; robot_dart::robots::ICub::_imu;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#protected-functions-documentation","title":"Protected Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#function-_post_addition","title":"function _post_addition","text":"<pre><code>virtual void robot_dart::robots::ICub::_post_addition (\n    RobotDARTSimu *\n) override\n</code></pre> <p>Implements robot_dart::Robot::_post_addition</p>"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#function-_post_removal","title":"function _post_removal","text":"<pre><code>virtual void robot_dart::robots::ICub::_post_removal (\n    RobotDARTSimu *\n) override\n</code></pre> <p>Implements robot_dart::Robot::_post_removal</p> <p>The documentation for this class was generated from the following file <code>robot_dart/robots/icub.hpp</code></p>"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/","title":"Class robot_dart::robots::Iiwa","text":"<p>ClassList &gt; robot_dart &gt; robots &gt; Iiwa</p> <p>Inherits the following classes: robot_dart::Robot</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#public-functions","title":"Public Functions","text":"Type Name Iiwa (size_t frequency=1000, const std::string &amp; urdf=\"iiwa/iiwa.urdf\", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('iiwa\\_description', 'iiwa/iiwa\\_description'))  const sensor::ForceTorque &amp; ft_wrist () const"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#protected-attributes","title":"Protected Attributes","text":"Type Name std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_wrist"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#function-iiwa","title":"function Iiwa","text":"<pre><code>robot_dart::robots::Iiwa::Iiwa (\n    size_t frequency=1000,\n    const std::string &amp; urdf=\"iiwa/iiwa.urdf\",\n    const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('iiwa_description', 'iiwa/iiwa_description')\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#function-ft_wrist","title":"function ft_wrist","text":"<pre><code>inline const sensor::ForceTorque &amp; robot_dart::robots::Iiwa::ft_wrist () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#variable-_ft_wrist","title":"variable _ft_wrist","text":"<pre><code>std::shared_ptr&lt;sensor::ForceTorque&gt; robot_dart::robots::Iiwa::_ft_wrist;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#protected-functions-documentation","title":"Protected Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#function-_post_addition","title":"function _post_addition","text":"<pre><code>virtual void robot_dart::robots::Iiwa::_post_addition (\n    RobotDARTSimu *\n) override\n</code></pre> <p>Implements robot_dart::Robot::_post_addition</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#function-_post_removal","title":"function _post_removal","text":"<pre><code>virtual void robot_dart::robots::Iiwa::_post_removal (\n    RobotDARTSimu *\n) override\n</code></pre> <p>Implements robot_dart::Robot::_post_removal</p> <p>The documentation for this class was generated from the following file <code>robot_dart/robots/iiwa.hpp</code></p>"},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/","title":"Class robot_dart::robots::Pendulum","text":"<p>ClassList &gt; robot_dart &gt; robots &gt; Pendulum</p> <p>Inherits the following classes: robot_dart::Robot</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/#public-functions","title":"Public Functions","text":"Type Name Pendulum (const std::string &amp; urdf=\"pendulum.urdf\")"},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/#function-pendulum","title":"function Pendulum","text":"<pre><code>inline robot_dart::robots::Pendulum::Pendulum (\n    const std::string &amp; urdf=\"pendulum.urdf\"\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/robots/pendulum.hpp</code></p>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/","title":"Class robot_dart::robots::Talos","text":"<p>ClassList &gt; robot_dart &gt; robots &gt; Talos</p> <p>datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __</p> <ul> <li><code>#include &lt;robot_dart/robots/talos.hpp&gt;</code></li> </ul> <p>Inherits the following classes: robot_dart::Robot</p> <p>Inherited by the following classes: robot_dart::robots::TalosFastCollision,  robot_dart::robots::TalosLight</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#public-types","title":"Public Types","text":"Type Name typedef std::unordered_map&lt; std::string, std::shared_ptr&lt; sensor::Torque &gt; &gt; torque_map_t"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#public-functions","title":"Public Functions","text":"Type Name Talos (size_t frequency=1000, const std::string &amp; urdf=\"talos/talos.urdf\", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('talos\\_description', 'talos/talos\\_description'))  const sensor::ForceTorque &amp; ft_foot_left () const const sensor::ForceTorque &amp; ft_foot_right () const const sensor::ForceTorque &amp; ft_wrist_left () const const sensor::ForceTorque &amp; ft_wrist_right () const const sensor::IMU &amp; imu () const virtual void reset () override const torque_map_t &amp; torques () const"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#protected-attributes","title":"Protected Attributes","text":"Type Name size_t _frequency std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_foot_left std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_foot_right std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_wrist_left std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_wrist_right std::shared_ptr&lt; sensor::IMU &gt; _imu torque_map_t _torques"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#typedef-torque_map_t","title":"typedef torque_map_t","text":"<pre><code>using robot_dart::robots::Talos::torque_map_t =  std::unordered_map&lt;std::string, std::shared_ptr&lt;sensor::Torque&gt;&gt;;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#function-talos","title":"function Talos","text":"<pre><code>robot_dart::robots::Talos::Talos (\n    size_t frequency=1000,\n    const std::string &amp; urdf=\"talos/talos.urdf\",\n    const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('talos_description', 'talos/talos_description')\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#function-ft_foot_left","title":"function ft_foot_left","text":"<pre><code>inline const sensor::ForceTorque &amp; robot_dart::robots::Talos::ft_foot_left () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#function-ft_foot_right","title":"function ft_foot_right","text":"<pre><code>inline const sensor::ForceTorque &amp; robot_dart::robots::Talos::ft_foot_right () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#function-ft_wrist_left","title":"function ft_wrist_left","text":"<pre><code>inline const sensor::ForceTorque &amp; robot_dart::robots::Talos::ft_wrist_left () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#function-ft_wrist_right","title":"function ft_wrist_right","text":"<pre><code>inline const sensor::ForceTorque &amp; robot_dart::robots::Talos::ft_wrist_right () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#function-imu","title":"function imu","text":"<pre><code>inline const sensor::IMU &amp; robot_dart::robots::Talos::imu () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#function-reset","title":"function reset","text":"<pre><code>virtual void robot_dart::robots::Talos::reset () override\n</code></pre> <p>Implements robot_dart::Robot::reset</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#function-torques","title":"function torques","text":"<pre><code>inline const torque_map_t &amp; robot_dart::robots::Talos::torques () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#variable-_frequency","title":"variable _frequency","text":"<pre><code>size_t robot_dart::robots::Talos::_frequency;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#variable-_ft_foot_left","title":"variable _ft_foot_left","text":"<pre><code>std::shared_ptr&lt;sensor::ForceTorque&gt; robot_dart::robots::Talos::_ft_foot_left;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#variable-_ft_foot_right","title":"variable _ft_foot_right","text":"<pre><code>std::shared_ptr&lt;sensor::ForceTorque&gt; robot_dart::robots::Talos::_ft_foot_right;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#variable-_ft_wrist_left","title":"variable _ft_wrist_left","text":"<pre><code>std::shared_ptr&lt;sensor::ForceTorque&gt; robot_dart::robots::Talos::_ft_wrist_left;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#variable-_ft_wrist_right","title":"variable _ft_wrist_right","text":"<pre><code>std::shared_ptr&lt;sensor::ForceTorque&gt; robot_dart::robots::Talos::_ft_wrist_right;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#variable-_imu","title":"variable _imu","text":"<pre><code>std::shared_ptr&lt;sensor::IMU&gt; robot_dart::robots::Talos::_imu;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#variable-_torques","title":"variable _torques","text":"<pre><code>torque_map_t robot_dart::robots::Talos::_torques;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#protected-functions-documentation","title":"Protected Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#function-_post_addition","title":"function _post_addition","text":"<pre><code>virtual void robot_dart::robots::Talos::_post_addition (\n    RobotDARTSimu *\n) override\n</code></pre> <p>Implements robot_dart::Robot::_post_addition</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#function-_post_removal","title":"function _post_removal","text":"<pre><code>virtual void robot_dart::robots::Talos::_post_removal (\n    RobotDARTSimu *\n) override\n</code></pre> <p>Implements robot_dart::Robot::_post_removal</p> <p>The documentation for this class was generated from the following file <code>robot_dart/robots/talos.hpp</code></p>"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/","title":"Class robot_dart::robots::TalosFastCollision","text":"<p>ClassList &gt; robot_dart &gt; robots &gt; TalosFastCollision</p> <p>Inherits the following classes: robot_dart::robots::Talos</p>"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-types-inherited-from-robot_dartrobotstalos","title":"Public Types inherited from robot_dart::robots::Talos","text":"<p>See robot_dart::robots::Talos</p> Type Name typedef std::unordered_map&lt; std::string, std::shared_ptr&lt; sensor::Torque &gt; &gt; torque_map_t"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-functions","title":"Public Functions","text":"Type Name TalosFastCollision (size_t frequency=1000, const std::string &amp; urdf=\"talos/talos_fast_collision.urdf\", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('talos\\_description', 'talos/talos\\_description'))"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-functions-inherited-from-robot_dartrobotstalos","title":"Public Functions inherited from robot_dart::robots::Talos","text":"<p>See robot_dart::robots::Talos</p> Type Name Talos (size_t frequency=1000, const std::string &amp; urdf=\"talos/talos.urdf\", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('talos\\_description', 'talos/talos\\_description'))  const sensor::ForceTorque &amp; ft_foot_left () const const sensor::ForceTorque &amp; ft_foot_right () const const sensor::ForceTorque &amp; ft_wrist_left () const const sensor::ForceTorque &amp; ft_wrist_right () const const sensor::IMU &amp; imu () const virtual void reset () override const torque_map_t &amp; torques () const"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-static-functions","title":"Public Static Functions","text":"Type Name std::vector&lt; std::tuple&lt; std::string, uint32_t, uint32_t &gt; &gt; collision_vec ()"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#protected-attributes-inherited-from-robot_dartrobotstalos","title":"Protected Attributes inherited from robot_dart::robots::Talos","text":"<p>See robot_dart::robots::Talos</p> Type Name size_t _frequency std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_foot_left std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_foot_right std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_wrist_left std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_wrist_right std::shared_ptr&lt; sensor::IMU &gt; _imu torque_map_t _torques"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#protected-functions-inherited-from-robot_dartrobotstalos","title":"Protected Functions inherited from robot_dart::robots::Talos","text":"<p>See robot_dart::robots::Talos</p> Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#function-talosfastcollision","title":"function TalosFastCollision","text":"<pre><code>inline robot_dart::robots::TalosFastCollision::TalosFastCollision (\n    size_t frequency=1000,\n    const std::string &amp; urdf=\"talos/talos_fast_collision.urdf\",\n    const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('talos_description', 'talos/talos_description')\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-static-functions-documentation","title":"Public Static Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#function-collision_vec","title":"function collision_vec","text":"<pre><code>static std::vector&lt; std::tuple&lt; std::string, uint32_t, uint32_t &gt; &gt; robot_dart::robots::TalosFastCollision::collision_vec () \n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#protected-functions-documentation","title":"Protected Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#function-_post_addition","title":"function _post_addition","text":"<pre><code>virtual void robot_dart::robots::TalosFastCollision::_post_addition (\n    RobotDARTSimu *\n) override\n</code></pre> <p>Implements robot_dart::robots::Talos::_post_addition</p> <p>The documentation for this class was generated from the following file <code>robot_dart/robots/talos.hpp</code></p>"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/","title":"Class robot_dart::robots::TalosLight","text":"<p>ClassList &gt; robot_dart &gt; robots &gt; TalosLight</p> <p>Inherits the following classes: robot_dart::robots::Talos</p>"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#public-types-inherited-from-robot_dartrobotstalos","title":"Public Types inherited from robot_dart::robots::Talos","text":"<p>See robot_dart::robots::Talos</p> Type Name typedef std::unordered_map&lt; std::string, std::shared_ptr&lt; sensor::Torque &gt; &gt; torque_map_t"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#public-functions","title":"Public Functions","text":"Type Name TalosLight (size_t frequency=1000, const std::string &amp; urdf=\"talos/talos_fast.urdf\", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('talos\\_description', 'talos/talos\\_description'))"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#public-functions-inherited-from-robot_dartrobotstalos","title":"Public Functions inherited from robot_dart::robots::Talos","text":"<p>See robot_dart::robots::Talos</p> Type Name Talos (size_t frequency=1000, const std::string &amp; urdf=\"talos/talos.urdf\", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('talos\\_description', 'talos/talos\\_description'))  const sensor::ForceTorque &amp; ft_foot_left () const const sensor::ForceTorque &amp; ft_foot_right () const const sensor::ForceTorque &amp; ft_wrist_left () const const sensor::ForceTorque &amp; ft_wrist_right () const const sensor::IMU &amp; imu () const virtual void reset () override const torque_map_t &amp; torques () const"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#protected-attributes-inherited-from-robot_dartrobotstalos","title":"Protected Attributes inherited from robot_dart::robots::Talos","text":"<p>See robot_dart::robots::Talos</p> Type Name size_t _frequency std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_foot_left std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_foot_right std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_wrist_left std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_wrist_right std::shared_ptr&lt; sensor::IMU &gt; _imu torque_map_t _torques"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#protected-functions-inherited-from-robot_dartrobotstalos","title":"Protected Functions inherited from robot_dart::robots::Talos","text":"<p>See robot_dart::robots::Talos</p> Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#function-taloslight","title":"function TalosLight","text":"<pre><code>inline robot_dart::robots::TalosLight::TalosLight (\n    size_t frequency=1000,\n    const std::string &amp; urdf=\"talos/talos_fast.urdf\",\n    const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('talos_description', 'talos/talos_description')\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/robots/talos.hpp</code></p>"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/","title":"Class robot_dart::robots::Tiago","text":"<p>ClassList &gt; robot_dart &gt; robots &gt; Tiago</p> <p>datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</p> <ul> <li><code>#include &lt;robot_dart/robots/tiago.hpp&gt;</code></li> </ul> <p>Inherits the following classes: robot_dart::Robot</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#public-functions","title":"Public Functions","text":"Type Name Tiago (size_t frequency=1000, const std::string &amp; urdf=\"tiago/tiago_steel.urdf\", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('tiago\\_description', 'tiago/tiago\\_description'))  std::vector&lt; std::string &gt; caster_joints () const const sensor::ForceTorque &amp; ft_wrist () const virtual void reset () override void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false, bool override_caster=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false, bool override_caster=false)"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#protected-attributes","title":"Protected Attributes","text":"Type Name std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_wrist"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#function-tiago","title":"function Tiago","text":"<pre><code>robot_dart::robots::Tiago::Tiago (\n    size_t frequency=1000,\n    const std::string &amp; urdf=\"tiago/tiago_steel.urdf\",\n    const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('tiago_description', 'tiago/tiago_description')\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#function-caster_joints","title":"function caster_joints","text":"<pre><code>inline std::vector&lt; std::string &gt; robot_dart::robots::Tiago::caster_joints () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#function-ft_wrist","title":"function ft_wrist","text":"<pre><code>inline const sensor::ForceTorque &amp; robot_dart::robots::Tiago::ft_wrist () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#function-reset","title":"function reset","text":"<pre><code>virtual void robot_dart::robots::Tiago::reset () override\n</code></pre> <p>Implements robot_dart::Robot::reset</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#function-set_actuator_type","title":"function set_actuator_type","text":"<pre><code>void robot_dart::robots::Tiago::set_actuator_type (\n    const std::string &amp; type,\n    const std::string &amp; joint_name,\n    bool override_mimic=false,\n    bool override_base=false,\n    bool override_caster=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#function-set_actuator_types","title":"function set_actuator_types","text":"<pre><code>void robot_dart::robots::Tiago::set_actuator_types (\n    const std::string &amp; type,\n    const std::vector&lt; std::string &gt; &amp; joint_names={},\n    bool override_mimic=false,\n    bool override_base=false,\n    bool override_caster=false\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#variable-_ft_wrist","title":"variable _ft_wrist","text":"<pre><code>std::shared_ptr&lt;sensor::ForceTorque&gt; robot_dart::robots::Tiago::_ft_wrist;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#protected-functions-documentation","title":"Protected Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#function-_post_addition","title":"function _post_addition","text":"<pre><code>virtual void robot_dart::robots::Tiago::_post_addition (\n    RobotDARTSimu *\n) override\n</code></pre> <p>Implements robot_dart::Robot::_post_addition</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#function-_post_removal","title":"function _post_removal","text":"<pre><code>virtual void robot_dart::robots::Tiago::_post_removal (\n    RobotDARTSimu *\n) override\n</code></pre> <p>Implements robot_dart::Robot::_post_removal</p> <p>The documentation for this class was generated from the following file <code>robot_dart/robots/tiago.hpp</code></p>"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/","title":"Class robot_dart::robots::Ur3e","text":"<p>ClassList &gt; robot_dart &gt; robots &gt; Ur3e</p> <p>Inherits the following classes: robot_dart::Robot</p> <p>Inherited by the following classes: robot_dart::robots::Ur3eHand</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#public-functions","title":"Public Functions","text":"Type Name Ur3e (size_t frequency=1000, const std::string &amp; urdf=\"ur3e/ur3e.urdf\", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('ur3e\\_description', 'ur3e/ur3e\\_description'))  const sensor::ForceTorque &amp; ft_wrist () const"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#protected-attributes","title":"Protected Attributes","text":"Type Name std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_wrist"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#function-ur3e","title":"function Ur3e","text":"<pre><code>robot_dart::robots::Ur3e::Ur3e (\n    size_t frequency=1000,\n    const std::string &amp; urdf=\"ur3e/ur3e.urdf\",\n    const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('ur3e_description', 'ur3e/ur3e_description')\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#function-ft_wrist","title":"function ft_wrist","text":"<pre><code>inline const sensor::ForceTorque &amp; robot_dart::robots::Ur3e::ft_wrist () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#variable-_ft_wrist","title":"variable _ft_wrist","text":"<pre><code>std::shared_ptr&lt;sensor::ForceTorque&gt; robot_dart::robots::Ur3e::_ft_wrist;\n</code></pre>"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#protected-functions-documentation","title":"Protected Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#function-_post_addition","title":"function _post_addition","text":"<pre><code>virtual void robot_dart::robots::Ur3e::_post_addition (\n    RobotDARTSimu *\n) override\n</code></pre> <p>Implements robot_dart::Robot::_post_addition</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#function-_post_removal","title":"function _post_removal","text":"<pre><code>virtual void robot_dart::robots::Ur3e::_post_removal (\n    RobotDARTSimu *\n) override\n</code></pre> <p>Implements robot_dart::Robot::_post_removal</p> <p>The documentation for this class was generated from the following file <code>robot_dart/robots/ur3e.hpp</code></p>"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/","title":"Class robot_dart::robots::Ur3eHand","text":"<p>ClassList &gt; robot_dart &gt; robots &gt; Ur3eHand</p> <p>Inherits the following classes: robot_dart::robots::Ur3e</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#public-functions","title":"Public Functions","text":"Type Name Ur3eHand (size_t frequency=1000, const std::string &amp; urdf=\"ur3e/ur3e_with_schunk_hand.urdf\", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('ur3e\\_description', 'ur3e/ur3e\\_description'))"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#public-functions-inherited-from-robot_dartrobotsur3e","title":"Public Functions inherited from robot_dart::robots::Ur3e","text":"<p>See robot_dart::robots::Ur3e</p> Type Name Ur3e (size_t frequency=1000, const std::string &amp; urdf=\"ur3e/ur3e.urdf\", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('ur3e\\_description', 'ur3e/ur3e\\_description'))  const sensor::ForceTorque &amp; ft_wrist () const"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#protected-attributes-inherited-from-robot_dartrobotsur3e","title":"Protected Attributes inherited from robot_dart::robots::Ur3e","text":"<p>See robot_dart::robots::Ur3e</p> Type Name std::shared_ptr&lt; sensor::ForceTorque &gt; _ft_wrist"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#protected-functions-inherited-from-robot_dartrobotsur3e","title":"Protected Functions inherited from robot_dart::robots::Ur3e","text":"<p>See robot_dart::robots::Ur3e</p> Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#function-ur3ehand","title":"function Ur3eHand","text":"<pre><code>inline robot_dart::robots::Ur3eHand::Ur3eHand (\n    size_t frequency=1000,\n    const std::string &amp; urdf=\"ur3e/ur3e_with_schunk_hand.urdf\",\n    const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('ur3e_description', 'ur3e/ur3e_description')\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/robots/ur3e.hpp</code></p>"},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/","title":"Class robot_dart::robots::Vx300","text":"<p>ClassList &gt; robot_dart &gt; robots &gt; Vx300</p> <p>Inherits the following classes: robot_dart::Robot</p>"},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/#public-functions","title":"Public Functions","text":"Type Name Vx300 (const std::string &amp; urdf=\"vx300/vx300.urdf\", const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('interbotix\\_xsarm\\_descriptions', 'vx300'))"},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name Robot (const std::string &amp; model_file, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (const std::string &amp; model_file, const std::string &amp; robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true)  Robot (dart::dynamics::SkeletonPtr skeleton, const std::string &amp; robot_name=\"robot\", bool cast_shadows=true)  Eigen::VectorXd acceleration_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd accelerations (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; active_controllers () const std::string actuator_type (const std::string &amp; joint_name) const std::vector&lt; std::string &gt; actuator_types (const std::vector&lt; std::string &gt; &amp; joint_names={}) const void add_body_mass (const std::string &amp; body_name, double mass)  void add_body_mass (size_t body_index, double mass)  void add_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller, double weight=1.0)  void add_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void add_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void add_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string &amp; body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string &amp; body_name) const double body_mass (const std::string &amp; body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector&lt; std::string &gt; body_names () const dart::dynamics::BodyNode * body_node (const std::string &amp; body_name)  dart::dynamics::BodyNode * body_node (size_t body_index)  Eigen::Isometry3d body_pose (const std::string &amp; body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string &amp; body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string &amp; body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers ()  void clear_external_forces ()  void clear_internal_forces ()  std::shared_ptr&lt; Robot &gt; clone () const std::shared_ptr&lt; Robot &gt; clone_ghost (const std::string &amp; ghost_name=\"ghost\", const Eigen::Vector4d &amp; ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::shared_ptr&lt; control::RobotControl &gt; controller (size_t index) const std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; controllers () const Eigen::VectorXd coriolis_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; coulomb_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; double &gt; damping_coeffs (const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string &amp; dof_name)  dart::dynamics::DegreeOfFreedom * dof (size_t dof_index)  size_t dof_index (const std::string &amp; dof_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; dof_map () const std::string dof_name (size_t dof_index) const std::vector&lt; std::string &gt; dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; &amp; drawing_axes () const Eigen::Vector6d external_forces (const std::string &amp; body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world ()  bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void force_position_bounds ()  std::pair&lt; Eigen::Vector6d, Eigen::Vector6d &gt; force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero())  double friction_coeff (const std::string &amp; body_name)  double friction_coeff (size_t body_index)  Eigen::Vector3d friction_dir (const std::string &amp; body_name)  Eigen::Vector3d friction_dir (size_t body_index)  bool ghost () const Eigen::VectorXd gravity_forces (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string &amp; body_name, const std::vector&lt; std::string &gt; &amp; dof_names={}) const dart::dynamics::Joint * joint (const std::string &amp; joint_name)  dart::dynamics::Joint * joint (size_t joint_index)  size_t joint_index (const std::string &amp; joint_name) const const std::unordered_map&lt; std::string, size_t &gt; &amp; joint_map () const std::string joint_name (size_t joint_index) const std::vector&lt; std::string &gt; joint_names () const std::vector&lt; std::string &gt; locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector&lt; std::string &gt; &amp; dof_names={}) const std::vector&lt; std::string &gt; mimic_dof_names () const const std::string &amp; model_filename () const const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; model_packages () const const std::string &amp; name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector&lt; std::string &gt; passive_dof_names () const std::vector&lt; bool &gt; position_enforced (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd positions (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void reinit_controllers ()  void remove_all_drawing_axis ()  void remove_controller (const std::shared_ptr&lt; control::RobotControl &gt; &amp; controller)  void remove_controller (size_t index)  virtual void reset ()  void reset_commands ()  double restitution_coeff (const std::string &amp; body_name)  double restitution_coeff (size_t body_index)  double secondary_friction_coeff (const std::string &amp; body_name)  double secondary_friction_coeff (size_t body_index)  bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_acceleration_upper_limits (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_accelerations (const Eigen::VectorXd &amp; accelerations, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_actuator_type (const std::string &amp; type, const std::string &amp; joint_name, bool override_mimic=false, bool override_base=false)  void set_actuator_types (const std::string &amp; type, const std::vector&lt; std::string &gt; &amp; joint_names={}, bool override_mimic=false, bool override_base=false)  void set_base_pose (const Eigen::Isometry3d &amp; tf)  void set_base_pose (const Eigen::Vector6d &amp; pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string &amp; body_name, double mass)  void set_body_mass (size_t body_index, double mass)  void set_body_name (size_t body_index, const std::string &amp; body_name)  void set_cast_shadows (bool cast_shadows=true)  void set_color_mode (const std::string &amp; color_mode)  void set_color_mode (const std::string &amp; color_mode, const std::string &amp; body_name)  void set_commands (const Eigen::VectorXd &amp; commands, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (const std::vector&lt; double &gt; &amp; cfrictions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_coulomb_coeffs (double cfriction, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (const std::vector&lt; double &gt; &amp; damps, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_damping_coeffs (double damp, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_draw_axis (const std::string &amp; body_name, double size=0.25)  void set_external_force (const std::string &amp; body_name, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_force (size_t body_index, const Eigen::Vector3d &amp; force, const Eigen::Vector3d &amp; offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)  void set_external_torque (const std::string &amp; body_name, const Eigen::Vector3d &amp; torque, bool local=false)  void set_external_torque (size_t body_index, const Eigen::Vector3d &amp; torque, bool local=false)  void set_force_lower_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_force_upper_limits (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_forces (const Eigen::VectorXd &amp; forces, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_friction_coeff (const std::string &amp; body_name, double value)  void set_friction_coeff (size_t body_index, double value)  void set_friction_coeffs (double value)  void set_friction_dir (const std::string &amp; body_name, const Eigen::Vector3d &amp; direction)  void set_friction_dir (size_t body_index, const Eigen::Vector3d &amp; direction)  void set_ghost (bool ghost=true)  void set_joint_name (size_t joint_index, const std::string &amp; joint_name)  void set_mimic (const std::string &amp; joint_name, const std::string &amp; mimic_joint_name, double multiplier=1., double offset=0.)  void set_position_enforced (const std::vector&lt; bool &gt; &amp; enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_enforced (bool enforced, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_lower_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_position_upper_limits (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_positions (const Eigen::VectorXd &amp; positions, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_restitution_coeff (const std::string &amp; body_name, double value)  void set_restitution_coeff (size_t body_index, double value)  void set_restitution_coeffs (double value)  void set_secondary_friction_coeff (const std::string &amp; body_name, double value)  void set_secondary_friction_coeff (size_t body_index, double value)  void set_secondary_friction_coeffs (double value)  void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)  void set_spring_stiffnesses (const std::vector&lt; double &gt; &amp; stiffnesses, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_spring_stiffnesses (double stiffness, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocities (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_lower_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  void set_velocity_upper_limits (const Eigen::VectorXd &amp; velocities, const std::vector&lt; std::string &gt; &amp; dof_names={})  dart::dynamics::SkeletonPtr skeleton ()  std::vector&lt; double &gt; spring_stiffnesses (const std::vector&lt; std::string &gt; &amp; dof_names={}) const void update (double t)  void update_joint_dof_maps ()  Eigen::VectorXd vec_dof (const Eigen::VectorXd &amp; vec, const std::vector&lt; std::string &gt; &amp; dof_names) const Eigen::VectorXd velocities (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector&lt; std::string &gt; &amp; dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_box (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; box_name=\"box\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Isometry3d &amp; tf, const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")  std::shared_ptr&lt; Robot &gt; create_ellipsoid (const Eigen::Vector3d &amp; dims, const Eigen::Vector6d &amp; pose=Eigen::Vector6d::Zero(), const std::string &amp; type=\"free\", double mass=1.0, const Eigen::Vector4d &amp; color=dart::Color::Red(1.0), const std::string &amp; ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; _axis_shapes bool _cast_shadows std::vector&lt; std::shared_ptr&lt; control::RobotControl &gt; &gt; _controllers std::unordered_map&lt; std::string, size_t &gt; _dof_map bool _is_ghost std::unordered_map&lt; std::string, size_t &gt; _joint_map std::string _model_filename std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"<p>See robot_dart::Robot</p> Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; _actuator_types () const std::string _get_path (const std::string &amp; filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd &amp; full_jacobian, const std::vector&lt; std::string &gt; &amp; dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string &amp; filename, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt;(), bool is_urdf_string=false)  Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd &amp; full_mass_matrix, const std::vector&lt; std::string &gt; &amp; dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (const std::vector&lt; dart::dynamics::Joint::ActuatorType &gt; &amp; types, bool override_mimic=false, bool override_base=false)  void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)  void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/#function-vx300","title":"function Vx300","text":"<pre><code>inline robot_dart::robots::Vx300::Vx300 (\n    const std::string &amp; urdf=\"vx300/vx300.urdf\",\n    const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp; packages=('interbotix_xsarm_descriptions', 'vx300')\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/robots/vx300.hpp</code></p>"},{"location":"api/namespacerobot__dart_1_1sensor/","title":"Namespace robot_dart::sensor","text":"<p>Namespace List &gt; robot_dart &gt; sensor</p>"},{"location":"api/namespacerobot__dart_1_1sensor/#classes","title":"Classes","text":"Type Name class ForceTorque class IMU struct IMUConfig class Sensor class Torque <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/sensor/camera.hpp</code></p>"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/","title":"Class robot_dart::sensor::ForceTorque","text":"<p>ClassList &gt; robot_dart &gt; sensor &gt; ForceTorque</p> <p>Inherits the following classes: robot_dart::sensor::Sensor</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#public-functions","title":"Public Functions","text":"Type Name ForceTorque (dart::dynamics::Joint * joint, size_t frequency=1000, const std::string &amp; direction=\"child_to_parent\")  ForceTorque (const std::shared_ptr&lt; Robot &gt; &amp; robot, const std::string &amp; joint_name, size_t frequency=1000, const std::string &amp; direction=\"child_to_parent\")  virtual void attach_to_body (dart::dynamics::BodyNode *, const Eigen::Isometry3d &amp;) override virtual void calculate (double) override Eigen::Vector3d force () const virtual void init () override Eigen::Vector3d torque () const virtual std::string type () override const const Eigen::Vector6d &amp; wrench () const"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#public-functions-inherited-from-robot_dartsensorsensor","title":"Public Functions inherited from robot_dart::sensor::Sensor","text":"<p>See robot_dart::sensor::Sensor</p> Type Name Sensor (size_t freq=40)  void activate (bool enable=true)  bool active () const virtual void attach_to_body (dart::dynamics::BodyNode * body, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  void attach_to_body (const std::shared_ptr&lt; Robot &gt; &amp; robot, const std::string &amp; body_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  virtual void attach_to_joint (dart::dynamics::Joint * joint, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  void attach_to_joint (const std::shared_ptr&lt; Robot &gt; &amp; robot, const std::string &amp; joint_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  const std::string &amp; attached_to () const virtual void calculate (double) = 0 void detach ()  size_t frequency () const virtual void init () = 0 const Eigen::Isometry3d &amp; pose () const void refresh (double t)  void set_frequency (size_t freq)  void set_pose (const Eigen::Isometry3d &amp; tf)  void set_simu (RobotDARTSimu * simu)  const RobotDARTSimu * simu () const virtual std::string type () const = 0 virtual ~Sensor ()"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#protected-attributes","title":"Protected Attributes","text":"Type Name std::string _direction Eigen::Vector6d _wrench"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#protected-attributes-inherited-from-robot_dartsensorsensor","title":"Protected Attributes inherited from robot_dart::sensor::Sensor","text":"<p>See robot_dart::sensor::Sensor</p> Type Name bool _active Eigen::Isometry3d _attached_tf bool _attached_to_body   = = false bool _attached_to_joint   = = false bool _attaching_to_body   = = false bool _attaching_to_joint   = = false dart::dynamics::BodyNode * _body_attached size_t _frequency dart::dynamics::Joint * _joint_attached RobotDARTSimu * _simu   = = nullptr Eigen::Isometry3d _world_pose"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#function-forcetorque-12","title":"function ForceTorque [\u00bd]","text":"<pre><code>robot_dart::sensor::ForceTorque::ForceTorque (\n    dart::dynamics::Joint * joint,\n    size_t frequency=1000,\n    const std::string &amp; direction=\"child_to_parent\"\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#function-forcetorque-22","title":"function ForceTorque [2/2]","text":"<pre><code>inline robot_dart::sensor::ForceTorque::ForceTorque (\n    const std::shared_ptr&lt; Robot &gt; &amp; robot,\n    const std::string &amp; joint_name,\n    size_t frequency=1000,\n    const std::string &amp; direction=\"child_to_parent\"\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#function-attach_to_body","title":"function attach_to_body","text":"<pre><code>inline virtual void robot_dart::sensor::ForceTorque::attach_to_body (\n    dart::dynamics::BodyNode *,\n    const Eigen::Isometry3d &amp;\n) override\n</code></pre> <p>Implements robot_dart::sensor::Sensor::attach_to_body</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#function-calculate","title":"function calculate","text":"<pre><code>virtual void robot_dart::sensor::ForceTorque::calculate (\n    double\n) override\n</code></pre> <p>Implements robot_dart::sensor::Sensor::calculate</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#function-force","title":"function force","text":"<pre><code>Eigen::Vector3d robot_dart::sensor::ForceTorque::force () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#function-init","title":"function init","text":"<pre><code>virtual void robot_dart::sensor::ForceTorque::init () override\n</code></pre> <p>Implements robot_dart::sensor::Sensor::init</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#function-torque","title":"function torque","text":"<pre><code>Eigen::Vector3d robot_dart::sensor::ForceTorque::torque () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#function-type","title":"function type","text":"<pre><code>virtual std::string robot_dart::sensor::ForceTorque::type () override const\n</code></pre> <p>Implements robot_dart::sensor::Sensor::type</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#function-wrench","title":"function wrench","text":"<pre><code>const Eigen::Vector6d &amp; robot_dart::sensor::ForceTorque::wrench () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#variable-_direction","title":"variable _direction","text":"<pre><code>std::string robot_dart::sensor::ForceTorque::_direction;\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#variable-_wrench","title":"variable _wrench","text":"<pre><code>Eigen::Vector6d robot_dart::sensor::ForceTorque::_wrench;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/sensor/force_torque.hpp</code></p>"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/","title":"Class robot_dart::sensor::IMU","text":"<p>ClassList &gt; robot_dart &gt; sensor &gt; IMU</p> <p>Inherits the following classes: robot_dart::sensor::Sensor</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#public-functions","title":"Public Functions","text":"Type Name IMU (const IMUConfig &amp; config)  const Eigen::AngleAxisd &amp; angular_position () const Eigen::Vector3d angular_position_vec () const const Eigen::Vector3d &amp; angular_velocity () const virtual void attach_to_joint (dart::dynamics::Joint *, const Eigen::Isometry3d &amp;) override virtual void calculate (double) override virtual void init () override const Eigen::Vector3d &amp; linear_acceleration () const virtual std::string type () override const"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#public-functions-inherited-from-robot_dartsensorsensor","title":"Public Functions inherited from robot_dart::sensor::Sensor","text":"<p>See robot_dart::sensor::Sensor</p> Type Name Sensor (size_t freq=40)  void activate (bool enable=true)  bool active () const virtual void attach_to_body (dart::dynamics::BodyNode * body, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  void attach_to_body (const std::shared_ptr&lt; Robot &gt; &amp; robot, const std::string &amp; body_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  virtual void attach_to_joint (dart::dynamics::Joint * joint, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  void attach_to_joint (const std::shared_ptr&lt; Robot &gt; &amp; robot, const std::string &amp; joint_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  const std::string &amp; attached_to () const virtual void calculate (double) = 0 void detach ()  size_t frequency () const virtual void init () = 0 const Eigen::Isometry3d &amp; pose () const void refresh (double t)  void set_frequency (size_t freq)  void set_pose (const Eigen::Isometry3d &amp; tf)  void set_simu (RobotDARTSimu * simu)  const RobotDARTSimu * simu () const virtual std::string type () const = 0 virtual ~Sensor ()"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#protected-attributes","title":"Protected Attributes","text":"Type Name Eigen::AngleAxisd _angular_pos Eigen::Vector3d _angular_vel IMUConfig _config Eigen::Vector3d _linear_accel"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#protected-attributes-inherited-from-robot_dartsensorsensor","title":"Protected Attributes inherited from robot_dart::sensor::Sensor","text":"<p>See robot_dart::sensor::Sensor</p> Type Name bool _active Eigen::Isometry3d _attached_tf bool _attached_to_body   = = false bool _attached_to_joint   = = false bool _attaching_to_body   = = false bool _attaching_to_joint   = = false dart::dynamics::BodyNode * _body_attached size_t _frequency dart::dynamics::Joint * _joint_attached RobotDARTSimu * _simu   = = nullptr Eigen::Isometry3d _world_pose"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#function-imu","title":"function IMU","text":"<pre><code>robot_dart::sensor::IMU::IMU (\n    const IMUConfig &amp; config\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#function-angular_position","title":"function angular_position","text":"<pre><code>const Eigen::AngleAxisd &amp; robot_dart::sensor::IMU::angular_position () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#function-angular_position_vec","title":"function angular_position_vec","text":"<pre><code>Eigen::Vector3d robot_dart::sensor::IMU::angular_position_vec () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#function-angular_velocity","title":"function angular_velocity","text":"<pre><code>const Eigen::Vector3d &amp; robot_dart::sensor::IMU::angular_velocity () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#function-attach_to_joint","title":"function attach_to_joint","text":"<pre><code>inline virtual void robot_dart::sensor::IMU::attach_to_joint (\n    dart::dynamics::Joint *,\n    const Eigen::Isometry3d &amp;\n) override\n</code></pre> <p>Implements robot_dart::sensor::Sensor::attach_to_joint</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#function-calculate","title":"function calculate","text":"<pre><code>virtual void robot_dart::sensor::IMU::calculate (\n    double\n) override\n</code></pre> <p>Implements robot_dart::sensor::Sensor::calculate</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#function-init","title":"function init","text":"<pre><code>virtual void robot_dart::sensor::IMU::init () override\n</code></pre> <p>Implements robot_dart::sensor::Sensor::init</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#function-linear_acceleration","title":"function linear_acceleration","text":"<pre><code>const Eigen::Vector3d &amp; robot_dart::sensor::IMU::linear_acceleration () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#function-type","title":"function type","text":"<pre><code>virtual std::string robot_dart::sensor::IMU::type () override const\n</code></pre> <p>Implements robot_dart::sensor::Sensor::type</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#variable-_angular_pos","title":"variable _angular_pos","text":"<pre><code>Eigen::AngleAxisd robot_dart::sensor::IMU::_angular_pos;\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#variable-_angular_vel","title":"variable _angular_vel","text":"<pre><code>Eigen::Vector3d robot_dart::sensor::IMU::_angular_vel;\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#variable-_config","title":"variable _config","text":"<pre><code>IMUConfig robot_dart::sensor::IMU::_config;\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#variable-_linear_accel","title":"variable _linear_accel","text":"<pre><code>Eigen::Vector3d robot_dart::sensor::IMU::_linear_accel;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/sensor/imu.hpp</code></p>"},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/","title":"Struct robot_dart::sensor::IMUConfig","text":"<p>ClassList &gt; robot_dart &gt; sensor &gt; IMUConfig</p>"},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#public-attributes","title":"Public Attributes","text":"Type Name Eigen::Vector3d accel_bias   = = Eigen::Vector3d::Zero() dart::dynamics::BodyNode * body   = = nullptr size_t frequency   = = 200 Eigen::Vector3d gyro_bias   = = Eigen::Vector3d::Zero()"},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#public-functions","title":"Public Functions","text":"Type Name IMUConfig (dart::dynamics::BodyNode * b, size_t f)  IMUConfig (const Eigen::Vector3d &amp; gyro_bias, const Eigen::Vector3d &amp; accel_bias, dart::dynamics::BodyNode * b, size_t f)  IMUConfig ()"},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#variable-accel_bias","title":"variable accel_bias","text":"<pre><code>Eigen::Vector3d robot_dart::sensor::IMUConfig::accel_bias;\n</code></pre>"},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#variable-body","title":"variable body","text":"<pre><code>dart::dynamics::BodyNode* robot_dart::sensor::IMUConfig::body;\n</code></pre>"},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#variable-frequency","title":"variable frequency","text":"<pre><code>size_t robot_dart::sensor::IMUConfig::frequency;\n</code></pre>"},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#variable-gyro_bias","title":"variable gyro_bias","text":"<pre><code>Eigen::Vector3d robot_dart::sensor::IMUConfig::gyro_bias;\n</code></pre>"},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#function-imuconfig-13","title":"function IMUConfig [\u2153]","text":"<pre><code>inline robot_dart::sensor::IMUConfig::IMUConfig (\n    dart::dynamics::BodyNode * b,\n    size_t f\n) \n</code></pre>"},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#function-imuconfig-23","title":"function IMUConfig [\u2154]","text":"<pre><code>inline robot_dart::sensor::IMUConfig::IMUConfig (\n    const Eigen::Vector3d &amp; gyro_bias,\n    const Eigen::Vector3d &amp; accel_bias,\n    dart::dynamics::BodyNode * b,\n    size_t f\n) \n</code></pre>"},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#function-imuconfig-33","title":"function IMUConfig [3/3]","text":"<pre><code>inline robot_dart::sensor::IMUConfig::IMUConfig () \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/sensor/imu.hpp</code></p>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/","title":"Class robot_dart::sensor::Sensor","text":"<p>ClassList &gt; robot_dart &gt; sensor &gt; Sensor</p> <p>Inherited by the following classes: robot_dart::gui::magnum::sensor::Camera,  robot_dart::sensor::ForceTorque,  robot_dart::sensor::IMU,  robot_dart::sensor::Torque</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#public-functions","title":"Public Functions","text":"Type Name Sensor (size_t freq=40)  void activate (bool enable=true)  bool active () const virtual void attach_to_body (dart::dynamics::BodyNode * body, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  void attach_to_body (const std::shared_ptr&lt; Robot &gt; &amp; robot, const std::string &amp; body_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  virtual void attach_to_joint (dart::dynamics::Joint * joint, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  void attach_to_joint (const std::shared_ptr&lt; Robot &gt; &amp; robot, const std::string &amp; joint_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  const std::string &amp; attached_to () const virtual void calculate (double) = 0 void detach ()  size_t frequency () const virtual void init () = 0 const Eigen::Isometry3d &amp; pose () const void refresh (double t)  void set_frequency (size_t freq)  void set_pose (const Eigen::Isometry3d &amp; tf)  void set_simu (RobotDARTSimu * simu)  const RobotDARTSimu * simu () const virtual std::string type () const = 0 virtual ~Sensor ()"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#protected-attributes","title":"Protected Attributes","text":"Type Name bool _active Eigen::Isometry3d _attached_tf bool _attached_to_body   = = false bool _attached_to_joint   = = false bool _attaching_to_body   = = false bool _attaching_to_joint   = = false dart::dynamics::BodyNode * _body_attached size_t _frequency dart::dynamics::Joint * _joint_attached RobotDARTSimu * _simu   = = nullptr Eigen::Isometry3d _world_pose"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-sensor","title":"function Sensor","text":"<pre><code>robot_dart::sensor::Sensor::Sensor (\n    size_t freq=40\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-activate","title":"function activate","text":"<pre><code>void robot_dart::sensor::Sensor::activate (\n    bool enable=true\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-active","title":"function active","text":"<pre><code>bool robot_dart::sensor::Sensor::active () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-attach_to_body-12","title":"function attach_to_body [\u00bd]","text":"<pre><code>virtual void robot_dart::sensor::Sensor::attach_to_body (\n    dart::dynamics::BodyNode * body,\n    const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-attach_to_body-22","title":"function attach_to_body [2/2]","text":"<pre><code>inline void robot_dart::sensor::Sensor::attach_to_body (\n    const std::shared_ptr&lt; Robot &gt; &amp; robot,\n    const std::string &amp; body_name,\n    const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-attach_to_joint-12","title":"function attach_to_joint [\u00bd]","text":"<pre><code>virtual void robot_dart::sensor::Sensor::attach_to_joint (\n    dart::dynamics::Joint * joint,\n    const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-attach_to_joint-22","title":"function attach_to_joint [2/2]","text":"<pre><code>inline void robot_dart::sensor::Sensor::attach_to_joint (\n    const std::shared_ptr&lt; Robot &gt; &amp; robot,\n    const std::string &amp; joint_name,\n    const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity()\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-attached_to","title":"function attached_to","text":"<pre><code>const std::string &amp; robot_dart::sensor::Sensor::attached_to () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-calculate","title":"function calculate","text":"<pre><code>virtual void robot_dart::sensor::Sensor::calculate (\n    double\n) = 0\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-detach","title":"function detach","text":"<pre><code>void robot_dart::sensor::Sensor::detach () \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-frequency","title":"function frequency","text":"<pre><code>size_t robot_dart::sensor::Sensor::frequency () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-init","title":"function init","text":"<pre><code>virtual void robot_dart::sensor::Sensor::init () = 0\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-pose","title":"function pose","text":"<pre><code>const Eigen::Isometry3d &amp; robot_dart::sensor::Sensor::pose () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-refresh","title":"function refresh","text":"<pre><code>void robot_dart::sensor::Sensor::refresh (\n    double t\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-set_frequency","title":"function set_frequency","text":"<pre><code>void robot_dart::sensor::Sensor::set_frequency (\n    size_t freq\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-set_pose","title":"function set_pose","text":"<pre><code>void robot_dart::sensor::Sensor::set_pose (\n    const Eigen::Isometry3d &amp; tf\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-set_simu","title":"function set_simu","text":"<pre><code>void robot_dart::sensor::Sensor::set_simu (\n    RobotDARTSimu * simu\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-simu","title":"function simu","text":"<pre><code>const RobotDARTSimu * robot_dart::sensor::Sensor::simu () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-type","title":"function type","text":"<pre><code>virtual std::string robot_dart::sensor::Sensor::type () const = 0\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-sensor_1","title":"function ~Sensor","text":"<pre><code>inline virtual robot_dart::sensor::Sensor::~Sensor () \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#variable-_active","title":"variable _active","text":"<pre><code>bool robot_dart::sensor::Sensor::_active;\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#variable-_attached_tf","title":"variable _attached_tf","text":"<pre><code>Eigen::Isometry3d robot_dart::sensor::Sensor::_attached_tf;\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#variable-_attached_to_body","title":"variable _attached_to_body","text":"<pre><code>bool robot_dart::sensor::Sensor::_attached_to_body;\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#variable-_attached_to_joint","title":"variable _attached_to_joint","text":"<pre><code>bool robot_dart::sensor::Sensor::_attached_to_joint;\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#variable-_attaching_to_body","title":"variable _attaching_to_body","text":"<pre><code>bool robot_dart::sensor::Sensor::_attaching_to_body;\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#variable-_attaching_to_joint","title":"variable _attaching_to_joint","text":"<pre><code>bool robot_dart::sensor::Sensor::_attaching_to_joint;\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#variable-_body_attached","title":"variable _body_attached","text":"<pre><code>dart::dynamics::BodyNode* robot_dart::sensor::Sensor::_body_attached;\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#variable-_frequency","title":"variable _frequency","text":"<pre><code>size_t robot_dart::sensor::Sensor::_frequency;\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#variable-_joint_attached","title":"variable _joint_attached","text":"<pre><code>dart::dynamics::Joint* robot_dart::sensor::Sensor::_joint_attached;\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#variable-_simu","title":"variable _simu","text":"<pre><code>RobotDARTSimu* robot_dart::sensor::Sensor::_simu;\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#variable-_world_pose","title":"variable _world_pose","text":"<pre><code>Eigen::Isometry3d robot_dart::sensor::Sensor::_world_pose;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/sensor/sensor.hpp</code></p>"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/","title":"Class robot_dart::sensor::Torque","text":"<p>ClassList &gt; robot_dart &gt; sensor &gt; Torque</p> <p>Inherits the following classes: robot_dart::sensor::Sensor</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#public-functions","title":"Public Functions","text":"Type Name Torque (dart::dynamics::Joint * joint, size_t frequency=1000)  Torque (const std::shared_ptr&lt; Robot &gt; &amp; robot, const std::string &amp; joint_name, size_t frequency=1000)  virtual void attach_to_body (dart::dynamics::BodyNode *, const Eigen::Isometry3d &amp;) override virtual void calculate (double) override virtual void init () override const Eigen::VectorXd &amp; torques () const virtual std::string type () override const"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#public-functions-inherited-from-robot_dartsensorsensor","title":"Public Functions inherited from robot_dart::sensor::Sensor","text":"<p>See robot_dart::sensor::Sensor</p> Type Name Sensor (size_t freq=40)  void activate (bool enable=true)  bool active () const virtual void attach_to_body (dart::dynamics::BodyNode * body, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  void attach_to_body (const std::shared_ptr&lt; Robot &gt; &amp; robot, const std::string &amp; body_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  virtual void attach_to_joint (dart::dynamics::Joint * joint, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  void attach_to_joint (const std::shared_ptr&lt; Robot &gt; &amp; robot, const std::string &amp; joint_name, const Eigen::Isometry3d &amp; tf=Eigen::Isometry3d::Identity())  const std::string &amp; attached_to () const virtual void calculate (double) = 0 void detach ()  size_t frequency () const virtual void init () = 0 const Eigen::Isometry3d &amp; pose () const void refresh (double t)  void set_frequency (size_t freq)  void set_pose (const Eigen::Isometry3d &amp; tf)  void set_simu (RobotDARTSimu * simu)  const RobotDARTSimu * simu () const virtual std::string type () const = 0 virtual ~Sensor ()"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#protected-attributes","title":"Protected Attributes","text":"Type Name Eigen::VectorXd _torques"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#protected-attributes-inherited-from-robot_dartsensorsensor","title":"Protected Attributes inherited from robot_dart::sensor::Sensor","text":"<p>See robot_dart::sensor::Sensor</p> Type Name bool _active Eigen::Isometry3d _attached_tf bool _attached_to_body   = = false bool _attached_to_joint   = = false bool _attaching_to_body   = = false bool _attaching_to_joint   = = false dart::dynamics::BodyNode * _body_attached size_t _frequency dart::dynamics::Joint * _joint_attached RobotDARTSimu * _simu   = = nullptr Eigen::Isometry3d _world_pose"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#function-torque-12","title":"function Torque [\u00bd]","text":"<pre><code>robot_dart::sensor::Torque::Torque (\n    dart::dynamics::Joint * joint,\n    size_t frequency=1000\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#function-torque-22","title":"function Torque [2/2]","text":"<pre><code>inline robot_dart::sensor::Torque::Torque (\n    const std::shared_ptr&lt; Robot &gt; &amp; robot,\n    const std::string &amp; joint_name,\n    size_t frequency=1000\n) \n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#function-attach_to_body","title":"function attach_to_body","text":"<pre><code>inline virtual void robot_dart::sensor::Torque::attach_to_body (\n    dart::dynamics::BodyNode *,\n    const Eigen::Isometry3d &amp;\n) override\n</code></pre> <p>Implements robot_dart::sensor::Sensor::attach_to_body</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#function-calculate","title":"function calculate","text":"<pre><code>virtual void robot_dart::sensor::Torque::calculate (\n    double\n) override\n</code></pre> <p>Implements robot_dart::sensor::Sensor::calculate</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#function-init","title":"function init","text":"<pre><code>virtual void robot_dart::sensor::Torque::init () override\n</code></pre> <p>Implements robot_dart::sensor::Sensor::init</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#function-torques","title":"function torques","text":"<pre><code>const Eigen::VectorXd &amp; robot_dart::sensor::Torque::torques () const\n</code></pre>"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#function-type","title":"function type","text":"<pre><code>virtual std::string robot_dart::sensor::Torque::type () override const\n</code></pre> <p>Implements robot_dart::sensor::Sensor::type</p>"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#variable-_torques","title":"variable _torques","text":"<pre><code>Eigen::VectorXd robot_dart::sensor::Torque::_torques;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/sensor/torque.hpp</code></p>"},{"location":"api/namespacerobot__dart_1_1simu/","title":"Namespace robot_dart::simu","text":"<p>Namespace List &gt; robot_dart &gt; simu</p>"},{"location":"api/namespacerobot__dart_1_1simu/#classes","title":"Classes","text":"Type Name struct GUIData struct TextData <p>The documentation for this class was generated from the following file <code>robot_dart/gui_data.hpp</code></p>"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/","title":"Struct robot_dart::simu::GUIData","text":"<p>ClassList &gt; robot_dart &gt; simu &gt; GUIData</p>"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/#public-functions","title":"Public Functions","text":"Type Name std::shared_ptr&lt; simu::TextData &gt; add_text (const std::string &amp; text, const Eigen::Affine2d &amp; tf=Eigen::Affine2d::Identity(), Eigen::Vector4d color=Eigen::Vector4d(1, 1, 1, 1), std::uint8_t alignment=2&lt;&lt; 2, bool draw_bg=false, Eigen::Vector4d bg_color=Eigen::Vector4d(0, 0, 0, 0.75), double font_size=28)  bool cast_shadows (dart::dynamics::ShapeNode * shape) const std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; drawing_axes () const const std::vector&lt; std::shared_ptr&lt; simu::TextData &gt; &gt; &amp; drawing_texts () const bool ghost (dart::dynamics::ShapeNode * shape) const void remove_robot (const std::shared_ptr&lt; Robot &gt; &amp; robot)  void remove_text (const std::shared_ptr&lt; simu::TextData &gt; &amp; data)  void remove_text (size_t index)  void update_robot (const std::shared_ptr&lt; Robot &gt; &amp; robot)"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/#function-add_text","title":"function add_text","text":"<pre><code>inline std::shared_ptr&lt; simu::TextData &gt; robot_dart::simu::GUIData::add_text (\n    const std::string &amp; text,\n    const Eigen::Affine2d &amp; tf=Eigen::Affine2d::Identity(),\n    Eigen::Vector4d color=Eigen::Vector4d(1, 1, 1, 1),\n    std::uint8_t alignment=2&lt;&lt; 2,\n    bool draw_bg=false,\n    Eigen::Vector4d bg_color=Eigen::Vector4d(0, 0, 0, 0.75),\n    double font_size=28\n) \n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/#function-cast_shadows","title":"function cast_shadows","text":"<pre><code>inline bool robot_dart::simu::GUIData::cast_shadows (\n    dart::dynamics::ShapeNode * shape\n) const\n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/#function-drawing_axes","title":"function drawing_axes","text":"<pre><code>inline std::vector&lt; std::pair&lt; dart::dynamics::BodyNode *, double &gt; &gt; robot_dart::simu::GUIData::drawing_axes () const\n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/#function-drawing_texts","title":"function drawing_texts","text":"<pre><code>inline const std::vector&lt; std::shared_ptr&lt; simu::TextData &gt; &gt; &amp; robot_dart::simu::GUIData::drawing_texts () const\n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/#function-ghost","title":"function ghost","text":"<pre><code>inline bool robot_dart::simu::GUIData::ghost (\n    dart::dynamics::ShapeNode * shape\n) const\n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/#function-remove_robot","title":"function remove_robot","text":"<pre><code>inline void robot_dart::simu::GUIData::remove_robot (\n    const std::shared_ptr&lt; Robot &gt; &amp; robot\n) \n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/#function-remove_text-12","title":"function remove_text [\u00bd]","text":"<pre><code>inline void robot_dart::simu::GUIData::remove_text (\n    const std::shared_ptr&lt; simu::TextData &gt; &amp; data\n) \n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/#function-remove_text-22","title":"function remove_text [2/2]","text":"<pre><code>inline void robot_dart::simu::GUIData::remove_text (\n    size_t index\n) \n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/#function-update_robot","title":"function update_robot","text":"<pre><code>inline void robot_dart::simu::GUIData::update_robot (\n    const std::shared_ptr&lt; Robot &gt; &amp; robot\n) \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui_data.hpp</code></p>"},{"location":"api/structrobot__dart_1_1simu_1_1TextData/","title":"Struct robot_dart::simu::TextData","text":"<p>ClassList &gt; robot_dart &gt; simu &gt; TextData</p>"},{"location":"api/structrobot__dart_1_1simu_1_1TextData/#public-attributes","title":"Public Attributes","text":"Type Name std::uint8_t alignment Eigen::Vector4d background_color Eigen::Vector4d color bool draw_background double font_size   = = 28. std::string text Eigen::Affine2d transformation"},{"location":"api/structrobot__dart_1_1simu_1_1TextData/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1simu_1_1TextData/#variable-alignment","title":"variable alignment","text":"<pre><code>std::uint8_t robot_dart::simu::TextData::alignment;\n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1TextData/#variable-background_color","title":"variable background_color","text":"<pre><code>Eigen::Vector4d robot_dart::simu::TextData::background_color;\n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1TextData/#variable-color","title":"variable color","text":"<pre><code>Eigen::Vector4d robot_dart::simu::TextData::color;\n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1TextData/#variable-draw_background","title":"variable draw_background","text":"<pre><code>bool robot_dart::simu::TextData::draw_background;\n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1TextData/#variable-font_size","title":"variable font_size","text":"<pre><code>double robot_dart::simu::TextData::font_size;\n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1TextData/#variable-text","title":"variable text","text":"<pre><code>std::string robot_dart::simu::TextData::text;\n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1TextData/#variable-transformation","title":"variable transformation","text":"<pre><code>Eigen::Affine2d robot_dart::simu::TextData::transformation;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/robot_dart_simu.hpp</code></p>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs_1_1_0d21/","title":"Namespace robot_dart::gui::magnum::gs","text":"<p>Namespace List &gt; gs</p>"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs_1_1_0d21/#public-types","title":"Public Types","text":"Type Name enum Magnum::Int gs"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs_1_1_0d21/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs_1_1_0d21/#enum-gs","title":"enum gs","text":"<pre><code>enum gs::gs;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/create_compatibility_shader.hpp</code></p>"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData_1_1RobotData/","title":"Struct robot_dart::simu::GUIData::RobotData","text":"<p>ClassList &gt; RobotData</p>"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData_1_1RobotData/#public-attributes","title":"Public Attributes","text":"Type Name bool casting_shadows bool is_ghost"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData_1_1RobotData/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1simu_1_1GUIData_1_1RobotData/#variable-casting_shadows","title":"variable casting_shadows","text":"<pre><code>bool robot_dart::simu::GUIData::RobotData::casting_shadows;\n</code></pre>"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData_1_1RobotData/#variable-is_ghost","title":"variable is_ghost","text":"<pre><code>bool robot_dart::simu::GUIData::RobotData::is_ghost;\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui_data.hpp</code></p>"},{"location":"api/namespacestd/","title":"Namespace std","text":"<p>Namespace List &gt; std</p> <p>The documentation for this class was generated from the following file <code>[generated]</code></p>"},{"location":"api/dir_166284c5f0440000a6384365f2a45567/","title":"Dir robot_dart","text":"<p>FileList &gt; robot_dart</p>"},{"location":"api/dir_166284c5f0440000a6384365f2a45567/#files","title":"Files","text":"Type Name file gui_data.hpp file robot.cpp file robot.hpp file robot_dart_simu.cpp file robot_dart_simu.hpp file robot_pool.cpp file robot_pool.hpp file scheduler.cpp file scheduler.hpp file utils.hpp file utils_headers_dart_collision.hpp file utils_headers_dart_dynamics.hpp file utils_headers_dart_io.hpp file utils_headers_external.hpp file utils_headers_external_gui.hpp"},{"location":"api/dir_166284c5f0440000a6384365f2a45567/#directories","title":"Directories","text":"Type Name dir control dir gui dir robots dir sensor <p>The documentation for this class was generated from the following file <code>robot_dart/</code></p>"},{"location":"api/gui__data_8hpp/","title":"File gui_data.hpp","text":"<p>FileList &gt; robot_dart &gt; gui_data.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart_simu.hpp\"</code></li> <li><code>#include \"utils_headers_dart_dynamics.hpp\"</code></li> <li><code>#include &lt;unordered_map&gt;</code></li> <li><code>#include &lt;vector&gt;</code></li> </ul>"},{"location":"api/gui__data_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace simu"},{"location":"api/gui__data_8hpp/#classes","title":"Classes","text":"Type Name struct GUIData <p>The documentation for this class was generated from the following file <code>robot_dart/gui_data.hpp</code></p>"},{"location":"api/gui__data_8hpp_source/","title":"File gui_data.hpp","text":"<p>File List &gt; robot_dart &gt; gui_data.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_SIMU_GUI_DATA_HPP\n#define ROBOT_DART_SIMU_GUI_DATA_HPP\n\n#include \"robot_dart_simu.hpp\"\n#include \"utils_headers_dart_dynamics.hpp\"\n\n#include &lt;unordered_map&gt;\n#include &lt;vector&gt;\n\nnamespace robot_dart {\n    namespace simu {\n        struct GUIData {\n        private:\n            struct RobotData {\n                bool casting_shadows;\n                bool is_ghost;\n            };\n\n            std::unordered_map&lt;dart::dynamics::ShapeNode*, RobotData&gt; robot_data;\n            std::unordered_map&lt;Robot*, std::vector&lt;std::pair&lt;dart::dynamics::BodyNode*, double&gt;&gt;&gt; robot_axes;\n            std::vector&lt;std::shared_ptr&lt;simu::TextData&gt;&gt; text_drawings;\n\n        public:\n            std::shared_ptr&lt;simu::TextData&gt; add_text(const std::string&amp; text, const Eigen::Affine2d&amp; tf = Eigen::Affine2d::Identity(), Eigen::Vector4d color = Eigen::Vector4d(1, 1, 1, 1), std::uint8_t alignment = 2 &lt;&lt; 2, bool draw_bg = false, Eigen::Vector4d bg_color = Eigen::Vector4d(0, 0, 0, 0.75), double font_size = 28)\n            {\n                text_drawings.emplace_back(new TextData{text, tf, color, alignment, draw_bg, bg_color, font_size});\n\n                return text_drawings.back();\n            }\n\n            void remove_text(const std::shared_ptr&lt;simu::TextData&gt;&amp; data)\n            {\n                for (size_t i = 0; i &lt; text_drawings.size(); i++) {\n                    if (text_drawings[i] == data) {\n                        text_drawings.erase(text_drawings.begin() + i);\n                        return;\n                    }\n                }\n            }\n\n            void remove_text(size_t index)\n            {\n                if (index &gt;= text_drawings.size())\n                    return;\n                text_drawings.erase(text_drawings.begin() + index);\n            }\n\n            void update_robot(const std::shared_ptr&lt;Robot&gt;&amp; robot)\n            {\n                auto robot_ptr = &amp;*robot;\n                auto skel = robot-&gt;skeleton();\n                bool cast = robot-&gt;cast_shadows();\n                bool ghost = robot-&gt;ghost();\n\n                for (size_t i = 0; i &lt; skel-&gt;getNumBodyNodes(); ++i) {\n                    auto bd = skel-&gt;getBodyNode(i);\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n                    bd-&gt;eachShapeNodeWith&lt;dart::dynamics::VisualAspect&gt;([this, cast, ghost](dart::dynamics::ShapeNode* shapeNode) {\n                        robot_data[shapeNode] = {cast, ghost};\n                    });\n#else\n                    auto&amp; shapes = bd-&gt;getShapeNodesWith&lt;dart::dynamics::VisualAspect&gt;();\n                    for (size_t j = 0; j &lt; shapes.size(); j++) {\n                        robot_data[shapes[j]] = {cast, ghost};\n                    }\n#endif\n                }\n\n                auto&amp; axes = robot-&gt;drawing_axes();\n                if (axes.size() &gt; 0)\n                    robot_axes[robot_ptr] = axes;\n            }\n\n            void remove_robot(const std::shared_ptr&lt;Robot&gt;&amp; robot)\n            {\n                auto robot_ptr = &amp;*robot;\n                auto skel = robot-&gt;skeleton();\n                for (size_t i = 0; i &lt; skel-&gt;getNumShapeNodes(); ++i) {\n                    auto shape = skel-&gt;getShapeNode(i);\n                    auto shape_iter = robot_data.find(shape);\n                    if (shape_iter != robot_data.end())\n                        robot_data.erase(shape_iter);\n                }\n\n                auto iter = robot_axes.find(robot_ptr);\n                if (iter != robot_axes.end())\n                    robot_axes.erase(iter);\n            }\n\n            bool cast_shadows(dart::dynamics::ShapeNode* shape) const\n            {\n                auto shape_iter = robot_data.find(shape);\n                if (shape_iter != robot_data.end())\n                    return robot_data.at(shape).casting_shadows;\n                // if not in the array, cast shadow by default\n                return true;\n            }\n\n            bool ghost(dart::dynamics::ShapeNode* shape) const\n            {\n                auto shape_iter = robot_data.find(shape);\n                if (shape_iter != robot_data.end())\n                    return robot_data.at(shape).is_ghost;\n                // if not in the array, the robot is not ghost by default\n                return false;\n            }\n\n            std::vector&lt;std::pair&lt;dart::dynamics::BodyNode*, double&gt;&gt; drawing_axes() const\n            {\n                std::vector&lt;std::pair&lt;dart::dynamics::BodyNode*, double&gt;&gt; axes;\n                for (std::pair&lt;Robot*, std::vector&lt;std::pair&lt;dart::dynamics::BodyNode*, double&gt;&gt;&gt; elem : robot_axes) {\n                    axes.insert(axes.end(), elem.second.begin(), elem.second.end());\n                }\n\n                return axes;\n            }\n\n            const std::vector&lt;std::shared_ptr&lt;simu::TextData&gt;&gt;&amp; drawing_texts() const { return text_drawings; }\n        };\n    } // namespace simu\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/robot_8cpp/","title":"File robot.cpp","text":"<p>FileList &gt; robot_dart &gt; robot.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;unistd.h&gt;</code></li> <li><code>#include &lt;robot_dart/robot.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/utils.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/utils_headers_dart_dynamics.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/utils_headers_dart_io.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/control/robot_control.hpp&gt;</code></li> <li><code>#include &lt;utheque/utheque.hpp&gt;</code></li> </ul>"},{"location":"api/robot_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace detail <p>The documentation for this class was generated from the following file <code>robot_dart/robot.cpp</code></p>"},{"location":"api/robot_8cpp_source/","title":"File robot.cpp","text":"<p>File List &gt; robot_dart &gt; robot.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include &lt;unistd.h&gt;\n\n#include &lt;robot_dart/robot.hpp&gt;\n#include &lt;robot_dart/utils.hpp&gt;\n#include &lt;robot_dart/utils_headers_dart_dynamics.hpp&gt;\n#include &lt;robot_dart/utils_headers_dart_io.hpp&gt;\n\n#include &lt;robot_dart/control/robot_control.hpp&gt;\n\n#include &lt;utheque/utheque.hpp&gt; // library of URDF\n\nnamespace robot_dart {\n    namespace detail {\n        template &lt;int content&gt;\n        Eigen::VectorXd dof_data(dart::dynamics::SkeletonPtr skeleton, const std::vector&lt;std::string&gt;&amp; dof_names, const std::unordered_map&lt;std::string, size_t&gt;&amp; dof_map)\n        {\n            // Return all values\n            if (dof_names.empty()) {\n                if (content == 0)\n                    return skeleton-&gt;getPositions();\n                else if (content == 1)\n                    return skeleton-&gt;getVelocities();\n                else if (content == 2)\n                    return skeleton-&gt;getAccelerations();\n                else if (content == 3)\n                    return skeleton-&gt;getForces();\n                else if (content == 4)\n                    return skeleton-&gt;getCommands();\n                else if (content == 5)\n                    return skeleton-&gt;getPositionLowerLimits();\n                else if (content == 6)\n                    return skeleton-&gt;getPositionUpperLimits();\n                else if (content == 7)\n                    return skeleton-&gt;getVelocityLowerLimits();\n                else if (content == 8)\n                    return skeleton-&gt;getVelocityUpperLimits();\n                else if (content == 9)\n                    return skeleton-&gt;getAccelerationLowerLimits();\n                else if (content == 10)\n                    return skeleton-&gt;getAccelerationUpperLimits();\n                else if (content == 11)\n                    return skeleton-&gt;getForceLowerLimits();\n                else if (content == 12)\n                    return skeleton-&gt;getForceUpperLimits();\n                else if (content == 13)\n                    return skeleton-&gt;getCoriolisForces();\n                else if (content == 14)\n                    return skeleton-&gt;getGravityForces();\n                else if (content == 15)\n                    return skeleton-&gt;getCoriolisAndGravityForces();\n                else if (content == 16)\n                    return skeleton-&gt;getConstraintForces();\n                ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of data!\");\n            }\n\n            Eigen::VectorXd data(dof_names.size());\n            Eigen::VectorXd tmp;\n\n            if (content == 13)\n                tmp = skeleton-&gt;getCoriolisForces();\n            else if (content == 14)\n                tmp = skeleton-&gt;getGravityForces();\n            else if (content == 15)\n                tmp = skeleton-&gt;getCoriolisAndGravityForces();\n            else if (content == 16)\n                tmp = skeleton-&gt;getConstraintForces();\n\n            for (size_t i = 0; i &lt; dof_names.size(); i++) {\n                auto it = dof_map.find(dof_names[i]);\n                ROBOT_DART_ASSERT(it != dof_map.end(), \"dof_data: \" + dof_names[i] + \" is not in dof_map\", Eigen::VectorXd());\n                auto dof = skeleton-&gt;getDof(it-&gt;second);\n                if (content == 0)\n                    data(i) = dof-&gt;getPosition();\n                else if (content == 1)\n                    data(i) = dof-&gt;getVelocity();\n                else if (content == 2)\n                    data(i) = dof-&gt;getAcceleration();\n                else if (content == 3)\n                    data(i) = dof-&gt;getForce();\n                else if (content == 4)\n                    data(i) = dof-&gt;getCommand();\n                else if (content == 5)\n                    data(i) = dof-&gt;getPositionLowerLimit();\n                else if (content == 6)\n                    data(i) = dof-&gt;getPositionUpperLimit();\n                else if (content == 7)\n                    data(i) = dof-&gt;getVelocityLowerLimit();\n                else if (content == 8)\n                    data(i) = dof-&gt;getVelocityUpperLimit();\n                else if (content == 9)\n                    data(i) = dof-&gt;getAccelerationLowerLimit();\n                else if (content == 10)\n                    data(i) = dof-&gt;getAccelerationUpperLimit();\n                else if (content == 11)\n                    data(i) = dof-&gt;getForceLowerLimit();\n                else if (content == 12)\n                    data(i) = dof-&gt;getForceUpperLimit();\n                else if (content == 13 || content == 14 || content == 15 || content == 16)\n                    data(i) = tmp(it-&gt;second);\n                else\n                    ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of data!\");\n            }\n            return data;\n        }\n\n        template &lt;int content&gt;\n        void set_dof_data(const Eigen::VectorXd&amp; data, dart::dynamics::SkeletonPtr skeleton, const std::vector&lt;std::string&gt;&amp; dof_names, const std::unordered_map&lt;std::string, size_t&gt;&amp; dof_map)\n        {\n            // Set all values\n            if (dof_names.empty()) {\n                ROBOT_DART_ASSERT(static_cast&lt;size_t&gt;(data.size()) == skeleton-&gt;getNumDofs(), \"set_dof_data: size of data is not the same as the DoFs\", );\n                if (content == 0)\n                    return skeleton-&gt;setPositions(data);\n                else if (content == 1)\n                    return skeleton-&gt;setVelocities(data);\n                else if (content == 2)\n                    return skeleton-&gt;setAccelerations(data);\n                else if (content == 3)\n                    return skeleton-&gt;setForces(data);\n                else if (content == 4)\n                    return skeleton-&gt;setCommands(data);\n                else if (content == 5)\n                    return skeleton-&gt;setPositionLowerLimits(data);\n                else if (content == 6)\n                    return skeleton-&gt;setPositionUpperLimits(data);\n                else if (content == 7)\n                    return skeleton-&gt;setVelocityLowerLimits(data);\n                else if (content == 8)\n                    return skeleton-&gt;setVelocityUpperLimits(data);\n                else if (content == 9)\n                    return skeleton-&gt;setAccelerationLowerLimits(data);\n                else if (content == 10)\n                    return skeleton-&gt;setAccelerationUpperLimits(data);\n                else if (content == 11)\n                    return skeleton-&gt;setForceLowerLimits(data);\n                else if (content == 12)\n                    return skeleton-&gt;setForceUpperLimits(data);\n                ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of data!\");\n            }\n\n            ROBOT_DART_ASSERT(static_cast&lt;size_t&gt;(data.size()) == dof_names.size(), \"set_dof_data: size of data is not the same as the dof_names size\", );\n            for (size_t i = 0; i &lt; dof_names.size(); i++) {\n                auto it = dof_map.find(dof_names[i]);\n                ROBOT_DART_ASSERT(it != dof_map.end(), \"dof_data: \" + dof_names[i] + \" is not in dof_map\", );\n                auto dof = skeleton-&gt;getDof(it-&gt;second);\n                if (content == 0)\n                    dof-&gt;setPosition(data(i));\n                else if (content == 1)\n                    dof-&gt;setVelocity(data(i));\n                else if (content == 2)\n                    dof-&gt;setAcceleration(data(i));\n                else if (content == 3)\n                    dof-&gt;setForce(data(i));\n                else if (content == 4)\n                    dof-&gt;setCommand(data(i));\n                else if (content == 5)\n                    dof-&gt;setPositionLowerLimit(data(i));\n                else if (content == 6)\n                    dof-&gt;setPositionUpperLimit(data(i));\n                else if (content == 7)\n                    dof-&gt;setVelocityLowerLimit(data(i));\n                else if (content == 8)\n                    dof-&gt;setVelocityUpperLimit(data(i));\n                else if (content == 9)\n                    dof-&gt;setAccelerationLowerLimit(data(i));\n                else if (content == 10)\n                    dof-&gt;setAccelerationUpperLimit(data(i));\n                else if (content == 11)\n                    dof-&gt;setForceLowerLimit(data(i));\n                else if (content == 12)\n                    dof-&gt;setForceUpperLimit(data(i));\n                else\n                    ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of data!\");\n            }\n        }\n\n        template &lt;int content&gt;\n        void add_dof_data(const Eigen::VectorXd&amp; data, dart::dynamics::SkeletonPtr skeleton, const std::vector&lt;std::string&gt;&amp; dof_names, const std::unordered_map&lt;std::string, size_t&gt;&amp; dof_map)\n        {\n            // Set all values\n            if (dof_names.empty()) {\n                ROBOT_DART_ASSERT(static_cast&lt;size_t&gt;(data.size()) == skeleton-&gt;getNumDofs(), \"set_dof_data: size of data is not the same as the DoFs\", );\n                if (content == 0)\n                    return skeleton-&gt;setPositions(skeleton-&gt;getPositions() + data);\n                else if (content == 1)\n                    return skeleton-&gt;setVelocities(skeleton-&gt;getVelocities() + data);\n                else if (content == 2)\n                    return skeleton-&gt;setAccelerations(skeleton-&gt;getAccelerations() + data);\n                else if (content == 3)\n                    return skeleton-&gt;setForces(skeleton-&gt;getForces() + data);\n                else if (content == 4)\n                    return skeleton-&gt;setCommands(skeleton-&gt;getCommands() + data);\n                else if (content == 5)\n                    return skeleton-&gt;setPositionLowerLimits(skeleton-&gt;getPositionLowerLimits() + data);\n                else if (content == 6)\n                    return skeleton-&gt;setPositionUpperLimits(skeleton-&gt;getPositionUpperLimits() + data);\n                else if (content == 7)\n                    return skeleton-&gt;setVelocityLowerLimits(skeleton-&gt;getVelocityLowerLimits() + data);\n                else if (content == 8)\n                    return skeleton-&gt;setVelocityUpperLimits(skeleton-&gt;getVelocityUpperLimits() + data);\n                else if (content == 9)\n                    return skeleton-&gt;setAccelerationLowerLimits(skeleton-&gt;getAccelerationLowerLimits() + data);\n                else if (content == 10)\n                    return skeleton-&gt;setAccelerationUpperLimits(skeleton-&gt;getAccelerationUpperLimits() + data);\n                else if (content == 11)\n                    return skeleton-&gt;setForceLowerLimits(skeleton-&gt;getForceLowerLimits() + data);\n                else if (content == 12)\n                    return skeleton-&gt;setForceUpperLimits(skeleton-&gt;getForceUpperLimits() + data);\n                ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of data!\");\n            }\n\n            ROBOT_DART_ASSERT(static_cast&lt;size_t&gt;(data.size()) == dof_names.size(), \"add_dof_data: size of data is not the same as the dof_names size\", );\n            for (size_t i = 0; i &lt; dof_names.size(); i++) {\n                auto it = dof_map.find(dof_names[i]);\n                ROBOT_DART_ASSERT(it != dof_map.end(), \"dof_data: \" + dof_names[i] + \" is not in dof_map\", );\n                auto dof = skeleton-&gt;getDof(it-&gt;second);\n                if (content == 0)\n                    dof-&gt;setPosition(dof-&gt;getPosition() + data(i));\n                else if (content == 1)\n                    dof-&gt;setVelocity(dof-&gt;getVelocity() + data(i));\n                else if (content == 2)\n                    dof-&gt;setAcceleration(dof-&gt;getAcceleration() + data(i));\n                else if (content == 3)\n                    dof-&gt;setForce(dof-&gt;getForce() + data(i));\n                else if (content == 4)\n                    dof-&gt;setCommand(dof-&gt;getCommand() + data(i));\n                else if (content == 5)\n                    dof-&gt;setPositionLowerLimit(dof-&gt;getPositionLowerLimit() + data(i));\n                else if (content == 6)\n                    dof-&gt;setPositionUpperLimit(dof-&gt;getPositionUpperLimit() + data(i));\n                else if (content == 7)\n                    dof-&gt;setVelocityLowerLimit(dof-&gt;getVelocityLowerLimit() + data(i));\n                else if (content == 8)\n                    dof-&gt;setVelocityUpperLimit(dof-&gt;getVelocityUpperLimit() + data(i));\n                else if (content == 9)\n                    dof-&gt;setAccelerationLowerLimit(dof-&gt;getAccelerationLowerLimit() + data(i));\n                else if (content == 10)\n                    dof-&gt;setAccelerationUpperLimit(dof-&gt;getAccelerationUpperLimit() + data(i));\n                else if (content == 11)\n                    dof-&gt;setForceLowerLimit(dof-&gt;getForceLowerLimit() + data(i));\n                else if (content == 12)\n                    dof-&gt;setForceUpperLimit(dof-&gt;getForceUpperLimit() + data(i));\n                else\n                    ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of data!\");\n            }\n        }\n    } // namespace detail\n\n    Robot::Robot(const std::string&amp; model_file, const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages, const std::string&amp; robot_name, bool is_urdf_string, bool cast_shadows)\n        : _robot_name(robot_name), _skeleton(_load_model(model_file, packages, is_urdf_string)), _cast_shadows(cast_shadows), _is_ghost(false)\n    {\n        ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(_skeleton != nullptr);\n        update_joint_dof_maps();\n    }\n\n    Robot::Robot(const std::string&amp; model_file, const std::string&amp; robot_name, bool is_urdf_string, bool cast_shadows)\n        : Robot(model_file, std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;(), robot_name, is_urdf_string, cast_shadows)\n    {\n    }\n\n    Robot::Robot(dart::dynamics::SkeletonPtr skeleton, const std::string&amp; robot_name, bool cast_shadows)\n        : _robot_name(robot_name), _skeleton(skeleton), _cast_shadows(cast_shadows), _is_ghost(false)\n    {\n        ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(_skeleton != nullptr);\n        _skeleton-&gt;setName(robot_name);\n        update_joint_dof_maps();\n        reset();\n    }\n\n    std::shared_ptr&lt;Robot&gt; Robot::clone() const\n    {\n        // safely clone the skeleton\n        _skeleton-&gt;getMutex().lock();\n#if DART_VERSION_AT_LEAST(6, 7, 2)\n        auto tmp_skel = _skeleton-&gt;cloneSkeleton();\n#else\n        auto tmp_skel = _skeleton-&gt;clone();\n#endif\n        _skeleton-&gt;getMutex().unlock();\n        auto robot = std::make_shared&lt;Robot&gt;(tmp_skel, _robot_name);\n\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n        // Deep copy everything\n        for (auto&amp; bd : robot-&gt;skeleton()-&gt;getBodyNodes()) {\n            auto&amp; visual_shapes = bd-&gt;getShapeNodesWith&lt;dart::dynamics::VisualAspect&gt;();\n            for (auto&amp; shape : visual_shapes) {\n                if (shape-&gt;getShape()-&gt;getType() != dart::dynamics::SoftMeshShape::getStaticType())\n                    shape-&gt;setShape(shape-&gt;getShape()-&gt;clone());\n            }\n        }\n#endif\n\n        robot-&gt;set_positions(this-&gt;positions());\n\n        robot-&gt;_model_filename = _model_filename;\n        robot-&gt;_controllers.clear();\n        for (auto&amp; ctrl : _controllers) {\n            robot-&gt;add_controller(ctrl-&gt;clone(), ctrl-&gt;weight());\n        }\n        return robot;\n    }\n\n    std::shared_ptr&lt;Robot&gt; Robot::clone_ghost(const std::string&amp; ghost_name, const Eigen::Vector4d&amp; ghost_color) const\n    {\n        // safely clone the skeleton\n        _skeleton-&gt;getMutex().lock();\n#if DART_VERSION_AT_LEAST(6, 7, 2)\n        auto tmp_skel = _skeleton-&gt;cloneSkeleton();\n#else\n        auto tmp_skel = _skeleton-&gt;clone();\n#endif\n        _skeleton-&gt;getMutex().unlock();\n        auto robot = std::make_shared&lt;Robot&gt;(tmp_skel, ghost_name + \"_\" + _robot_name);\n        robot-&gt;_model_filename = _model_filename;\n\n        // ghost robots have no controllers\n        robot-&gt;_controllers.clear();\n        // ghost robots do not do physics updates\n        robot-&gt;skeleton()-&gt;setMobile(false);\n        for (auto&amp; bd : robot-&gt;skeleton()-&gt;getBodyNodes()) {\n            // ghost robots do not have collisions\n            auto&amp; collision_shapes = bd-&gt;getShapeNodesWith&lt;dart::dynamics::CollisionAspect&gt;();\n            for (auto&amp; shape : collision_shapes) {\n                shape-&gt;removeAspect&lt;dart::dynamics::CollisionAspect&gt;();\n            }\n\n            // ghost robots do not have dynamics\n            auto&amp; dyn_shapes = bd-&gt;getShapeNodesWith&lt;dart::dynamics::DynamicsAspect&gt;();\n            for (auto&amp; shape : dyn_shapes) {\n                shape-&gt;removeAspect&lt;dart::dynamics::DynamicsAspect&gt;();\n            }\n\n            // ghost robots have a different color (same for all bodies)\n            auto&amp; visual_shapes = bd-&gt;getShapeNodesWith&lt;dart::dynamics::VisualAspect&gt;();\n            for (auto&amp; shape : visual_shapes) {\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n                if (shape-&gt;getShape()-&gt;getType() != dart::dynamics::SoftMeshShape::getStaticType())\n                    shape-&gt;setShape(shape-&gt;getShape()-&gt;clone());\n#endif\n                shape-&gt;getVisualAspect()-&gt;setRGBA(ghost_color);\n            }\n        }\n\n        // set positions\n        robot-&gt;set_positions(this-&gt;positions());\n\n        // ghost robots, by default, use the color from the VisualAspect\n        robot-&gt;set_color_mode(\"aspect\");\n\n        // ghost robots do not cast shadows\n        robot-&gt;set_cast_shadows(false);\n        // set the ghost flag\n        robot-&gt;set_ghost(true);\n\n        return robot;\n    }\n\n    dart::dynamics::SkeletonPtr Robot::skeleton() { return _skeleton; }\n\n    dart::dynamics::BodyNode* Robot::body_node(const std::string&amp; body_name) { return _skeleton-&gt;getBodyNode(body_name); }\n\n    dart::dynamics::BodyNode* Robot::body_node(size_t body_index)\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", nullptr);\n        return _skeleton-&gt;getBodyNode(body_index);\n    }\n\n    dart::dynamics::Joint* Robot::joint(const std::string&amp; joint_name) { return _skeleton-&gt;getJoint(joint_name); }\n\n    dart::dynamics::Joint* Robot::joint(size_t joint_index)\n    {\n        ROBOT_DART_ASSERT(joint_index &lt; _skeleton-&gt;getNumJoints(), \"Joint index out of bounds\", nullptr);\n        return _skeleton-&gt;getJoint(joint_index);\n    }\n\n    dart::dynamics::DegreeOfFreedom* Robot::dof(const std::string&amp; dof_name) { return _skeleton-&gt;getDof(dof_name); }\n\n    dart::dynamics::DegreeOfFreedom* Robot::dof(size_t dof_index)\n    {\n        ROBOT_DART_ASSERT(dof_index &lt; _skeleton-&gt;getNumDofs(), \"Dof index out of bounds\", nullptr);\n        return _skeleton-&gt;getDof(dof_index);\n    }\n\n    const std::string&amp; Robot::name() const { return _robot_name; }\n\n    void Robot::update(double t)\n    {\n        _skeleton-&gt;setCommands(Eigen::VectorXd::Zero(_skeleton-&gt;getNumDofs()));\n\n        for (auto&amp; ctrl : _controllers) {\n            if (ctrl-&gt;active())\n                detail::add_dof_data&lt;4&gt;(ctrl-&gt;weight() * ctrl-&gt;calculate(t), _skeleton,\n                    ctrl-&gt;controllable_dofs(), _dof_map);\n        }\n    }\n\n    void Robot::reinit_controllers()\n    {\n        for (auto&amp; ctrl : _controllers)\n            ctrl-&gt;init();\n    }\n\n    size_t Robot::num_controllers() const { return _controllers.size(); }\n\n    std::vector&lt;std::shared_ptr&lt;control::RobotControl&gt;&gt; Robot::controllers() const\n    {\n        return _controllers;\n    }\n\n    std::vector&lt;std::shared_ptr&lt;control::RobotControl&gt;&gt; Robot::active_controllers() const\n    {\n        std::vector&lt;std::shared_ptr&lt;control::RobotControl&gt;&gt; ctrls;\n        for (auto&amp; ctrl : _controllers) {\n            if (ctrl-&gt;active())\n                ctrls.push_back(ctrl);\n        }\n\n        return ctrls;\n    }\n\n    std::shared_ptr&lt;control::RobotControl&gt; Robot::controller(size_t index) const\n    {\n        ROBOT_DART_ASSERT(index &lt; _controllers.size(), \"Controller index out of bounds\", nullptr);\n        return _controllers[index];\n    }\n\n    void Robot::add_controller(\n        const std::shared_ptr&lt;control::RobotControl&gt;&amp; controller, double weight)\n    {\n        _controllers.push_back(controller);\n        controller-&gt;set_robot(this-&gt;shared_from_this());\n        controller-&gt;set_weight(weight);\n        controller-&gt;init();\n    }\n\n    void Robot::remove_controller(const std::shared_ptr&lt;control::RobotControl&gt;&amp; controller)\n    {\n        auto it = std::find(_controllers.begin(), _controllers.end(), controller);\n        if (it != _controllers.end())\n            _controllers.erase(it);\n    }\n\n    void Robot::remove_controller(size_t index)\n    {\n        ROBOT_DART_ASSERT(index &lt; _controllers.size(), \"Controller index out of bounds\", );\n        _controllers.erase(_controllers.begin() + index);\n    }\n\n    void Robot::clear_controllers() { _controllers.clear(); }\n\n    void Robot::fix_to_world()\n    {\n        auto parent_jt = _skeleton-&gt;getRootBodyNode()-&gt;getParentJoint();\n        ROBOT_DART_ASSERT(parent_jt != nullptr, \"RootBodyNode does not have a parent joint!\", );\n\n        if (fixed())\n            return;\n\n        Eigen::Isometry3d tf(dart::math::expAngular(_skeleton-&gt;getPositions().head(3)));\n        tf.translation() = _skeleton-&gt;getPositions().segment(3, 3);\n        dart::dynamics::WeldJoint::Properties properties;\n        properties.mName = parent_jt-&gt;getName();\n        _skeleton-&gt;getRootBodyNode()-&gt;changeParentJointType&lt;dart::dynamics::WeldJoint&gt;(properties);\n        _skeleton-&gt;getRootBodyNode()-&gt;getParentJoint()-&gt;setTransformFromParentBodyNode(tf);\n\n        reinit_controllers();\n        update_joint_dof_maps();\n    }\n\n    // pose: Orientation-Position\n    void Robot::free_from_world(const Eigen::Vector6d&amp; pose)\n    {\n        auto parent_jt = _skeleton-&gt;getRootBodyNode()-&gt;getParentJoint();\n        ROBOT_DART_ASSERT(parent_jt != nullptr, \"RootBodyNode does not have a parent joint!\", );\n\n        Eigen::Isometry3d tf(dart::math::expAngular(pose.head(3)));\n        tf.translation() = pose.segment(3, 3);\n\n        // if already free, we only change the transformation\n        if (free()) {\n            parent_jt-&gt;setTransformFromParentBodyNode(tf);\n            return;\n        }\n\n        dart::dynamics::FreeJoint::Properties properties;\n        properties.mName = parent_jt-&gt;getName();\n        _skeleton-&gt;getRootBodyNode()-&gt;changeParentJointType&lt;dart::dynamics::FreeJoint&gt;(properties);\n        _skeleton-&gt;getRootBodyNode()-&gt;getParentJoint()-&gt;setTransformFromParentBodyNode(tf);\n\n        reinit_controllers();\n        update_joint_dof_maps();\n    }\n\n    bool Robot::fixed() const\n    {\n        auto parent_jt = _skeleton-&gt;getRootBodyNode()-&gt;getParentJoint();\n        ROBOT_DART_ASSERT(parent_jt != nullptr, \"RootBodyNode does not have a parent joint!\", false);\n        return parent_jt-&gt;getType() == dart::dynamics::WeldJoint::getStaticType();\n    }\n\n    bool Robot::free() const\n    {\n        auto parent_jt = _skeleton-&gt;getRootBodyNode()-&gt;getParentJoint();\n        ROBOT_DART_ASSERT(parent_jt != nullptr, \"RootBodyNode does not have a parent joint!\", false);\n        return parent_jt-&gt;getType() == dart::dynamics::FreeJoint::getStaticType();\n    }\n\n    void Robot::reset()\n    {\n        _skeleton-&gt;resetPositions();\n        _skeleton-&gt;resetVelocities();\n        _skeleton-&gt;resetAccelerations();\n\n        clear_internal_forces();\n        reset_commands();\n        clear_external_forces();\n    }\n\n    void Robot::clear_external_forces() { _skeleton-&gt;clearExternalForces(); }\n\n    void Robot::clear_internal_forces()\n    {\n        _skeleton-&gt;clearInternalForces();\n        _skeleton-&gt;clearConstraintImpulses();\n    }\n\n    void Robot::reset_commands() { _skeleton-&gt;resetCommands(); }\n\n    void Robot::set_actuator_types(const std::string&amp; type, const std::vector&lt;std::string&gt;&amp; joint_names, bool override_mimic, bool override_base)\n    {\n        // Set all dofs to same actuator type\n        if (joint_names.empty()) {\n            if (type == \"torque\") {\n                return _set_actuator_types(dart::dynamics::Joint::FORCE, override_mimic, override_base);\n            }\n            else if (type == \"servo\") {\n                return _set_actuator_types(dart::dynamics::Joint::SERVO, override_mimic, override_base);\n            }\n            else if (type == \"velocity\") {\n                return _set_actuator_types(dart::dynamics::Joint::VELOCITY, override_mimic, override_base);\n            }\n            else if (type == \"passive\") {\n                return _set_actuator_types(dart::dynamics::Joint::PASSIVE, override_mimic, override_base);\n            }\n            else if (type == \"locked\") {\n                return _set_actuator_types(dart::dynamics::Joint::LOCKED, override_mimic, override_base);\n            }\n            else if (type == \"mimic\") {\n                ROBOT_DART_WARNING(true, \"Use this only if you know what you are doing. Use set_mimic otherwise.\");\n                return _set_actuator_types(dart::dynamics::Joint::MIMIC, override_mimic, override_base);\n            }\n            ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of actuator type. Valid values: torque, servo, velocity, passive, locked, mimic\");\n        }\n\n        for (size_t i = 0; i &lt; joint_names.size(); i++) {\n            auto it = _joint_map.find(joint_names[i]);\n            ROBOT_DART_ASSERT(it != _joint_map.end(), \"set_actuator_type: \" + joint_names[i] + \" is not in joint_map\", );\n            if (type == \"torque\") {\n                _set_actuator_type(it-&gt;second, dart::dynamics::Joint::FORCE, override_mimic, override_base);\n            }\n            else if (type == \"servo\") {\n                _set_actuator_type(it-&gt;second, dart::dynamics::Joint::SERVO, override_mimic, override_base);\n            }\n            else if (type == \"velocity\") {\n                _set_actuator_type(it-&gt;second, dart::dynamics::Joint::VELOCITY, override_mimic, override_base);\n            }\n            else if (type == \"passive\") {\n                _set_actuator_type(it-&gt;second, dart::dynamics::Joint::PASSIVE, override_mimic, override_base);\n            }\n            else if (type == \"locked\") {\n                _set_actuator_type(it-&gt;second, dart::dynamics::Joint::LOCKED, override_mimic, override_base);\n            }\n            else if (type == \"mimic\") {\n                ROBOT_DART_WARNING(true, \"Use this only if you know what you are doing. Use set_mimic otherwise.\");\n                _set_actuator_type(it-&gt;second, dart::dynamics::Joint::MIMIC, override_mimic, override_base);\n            }\n            else\n                ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of actuator type. Valid values: torque, servo, velocity, passive, locked, mimic\");\n        }\n    }\n\n    void Robot::set_actuator_type(const std::string&amp; type, const std::string&amp; joint_name, bool override_mimic, bool override_base)\n    {\n        set_actuator_types(type, {joint_name}, override_mimic, override_base);\n    }\n\n    void Robot::set_mimic(const std::string&amp; joint_name, const std::string&amp; mimic_joint_name, double multiplier, double offset)\n    {\n        dart::dynamics::Joint* jnt = _skeleton-&gt;getJoint(joint_name);\n        const dart::dynamics::Joint* mimic_jnt = _skeleton-&gt;getJoint(mimic_joint_name);\n\n        ROBOT_DART_ASSERT((jnt &amp;&amp; mimic_jnt), \"set_mimic: joint names do not exist\", );\n\n        jnt-&gt;setActuatorType(dart::dynamics::Joint::MIMIC);\n        jnt-&gt;setMimicJoint(mimic_jnt, multiplier, offset);\n    }\n\n    std::string Robot::actuator_type(const std::string&amp; joint_name) const\n    {\n        auto it = _joint_map.find(joint_name);\n        ROBOT_DART_ASSERT(it != _joint_map.end(), \"actuator_type: \" + joint_name + \" is not in joint_map\", \"invalid\");\n\n        auto type = _actuator_type(it-&gt;second);\n        if (type == dart::dynamics::Joint::FORCE)\n            return \"torque\";\n        else if (type == dart::dynamics::Joint::SERVO)\n            return \"servo\";\n        else if (type == dart::dynamics::Joint::VELOCITY)\n            return \"velocity\";\n        else if (type == dart::dynamics::Joint::PASSIVE)\n            return \"passive\";\n        else if (type == dart::dynamics::Joint::LOCKED)\n            return \"locked\";\n        else if (type == dart::dynamics::Joint::MIMIC)\n            return \"mimic\";\n\n        ROBOT_DART_ASSERT(false, \"actuator_type: we should not reach here\", \"invalid\");\n    }\n\n    std::vector&lt;std::string&gt; Robot::actuator_types(const std::vector&lt;std::string&gt;&amp; joint_names) const\n    {\n        std::vector&lt;std::string&gt; str_types;\n        // Get all dofs\n        if (joint_names.empty()) {\n            auto types = _actuator_types();\n\n            for (size_t i = 0; i &lt; types.size(); i++) {\n                auto type = types[i];\n                if (type == dart::dynamics::Joint::FORCE)\n                    str_types.push_back(\"torque\");\n                else if (type == dart::dynamics::Joint::SERVO)\n                    str_types.push_back(\"servo\");\n                else if (type == dart::dynamics::Joint::VELOCITY)\n                    str_types.push_back(\"velocity\");\n                else if (type == dart::dynamics::Joint::PASSIVE)\n                    str_types.push_back(\"passive\");\n                else if (type == dart::dynamics::Joint::LOCKED)\n                    str_types.push_back(\"locked\");\n                else if (type == dart::dynamics::Joint::MIMIC)\n                    str_types.push_back(\"mimic\");\n            }\n\n            ROBOT_DART_ASSERT(str_types.size() == types.size(), \"actuator_types: sizes of retrieved modes do not match\", {});\n\n            return str_types;\n        }\n\n        for (size_t i = 0; i &lt; joint_names.size(); i++) {\n            str_types.push_back(actuator_type(joint_names[i]));\n        }\n\n        ROBOT_DART_ASSERT(str_types.size() == joint_names.size(), \"actuator_types: sizes of retrieved modes do not match\", {});\n\n        return str_types;\n    }\n\n    void Robot::set_position_enforced(const std::vector&lt;bool&gt;&amp; enforced, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        size_t n_dofs = dof_names.size();\n        if (n_dofs == 0) {\n            ROBOT_DART_ASSERT(enforced.size() == _skeleton-&gt;getNumDofs(),\n                \"Position enforced vector size is not the same as the DOFs of the robot\", );\n            for (size_t i = 0; i &lt; _skeleton-&gt;getNumDofs(); ++i) {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n                _skeleton-&gt;getDof(i)-&gt;getJoint()-&gt;setLimitEnforcement(enforced[i]);\n#else\n                _skeleton-&gt;getDof(i)-&gt;getJoint()-&gt;setPositionLimitEnforced(enforced[i]);\n#endif\n            }\n        }\n        else {\n            ROBOT_DART_ASSERT(enforced.size() == dof_names.size(),\n                \"Position enforced vector size is not the same as the dof_names size\", );\n            for (size_t i = 0; i &lt; dof_names.size(); i++) {\n                auto it = _dof_map.find(dof_names[i]);\n                ROBOT_DART_ASSERT(it != _dof_map.end(), \"set_position_enforced: \" + dof_names[i] + \" is not in dof_map\", );\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n                _skeleton-&gt;getDof(it-&gt;second)-&gt;getJoint()-&gt;setLimitEnforcement(enforced[i]);\n#else\n                _skeleton-&gt;getDof(it-&gt;second)-&gt;getJoint()-&gt;setPositionLimitEnforced(enforced[i]);\n#endif\n            }\n        }\n    }\n\n    void Robot::set_position_enforced(bool enforced, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        size_t n_dofs = dof_names.size();\n        if (n_dofs == 0)\n            n_dofs = _skeleton-&gt;getNumDofs();\n        std::vector&lt;bool&gt; enforced_all(n_dofs, enforced);\n\n        set_position_enforced(enforced_all, dof_names);\n    }\n\n    std::vector&lt;bool&gt; Robot::position_enforced(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        std::vector&lt;bool&gt; pos;\n        if (dof_names.size() == 0) {\n            for (size_t i = 0; i &lt; _skeleton-&gt;getNumDofs(); ++i) {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n                pos.push_back(_skeleton-&gt;getDof(i)-&gt;getJoint()-&gt;areLimitsEnforced());\n#else\n                pos.push_back(_skeleton-&gt;getDof(i)-&gt;getJoint()-&gt;isPositionLimitEnforced());\n#endif\n            }\n        }\n        else {\n            for (size_t i = 0; i &lt; dof_names.size(); i++) {\n                auto it = _dof_map.find(dof_names[i]);\n                ROBOT_DART_ASSERT(it != _dof_map.end(), \"position_enforced: \" + dof_names[i] + \" is not in dof_map\", std::vector&lt;bool&gt;());\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n                pos.push_back(_skeleton-&gt;getDof(it-&gt;second)-&gt;getJoint()-&gt;areLimitsEnforced());\n#else\n                pos.push_back(_skeleton-&gt;getDof(it-&gt;second)-&gt;getJoint()-&gt;isPositionLimitEnforced());\n#endif\n            }\n        }\n\n        return pos;\n    }\n\n    void Robot::force_position_bounds()\n    {\n        for (size_t i = 0; i &lt; _skeleton-&gt;getNumDofs(); ++i) {\n            auto dof = _skeleton-&gt;getDof(i);\n            auto jt = dof-&gt;getJoint();\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n            bool force = jt-&gt;areLimitsEnforced();\n#else\n            bool force = jt-&gt;isPositionLimitEnforced();\n#endif\n            auto type = jt-&gt;getActuatorType();\n            force = force || type == dart::dynamics::Joint::SERVO || type == dart::dynamics::Joint::MIMIC;\n\n            if (force) {\n                double epsilon = 1e-5;\n                if (dof-&gt;getPosition() &gt; dof-&gt;getPositionUpperLimit()) {\n                    dof-&gt;setPosition(dof-&gt;getPositionUpperLimit() - epsilon);\n                }\n                else if (dof-&gt;getPosition() &lt; dof-&gt;getPositionLowerLimit()) {\n                    dof-&gt;setPosition(dof-&gt;getPositionLowerLimit() + epsilon);\n                }\n            }\n        }\n    }\n\n    void Robot::set_damping_coeffs(const std::vector&lt;double&gt;&amp; damps, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        size_t n_dofs = dof_names.size();\n        if (n_dofs == 0) {\n            ROBOT_DART_ASSERT(damps.size() == _skeleton-&gt;getNumDofs(),\n                \"Damping coefficient vector size is not the same as the DOFs of the robot\", );\n            for (size_t i = 0; i &lt; _skeleton-&gt;getNumDofs(); ++i) {\n                _skeleton-&gt;getDof(i)-&gt;setDampingCoefficient(damps[i]);\n            }\n        }\n        else {\n            ROBOT_DART_ASSERT(damps.size() == dof_names.size(),\n                \"Damping coefficient vector size is not the same as the dof_names size\", );\n            for (size_t i = 0; i &lt; dof_names.size(); i++) {\n                auto it = _dof_map.find(dof_names[i]);\n                ROBOT_DART_ASSERT(it != _dof_map.end(), \"set_damping_coeffs: \" + dof_names[i] + \" is not in dof_map\", );\n                _skeleton-&gt;getDof(it-&gt;second)-&gt;setDampingCoefficient(damps[i]);\n            }\n        }\n    }\n\n    void Robot::set_damping_coeffs(double damp, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        size_t n_dofs = dof_names.size();\n        if (n_dofs == 0)\n            n_dofs = _skeleton-&gt;getNumDofs();\n        std::vector&lt;double&gt; damps_all(n_dofs, damp);\n\n        set_damping_coeffs(damps_all, dof_names);\n    }\n\n    std::vector&lt;double&gt; Robot::damping_coeffs(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        std::vector&lt;double&gt; dampings;\n        if (dof_names.size() == 0) {\n            for (size_t i = 0; i &lt; _skeleton-&gt;getNumDofs(); ++i) {\n                dampings.push_back(_skeleton-&gt;getDof(i)-&gt;getDampingCoefficient());\n            }\n        }\n        else {\n            for (size_t i = 0; i &lt; dof_names.size(); i++) {\n                auto it = _dof_map.find(dof_names[i]);\n                ROBOT_DART_ASSERT(it != _dof_map.end(), \"damping_coeffs: \" + dof_names[i] + \" is not in dof_map\", std::vector&lt;double&gt;());\n                dampings.push_back(_skeleton-&gt;getDof(it-&gt;second)-&gt;getDampingCoefficient());\n            }\n        }\n\n        return dampings;\n    }\n\n    void Robot::set_coulomb_coeffs(const std::vector&lt;double&gt;&amp; cfrictions, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        size_t n_dofs = dof_names.size();\n        if (n_dofs == 0) {\n            ROBOT_DART_ASSERT(cfrictions.size() == _skeleton-&gt;getNumDofs(),\n                \"Coulomb friction coefficient vector size is not the same as the DOFs of the robot\", );\n            for (size_t i = 0; i &lt; _skeleton-&gt;getNumDofs(); ++i) {\n                _skeleton-&gt;getDof(i)-&gt;setCoulombFriction(cfrictions[i]);\n            }\n        }\n        else {\n            ROBOT_DART_ASSERT(cfrictions.size() == dof_names.size(),\n                \"Coulomb friction coefficient vector size is not the same as the dof_names size\", );\n            for (size_t i = 0; i &lt; dof_names.size(); i++) {\n                auto it = _dof_map.find(dof_names[i]);\n                ROBOT_DART_ASSERT(it != _dof_map.end(), \"set_coulomb_coeffs: \" + dof_names[i] + \" is not in dof_map\", );\n                _skeleton-&gt;getDof(it-&gt;second)-&gt;setCoulombFriction(cfrictions[i]);\n            }\n        }\n    }\n\n    void Robot::set_coulomb_coeffs(double cfriction, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        size_t n_dofs = dof_names.size();\n        if (n_dofs == 0)\n            n_dofs = _skeleton-&gt;getNumDofs();\n        std::vector&lt;double&gt; cfrictions(n_dofs, cfriction);\n\n        set_coulomb_coeffs(cfrictions, dof_names);\n    }\n\n    std::vector&lt;double&gt; Robot::coulomb_coeffs(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        std::vector&lt;double&gt; cfrictions;\n        if (dof_names.size() == 0) {\n            for (size_t i = 0; i &lt; _skeleton-&gt;getNumDofs(); ++i) {\n                cfrictions.push_back(_skeleton-&gt;getDof(i)-&gt;getCoulombFriction());\n            }\n        }\n        else {\n            for (size_t i = 0; i &lt; dof_names.size(); i++) {\n                auto it = _dof_map.find(dof_names[i]);\n                ROBOT_DART_ASSERT(it != _dof_map.end(), \"coulomb_coeffs: \" + dof_names[i] + \" is not in dof_map\", std::vector&lt;double&gt;());\n                cfrictions.push_back(_skeleton-&gt;getDof(it-&gt;second)-&gt;getCoulombFriction());\n            }\n        }\n\n        return cfrictions;\n    }\n\n    void Robot::set_spring_stiffnesses(const std::vector&lt;double&gt;&amp; stiffnesses, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        size_t n_dofs = dof_names.size();\n        if (n_dofs == 0) {\n            ROBOT_DART_ASSERT(stiffnesses.size() == _skeleton-&gt;getNumDofs(),\n                \"Spring stiffnesses vector size is not the same as the DOFs of the robot\", );\n            for (size_t i = 0; i &lt; _skeleton-&gt;getNumDofs(); ++i) {\n                _skeleton-&gt;getDof(i)-&gt;setSpringStiffness(stiffnesses[i]);\n            }\n        }\n        else {\n            ROBOT_DART_ASSERT(stiffnesses.size() == dof_names.size(),\n                \"Spring stiffnesses vector size is not the same as the dof_names size\", );\n            for (size_t i = 0; i &lt; dof_names.size(); i++) {\n                auto it = _dof_map.find(dof_names[i]);\n                ROBOT_DART_ASSERT(it != _dof_map.end(), \"set_spring_stiffnesses: \" + dof_names[i] + \" is not in dof_map\", );\n                _skeleton-&gt;getDof(it-&gt;second)-&gt;setSpringStiffness(stiffnesses[i]);\n            }\n        }\n    }\n\n    void Robot::set_spring_stiffnesses(double stiffness, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        size_t n_dofs = dof_names.size();\n        if (n_dofs == 0)\n            n_dofs = _skeleton-&gt;getNumDofs();\n        std::vector&lt;double&gt; stiffnesses(n_dofs, stiffness);\n\n        set_spring_stiffnesses(stiffnesses, dof_names);\n    }\n\n    std::vector&lt;double&gt; Robot::spring_stiffnesses(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        std::vector&lt;double&gt; stiffnesses;\n        if (dof_names.size() == 0) {\n            for (size_t i = 0; i &lt; _skeleton-&gt;getNumDofs(); ++i) {\n                stiffnesses.push_back(_skeleton-&gt;getDof(i)-&gt;getSpringStiffness());\n            }\n        }\n        else {\n            for (size_t i = 0; i &lt; dof_names.size(); i++) {\n                auto it = _dof_map.find(dof_names[i]);\n                ROBOT_DART_ASSERT(it != _dof_map.end(), \"spring_stiffnesses: \" + dof_names[i] + \" is not in dof_map\", std::vector&lt;double&gt;());\n                stiffnesses.push_back(_skeleton-&gt;getDof(it-&gt;second)-&gt;getSpringStiffness());\n            }\n        }\n\n        return stiffnesses;\n    }\n\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n    auto body_node_set_friction_dir = [](dart::dynamics::BodyNode* body, const Eigen::Vector3d&amp; direction) {\n        auto&amp; dyn_shapes = body-&gt;getShapeNodesWith&lt;dart::dynamics::DynamicsAspect&gt;();\n        for (auto&amp; shape : dyn_shapes) {\n            const auto&amp; dyn = shape-&gt;getDynamicsAspect();\n            dyn-&gt;setFirstFrictionDirection(direction);\n            dyn-&gt;setFirstFrictionDirectionFrame(body);\n        }\n    };\n#endif\n\n    void Robot::set_friction_dir(const std::string&amp; body_name, const Eigen::Vector3d&amp; direction)\n    {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n        body_node_set_friction_dir(bd, direction);\n#else\n        ROBOT_DART_WARNING(true, \"DART supports the frictional direction from v.6.10 onwards!\");\n#endif\n    }\n\n    void Robot::set_friction_dir(size_t body_index, const Eigen::Vector3d&amp; direction)\n    {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", );\n\n        body_node_set_friction_dir(_skeleton-&gt;getBodyNode(body_index), direction);\n#else\n        ROBOT_DART_WARNING(true, \"DART supports the frictional direction from v.6.10 onwards!\");\n#endif\n    }\n\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n    auto body_node_get_friction_dir = [](dart::dynamics::BodyNode* body) {\n        auto&amp; dyn_shapes = body-&gt;getShapeNodesWith&lt;dart::dynamics::DynamicsAspect&gt;();\n        for (auto&amp; shape : dyn_shapes) {\n            const auto&amp; dyn = shape-&gt;getDynamicsAspect();\n            return dyn-&gt;getFirstFrictionDirection(); // assume all shape nodes have the same friction direction\n        }\n\n        return Eigen::Vector3d(Eigen::Vector3d::Zero());\n    };\n#endif\n\n    Eigen::Vector3d Robot::friction_dir(const std::string&amp; body_name)\n    {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::Vector3d::Zero());\n\n        return body_node_get_friction_dir(bd);\n#else\n        ROBOT_DART_WARNING(true, \"DART supports the frictional direction from v.6.10 onwards!\");\n        return Eigen::Vector3d::Zero();\n#endif\n    }\n\n    Eigen::Vector3d Robot::friction_dir(size_t body_index)\n    {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", Eigen::Vector3d::Zero());\n\n        return body_node_get_friction_dir(_skeleton-&gt;getBodyNode(body_index));\n#else\n        ROBOT_DART_WARNING(true, \"DART supports the frictional direction from v.6.10 onwards!\");\n        return Eigen::Vector3d::Zero();\n#endif\n    }\n\n    auto body_node_set_friction_coeff = [](dart::dynamics::BodyNode* body, double value) {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n        auto&amp; dyn_shapes = body-&gt;getShapeNodesWith&lt;dart::dynamics::DynamicsAspect&gt;();\n        for (auto&amp; shape : dyn_shapes) {\n            shape-&gt;getDynamicsAspect()-&gt;setFrictionCoeff(value);\n        }\n#else\n        body-&gt;setFrictionCoeff(value);\n#endif\n    };\n\n    void Robot::set_friction_coeff(const std::string&amp; body_name, double value)\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n        body_node_set_friction_coeff(bd, value);\n    }\n\n    void Robot::set_friction_coeff(size_t body_index, double value)\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", );\n\n        body_node_set_friction_coeff(_skeleton-&gt;getBodyNode(body_index), value);\n    }\n\n    void Robot::set_friction_coeffs(double value)\n    {\n        for (auto bd : _skeleton-&gt;getBodyNodes())\n            body_node_set_friction_coeff(bd, value);\n    }\n\n    auto body_node_get_friction_coeff = [](dart::dynamics::BodyNode* body) {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n        auto&amp; dyn_shapes = body-&gt;getShapeNodesWith&lt;dart::dynamics::DynamicsAspect&gt;();\n        for (auto&amp; shape : dyn_shapes) {\n            return shape-&gt;getDynamicsAspect()-&gt;getFrictionCoeff(); // assume all shape nodes have the same friction\n        }\n\n        return 0.;\n#else\n        return body-&gt;getFrictionCoeff();\n#endif\n    };\n\n    double Robot::friction_coeff(const std::string&amp; body_name)\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", 0.);\n\n        return body_node_get_friction_coeff(bd);\n    }\n\n    double Robot::friction_coeff(size_t body_index)\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", 0.);\n        return body_node_get_friction_coeff(_skeleton-&gt;getBodyNode(body_index));\n    }\n\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n    auto body_node_set_secondary_friction_coeff = [](dart::dynamics::BodyNode* body, double value) {\n        auto&amp; dyn_shapes = body-&gt;getShapeNodesWith&lt;dart::dynamics::DynamicsAspect&gt;();\n        for (auto&amp; shape : dyn_shapes) {\n            shape-&gt;getDynamicsAspect()-&gt;setSecondaryFrictionCoeff(value);\n        }\n    };\n#endif\n\n    void Robot::set_secondary_friction_coeff(const std::string&amp; body_name, double value)\n    {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n        body_node_set_secondary_friction_coeff(bd, value);\n#else\n        ROBOT_DART_WARNING(true, \"DART supports the secondary friction coefficient from v.6.10 onwards!\");\n#endif\n    }\n\n    void Robot::set_secondary_friction_coeff(size_t body_index, double value)\n    {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", );\n\n        body_node_set_secondary_friction_coeff(_skeleton-&gt;getBodyNode(body_index), value);\n#else\n        ROBOT_DART_WARNING(true, \"DART supports the secondary friction coefficient from v.6.10 onwards!\");\n#endif\n    }\n\n    void Robot::set_secondary_friction_coeffs(double value)\n    {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n        for (auto bd : _skeleton-&gt;getBodyNodes())\n            body_node_set_secondary_friction_coeff(bd, value);\n#else\n        ROBOT_DART_WARNING(true, \"DART supports the secondary friction coefficient from v.6.10 onwards!\");\n#endif\n    }\n\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n    auto body_node_get_secondary_friction_coeff = [](dart::dynamics::BodyNode* body) {\n        auto&amp; dyn_shapes = body-&gt;getShapeNodesWith&lt;dart::dynamics::DynamicsAspect&gt;();\n        for (auto&amp; shape : dyn_shapes) {\n            return shape-&gt;getDynamicsAspect()-&gt;getSecondaryFrictionCoeff(); // assume all shape nodes have the same friction\n        }\n\n        return 0.;\n    };\n#endif\n\n    double Robot::secondary_friction_coeff(const std::string&amp; body_name)\n    {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", 0.);\n\n        return body_node_get_secondary_friction_coeff(bd);\n#else\n        ROBOT_DART_WARNING(true, \"DART supports the secondary friction coefficient from v.6.10 onwards!\");\n        return 0.;\n#endif\n    }\n\n    double Robot::secondary_friction_coeff(size_t body_index)\n    {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", 0.);\n        return body_node_get_secondary_friction_coeff(_skeleton-&gt;getBodyNode(body_index));\n#else\n        ROBOT_DART_WARNING(true, \"DART supports the secondary friction coefficient from v.6.10 onwards!\");\n        return 0.;\n#endif\n    }\n\n    auto body_node_set_restitution_coeff = [](dart::dynamics::BodyNode* body, double value) {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n        auto&amp; dyn_shapes = body-&gt;getShapeNodesWith&lt;dart::dynamics::DynamicsAspect&gt;();\n        for (auto&amp; shape : dyn_shapes) {\n            shape-&gt;getDynamicsAspect()-&gt;setRestitutionCoeff(value);\n        }\n#else\n        body-&gt;setRestitutionCoeff(value);\n#endif\n    };\n\n    void Robot::set_restitution_coeff(const std::string&amp; body_name, double value)\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n        body_node_set_restitution_coeff(bd, value);\n    }\n\n    void Robot::set_restitution_coeff(size_t body_index, double value)\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", );\n\n        body_node_set_restitution_coeff(_skeleton-&gt;getBodyNode(body_index), value);\n    }\n\n    void Robot::set_restitution_coeffs(double value)\n    {\n        for (auto bd : _skeleton-&gt;getBodyNodes())\n            body_node_set_restitution_coeff(bd, value);\n    }\n\n    auto body_node_get_restitution_coeff = [](dart::dynamics::BodyNode* body) {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n        auto&amp; dyn_shapes = body-&gt;getShapeNodesWith&lt;dart::dynamics::DynamicsAspect&gt;();\n        for (auto&amp; shape : dyn_shapes) {\n            return shape-&gt;getDynamicsAspect()-&gt;getRestitutionCoeff(); // assume all shape nodes have the same restitution\n        }\n\n        return 0.;\n#else\n        return body-&gt;getRestitutionCoeff();\n#endif\n    };\n\n    double Robot::restitution_coeff(const std::string&amp; body_name)\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", 0.);\n\n        return body_node_get_restitution_coeff(bd);\n    }\n\n    double Robot::restitution_coeff(size_t body_index)\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", 0.);\n\n        return body_node_get_restitution_coeff(_skeleton-&gt;getBodyNode(body_index));\n    }\n\n    Eigen::Isometry3d Robot::base_pose() const\n    {\n        if (free()) {\n            Eigen::Isometry3d tf(Eigen::Isometry3d::Identity());\n            tf.linear() = dart::math::expMapRot(_skeleton-&gt;getPositions().head&lt;6&gt;().head&lt;3&gt;());\n            tf.translation() = _skeleton-&gt;getPositions().head&lt;6&gt;().tail&lt;3&gt;();\n            return tf;\n        }\n        auto jt = _skeleton-&gt;getRootBodyNode()-&gt;getParentJoint();\n        ROBOT_DART_ASSERT(jt != nullptr, \"Skeleton does not have a proper root BodyNode!\",\n            Eigen::Isometry3d::Identity());\n        return jt-&gt;getTransformFromParentBodyNode();\n    }\n\n    Eigen::Vector6d Robot::base_pose_vec() const\n    {\n        if (free())\n            return _skeleton-&gt;getPositions().head(6);\n        auto jt = _skeleton-&gt;getRootBodyNode()-&gt;getParentJoint();\n        ROBOT_DART_ASSERT(jt != nullptr, \"Skeleton does not have a proper root BodyNode!\",\n            Eigen::Vector6d::Zero());\n        Eigen::Isometry3d tf = jt-&gt;getTransformFromParentBodyNode();\n        Eigen::Vector6d x;\n        x.head&lt;3&gt;() = dart::math::logMap(tf.linear());\n        x.tail&lt;3&gt;() = tf.translation();\n        return x;\n    }\n\n    void Robot::set_base_pose(const Eigen::Isometry3d&amp; tf)\n    {\n        auto jt = _skeleton-&gt;getRootBodyNode()-&gt;getParentJoint();\n        if (jt) {\n            if (free()) {\n                Eigen::Vector6d x;\n                x.head&lt;3&gt;() = dart::math::logMap(tf.linear());\n                x.tail&lt;3&gt;() = tf.translation();\n                jt-&gt;setPositions(x);\n            }\n            else\n                jt-&gt;setTransformFromParentBodyNode(tf);\n        }\n    }\n\n    void Robot::set_base_pose(const Eigen::Vector6d&amp; pose)\n    {\n        auto jt = _skeleton-&gt;getRootBodyNode()-&gt;getParentJoint();\n        if (jt) {\n            if (free())\n                jt-&gt;setPositions(pose);\n            else {\n                Eigen::Isometry3d tf(Eigen::Isometry3d::Identity());\n                tf.linear() = dart::math::expMapRot(pose.head&lt;3&gt;());\n                tf.translation() = pose.tail&lt;3&gt;();\n                jt-&gt;setTransformFromParentBodyNode(tf);\n            }\n        }\n    }\n\n    size_t Robot::num_dofs() const { return _skeleton-&gt;getNumDofs(); }\n\n    size_t Robot::num_joints() const { return _skeleton-&gt;getNumJoints(); }\n\n    size_t Robot::num_bodies() const { return _skeleton-&gt;getNumBodyNodes(); }\n\n    Eigen::Vector3d Robot::com() const { return _skeleton-&gt;getCOM(); }\n\n    Eigen::Vector6d Robot::com_velocity() const { return _skeleton-&gt;getCOMSpatialVelocity(); }\n\n    Eigen::Vector6d Robot::com_acceleration() const { return _skeleton-&gt;getCOMSpatialAcceleration(); }\n\n    Eigen::VectorXd Robot::positions(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;0&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    void Robot::set_positions(const Eigen::VectorXd&amp; positions, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        detail::set_dof_data&lt;0&gt;(positions, _skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::position_lower_limits(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;5&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    void Robot::set_position_lower_limits(const Eigen::VectorXd&amp; positions, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        detail::set_dof_data&lt;5&gt;(positions, _skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::position_upper_limits(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;6&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    void Robot::set_position_upper_limits(const Eigen::VectorXd&amp; positions, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        detail::set_dof_data&lt;6&gt;(positions, _skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::velocities(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;1&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    void Robot::set_velocities(const Eigen::VectorXd&amp; velocities, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        detail::set_dof_data&lt;1&gt;(velocities, _skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::velocity_lower_limits(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;7&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    void Robot::set_velocity_lower_limits(const Eigen::VectorXd&amp; velocities, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        detail::set_dof_data&lt;7&gt;(velocities, _skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::velocity_upper_limits(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;8&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    void Robot::set_velocity_upper_limits(const Eigen::VectorXd&amp; velocities, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        detail::set_dof_data&lt;8&gt;(velocities, _skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::accelerations(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;2&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    void Robot::set_accelerations(const Eigen::VectorXd&amp; accelerations, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        detail::set_dof_data&lt;2&gt;(accelerations, _skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::acceleration_lower_limits(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;9&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    void Robot::set_acceleration_lower_limits(const Eigen::VectorXd&amp; accelerations, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        detail::set_dof_data&lt;9&gt;(accelerations, _skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::acceleration_upper_limits(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;10&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    void Robot::set_acceleration_upper_limits(const Eigen::VectorXd&amp; accelerations, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        detail::set_dof_data&lt;10&gt;(accelerations, _skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::forces(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;3&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    void Robot::set_forces(const Eigen::VectorXd&amp; forces, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        detail::set_dof_data&lt;3&gt;(forces, _skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::force_lower_limits(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;11&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    void Robot::set_force_lower_limits(const Eigen::VectorXd&amp; forces, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        detail::set_dof_data&lt;11&gt;(forces, _skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::force_upper_limits(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;12&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    void Robot::set_force_upper_limits(const Eigen::VectorXd&amp; forces, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        detail::set_dof_data&lt;12&gt;(forces, _skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::commands(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;4&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    void Robot::set_commands(const Eigen::VectorXd&amp; commands, const std::vector&lt;std::string&gt;&amp; dof_names)\n    {\n        detail::set_dof_data&lt;4&gt;(commands, _skeleton, dof_names, _dof_map);\n    }\n\n    std::pair&lt;Eigen::Vector6d, Eigen::Vector6d&gt; Robot::force_torque(size_t joint_index) const\n    {\n        ROBOT_DART_ASSERT(joint_index &lt; _skeleton-&gt;getNumJoints(), \"Joint index out of bounds\", {});\n        auto jt = _skeleton-&gt;getJoint(joint_index);\n\n        Eigen::Vector6d F1 = Eigen::Vector6d::Zero();\n        Eigen::Vector6d F2 = Eigen::Vector6d::Zero();\n        Eigen::Isometry3d T12 = jt-&gt;getRelativeTransform();\n\n        auto child_body = jt-&gt;getChildBodyNode();\n        // ROBOT_DART_ASSERT(child_body != nullptr, \"Child BodyNode is nullptr\", {});\n        if (child_body)\n            F2 = -dart::math::dAdT(jt-&gt;getTransformFromChildBodyNode(), child_body-&gt;getBodyForce());\n\n        F1 = -dart::math::dAdInvR(T12, F2);\n\n        // F1 contains the force applied by the parent Link on the Joint specified in the parent\n        // Link frame, F2 contains the force applied by the child Link on the Joint specified in\n        // the child Link frame\n        return {F1, F2};\n    }\n\n    void Robot::set_external_force(const std::string&amp; body_name, const Eigen::Vector3d&amp; force, const Eigen::Vector3d&amp; offset, bool force_local, bool offset_local)\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n        bd-&gt;setExtForce(force, offset, force_local, offset_local);\n    }\n\n    void Robot::set_external_force(size_t body_index, const Eigen::Vector3d&amp; force, const Eigen::Vector3d&amp; offset, bool force_local, bool offset_local)\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", );\n        auto bd = _skeleton-&gt;getBodyNode(body_index);\n\n        bd-&gt;setExtForce(force, offset, force_local, offset_local);\n    }\n\n    void Robot::add_external_force(const std::string&amp; body_name, const Eigen::Vector3d&amp; force, const Eigen::Vector3d&amp; offset, bool force_local, bool offset_local)\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n        bd-&gt;addExtForce(force, offset, force_local, offset_local);\n    }\n\n    void Robot::add_external_force(size_t body_index, const Eigen::Vector3d&amp; force, const Eigen::Vector3d&amp; offset, bool force_local, bool offset_local)\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", );\n        auto bd = _skeleton-&gt;getBodyNode(body_index);\n\n        bd-&gt;addExtForce(force, offset, force_local, offset_local);\n    }\n\n    void Robot::set_external_torque(const std::string&amp; body_name, const Eigen::Vector3d&amp; torque, bool local)\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n        bd-&gt;setExtTorque(torque, local);\n    }\n\n    void Robot::set_external_torque(size_t body_index, const Eigen::Vector3d&amp; torque, bool local)\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", );\n        auto bd = _skeleton-&gt;getBodyNode(body_index);\n\n        bd-&gt;setExtTorque(torque, local);\n    }\n\n    void Robot::add_external_torque(const std::string&amp; body_name, const Eigen::Vector3d&amp; torque, bool local)\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n        bd-&gt;addExtTorque(torque, local);\n    }\n\n    void Robot::add_external_torque(size_t body_index, const Eigen::Vector3d&amp; torque, bool local)\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", );\n        auto bd = _skeleton-&gt;getBodyNode(body_index);\n\n        bd-&gt;addExtTorque(torque, local);\n    }\n\n    Eigen::Vector6d Robot::external_forces(const std::string&amp; body_name) const\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::Vector6d::Zero());\n\n        return bd-&gt;getExternalForceGlobal();\n    }\n\n    Eigen::Vector6d Robot::external_forces(size_t body_index) const\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\",\n            Eigen::Vector6d::Zero());\n        auto bd = _skeleton-&gt;getBodyNode(body_index);\n\n        return bd-&gt;getExternalForceGlobal();\n    }\n\n    Eigen::Isometry3d Robot::body_pose(const std::string&amp; body_name) const\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::Isometry3d::Identity());\n        return bd-&gt;getWorldTransform();\n    }\n\n    Eigen::Isometry3d Robot::body_pose(size_t body_index) const\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", Eigen::Isometry3d::Identity());\n        return _skeleton-&gt;getBodyNode(body_index)-&gt;getWorldTransform();\n    }\n\n    Eigen::Vector6d Robot::body_pose_vec(const std::string&amp; body_name) const\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::Vector6d::Zero());\n\n        Eigen::Isometry3d tf = bd-&gt;getWorldTransform();\n        Eigen::Vector6d x;\n        x.head&lt;3&gt;() = dart::math::logMap(tf.linear());\n        x.tail&lt;3&gt;() = tf.translation();\n\n        return x;\n    }\n\n    Eigen::Vector6d Robot::body_pose_vec(size_t body_index) const\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", Eigen::Vector6d::Zero());\n\n        Eigen::Isometry3d tf = _skeleton-&gt;getBodyNode(body_index)-&gt;getWorldTransform();\n\n        Eigen::Vector6d x;\n        x.head&lt;3&gt;() = dart::math::logMap(tf.linear());\n        x.tail&lt;3&gt;() = tf.translation();\n\n        return x;\n    }\n\n    Eigen::Vector6d Robot::body_velocity(const std::string&amp; body_name) const\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::Vector6d::Zero());\n        return bd-&gt;getSpatialVelocity(dart::dynamics::Frame::World(), dart::dynamics::Frame::World());\n    }\n\n    Eigen::Vector6d Robot::body_velocity(size_t body_index) const\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", Eigen::Vector6d::Zero());\n        return _skeleton-&gt;getBodyNode(body_index)-&gt;getSpatialVelocity(dart::dynamics::Frame::World(), dart::dynamics::Frame::World());\n    }\n\n    Eigen::Vector6d Robot::body_acceleration(const std::string&amp; body_name) const\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::Vector6d::Zero());\n        return bd-&gt;getSpatialAcceleration(dart::dynamics::Frame::World(), dart::dynamics::Frame::World());\n    }\n\n    Eigen::Vector6d Robot::body_acceleration(size_t body_index) const\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", Eigen::Vector6d::Zero());\n        return _skeleton-&gt;getBodyNode(body_index)-&gt;getSpatialAcceleration(dart::dynamics::Frame::World(), dart::dynamics::Frame::World());\n    }\n\n    std::vector&lt;std::string&gt; Robot::body_names() const\n    {\n        std::vector&lt;std::string&gt; names;\n        for (auto&amp; bd : _skeleton-&gt;getBodyNodes())\n            names.push_back(bd-&gt;getName());\n        return names;\n    }\n\n    std::string Robot::body_name(size_t body_index) const\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", \"\");\n        return _skeleton-&gt;getBodyNode(body_index)-&gt;getName();\n    }\n\n    void Robot::set_body_name(size_t body_index, const std::string&amp; body_name)\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", );\n        _skeleton-&gt;getBodyNode(body_index)-&gt;setName(body_name);\n    }\n\n    size_t Robot::body_index(const std::string&amp; body_name) const\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd, \"body_index : \" + body_name + \" is not in the skeleton\", 0);\n        return bd-&gt;getIndexInSkeleton();\n    }\n\n    double Robot::body_mass(const std::string&amp; body_name) const\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", 0.);\n        return bd-&gt;getMass();\n    }\n\n    double Robot::body_mass(size_t body_index) const\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", 0.);\n        return _skeleton-&gt;getBodyNode(body_index)-&gt;getMass();\n    }\n\n    void Robot::set_body_mass(const std::string&amp; body_name, double mass)\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n        bd-&gt;setMass(mass); // TO-DO: Recompute inertia?\n    }\n\n    void Robot::set_body_mass(size_t body_index, double mass)\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", );\n        _skeleton-&gt;getBodyNode(body_index)-&gt;setMass(mass); // TO-DO: Recompute inertia?\n    }\n\n    void Robot::add_body_mass(const std::string&amp; body_name, double mass)\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n        bd-&gt;setMass(mass + bd-&gt;getMass()); // TO-DO: Recompute inertia?\n    }\n\n    void Robot::add_body_mass(size_t body_index, double mass)\n    {\n        ROBOT_DART_ASSERT(body_index &lt; _skeleton-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", );\n        auto bd = _skeleton-&gt;getBodyNode(body_index);\n        bd-&gt;setMass(mass + bd-&gt;getMass()); // TO-DO: Recompute inertia?\n    }\n\n    Eigen::MatrixXd Robot::jacobian(const std::string&amp; body_name, const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::MatrixXd());\n\n        Eigen::MatrixXd jac = _skeleton-&gt;getWorldJacobian(bd);\n\n        return _jacobian(jac, dof_names);\n    }\n\n    Eigen::MatrixXd Robot::jacobian_deriv(const std::string&amp; body_name, const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::MatrixXd());\n\n        Eigen::MatrixXd jac = _skeleton-&gt;getJacobianSpatialDeriv(bd, dart::dynamics::Frame::World());\n\n        return _jacobian(jac, dof_names);\n    }\n\n    Eigen::MatrixXd Robot::com_jacobian(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        Eigen::MatrixXd jac = _skeleton-&gt;getCOMJacobian();\n\n        return _jacobian(jac, dof_names);\n    }\n\n    Eigen::MatrixXd Robot::com_jacobian_deriv(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        Eigen::MatrixXd jac = _skeleton-&gt;getCOMJacobianSpatialDeriv();\n\n        return _jacobian(jac, dof_names);\n    }\n\n    Eigen::MatrixXd Robot::mass_matrix(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        Eigen::MatrixXd M = _skeleton-&gt;getMassMatrix();\n\n        return _mass_matrix(M, dof_names);\n    }\n\n    Eigen::MatrixXd Robot::aug_mass_matrix(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        Eigen::MatrixXd M = _skeleton-&gt;getAugMassMatrix();\n\n        return _mass_matrix(M, dof_names);\n    }\n\n    Eigen::MatrixXd Robot::inv_mass_matrix(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        Eigen::MatrixXd M = _skeleton-&gt;getInvMassMatrix();\n\n        return _mass_matrix(M, dof_names);\n    }\n\n    Eigen::MatrixXd Robot::inv_aug_mass_matrix(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        Eigen::MatrixXd M = _skeleton-&gt;getInvAugMassMatrix();\n\n        return _mass_matrix(M, dof_names);\n    }\n\n    Eigen::VectorXd Robot::coriolis_forces(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;13&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::gravity_forces(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;14&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::coriolis_gravity_forces(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;15&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::constraint_forces(const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        return detail::dof_data&lt;16&gt;(_skeleton, dof_names, _dof_map);\n    }\n\n    Eigen::VectorXd Robot::vec_dof(const Eigen::VectorXd&amp; vec, const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        assert(vec.size() == static_cast&lt;int&gt;(_skeleton-&gt;getNumDofs()));\n\n        Eigen::VectorXd ret(dof_names.size());\n        for (size_t i = 0; i &lt; dof_names.size(); i++) {\n            auto it = _dof_map.find(dof_names[i]);\n            ROBOT_DART_ASSERT(it != _dof_map.end(), \"vec_dof: \" + dof_names[i] + \" is not in dof_map\", Eigen::VectorXd());\n\n            ret(i) = vec[it-&gt;second];\n        }\n\n        return ret;\n    }\n\n    void Robot::update_joint_dof_maps()\n    {\n        // DoFs\n        _dof_map.clear();\n        for (size_t i = 0; i &lt; _skeleton-&gt;getNumDofs(); ++i)\n            _dof_map[_skeleton-&gt;getDof(i)-&gt;getName()] = i;\n\n        // Joints\n        _joint_map.clear();\n        for (size_t i = 0; i &lt; _skeleton-&gt;getNumJoints(); ++i)\n            _joint_map[_skeleton-&gt;getJoint(i)-&gt;getName()] = i;\n    }\n\n    const std::unordered_map&lt;std::string, size_t&gt;&amp; Robot::dof_map() const { return _dof_map; }\n\n    const std::unordered_map&lt;std::string, size_t&gt;&amp; Robot::joint_map() const { return _joint_map; }\n\n    std::vector&lt;std::string&gt; Robot::dof_names(bool filter_mimics, bool filter_locked, bool filter_passive) const\n    {\n        std::vector&lt;std::string&gt; names;\n        for (auto&amp; dof : _skeleton-&gt;getDofs()) {\n            auto jt = dof-&gt;getJoint();\n            if ((!filter_mimics\n#if DART_VERSION_AT_LEAST(6, 7, 0)\n                    || jt-&gt;getActuatorType() != dart::dynamics::Joint::MIMIC\n#else\n                    || true\n#endif\n                    )\n                &amp;&amp; (!filter_locked || jt-&gt;getActuatorType() != dart::dynamics::Joint::LOCKED)\n                &amp;&amp; (!filter_passive || jt-&gt;getActuatorType() != dart::dynamics::Joint::PASSIVE))\n                names.push_back(dof-&gt;getName());\n        }\n        return names;\n    }\n\n    std::vector&lt;std::string&gt; Robot::mimic_dof_names() const\n    {\n        std::vector&lt;std::string&gt; names;\n#if DART_VERSION_AT_LEAST(6, 7, 0)\n        for (auto&amp; dof : _skeleton-&gt;getDofs()) {\n            auto jt = dof-&gt;getJoint();\n            if (jt-&gt;getActuatorType() == dart::dynamics::Joint::MIMIC)\n                names.push_back(dof-&gt;getName());\n        }\n#endif\n        return names;\n    }\n\n    std::vector&lt;std::string&gt; Robot::locked_dof_names() const\n    {\n        std::vector&lt;std::string&gt; names;\n        for (auto&amp; dof : _skeleton-&gt;getDofs()) {\n            auto jt = dof-&gt;getJoint();\n            if (jt-&gt;getActuatorType() == dart::dynamics::Joint::LOCKED)\n                names.push_back(dof-&gt;getName());\n        }\n        return names;\n    }\n\n    std::vector&lt;std::string&gt; Robot::passive_dof_names() const\n    {\n        std::vector&lt;std::string&gt; names;\n        for (auto&amp; dof : _skeleton-&gt;getDofs()) {\n            auto jt = dof-&gt;getJoint();\n            if (jt-&gt;getActuatorType() == dart::dynamics::Joint::PASSIVE)\n                names.push_back(dof-&gt;getName());\n        }\n        return names;\n    }\n\n    std::string Robot::dof_name(size_t dof_index) const\n    {\n        ROBOT_DART_ASSERT(dof_index &lt; _skeleton-&gt;getNumDofs(), \"Dof index out of bounds\", \"\");\n        return _skeleton-&gt;getDof(dof_index)-&gt;getName();\n    }\n\n    size_t Robot::dof_index(const std::string&amp; dof_name) const\n    {\n        if (_dof_map.empty()) {\n            ROBOT_DART_WARNING(true,\n                \"DoF map is empty. Iterating over all skeleton DoFs to get the index. Consider \"\n                \"calling update_joint_dof_maps() before using dof_index()\");\n            for (size_t i = 0; i &lt; _skeleton-&gt;getNumDofs(); i++)\n                if (_skeleton-&gt;getDof(i)-&gt;getName() == dof_name)\n                    return i;\n            ROBOT_DART_ASSERT(false, \"dof_index : \" + dof_name + \" is not in the skeleton\", 0);\n        }\n        auto it = _dof_map.find(dof_name);\n        ROBOT_DART_ASSERT(it != _dof_map.end(), \"dof_index : \" + dof_name + \" is not in DoF map\", 0);\n        return it-&gt;second;\n    }\n\n    std::vector&lt;std::string&gt; Robot::joint_names() const\n    {\n        std::vector&lt;std::string&gt; names;\n        for (auto&amp; jt : _skeleton-&gt;getJoints())\n            names.push_back(jt-&gt;getName());\n        return names;\n    }\n\n    std::string Robot::joint_name(size_t joint_index) const\n    {\n        ROBOT_DART_ASSERT(joint_index &lt; _skeleton-&gt;getNumJoints(), \"Joint index out of bounds\", \"\");\n        return _skeleton-&gt;getJoint(joint_index)-&gt;getName();\n    }\n\n    void Robot::set_joint_name(size_t joint_index, const std::string&amp; joint_name)\n    {\n        ROBOT_DART_ASSERT(joint_index &lt; _skeleton-&gt;getNumJoints(), \"Joint index out of bounds\", );\n        _skeleton-&gt;getJoint(joint_index)-&gt;setName(joint_name);\n\n        update_joint_dof_maps();\n    }\n\n    size_t Robot::joint_index(const std::string&amp; joint_name) const\n    {\n        if (_joint_map.empty()) {\n            ROBOT_DART_WARNING(true,\n                \"Joint map is empty. Iterating over all skeleton joints to get the index. \"\n                \"Consider calling update_joint_dof_maps() before using joint_index()\");\n            for (size_t i = 0; i &lt; _skeleton-&gt;getNumJoints(); i++)\n                if (_skeleton-&gt;getJoint(i)-&gt;getName() == joint_name)\n                    return i;\n            ROBOT_DART_ASSERT(false, \"joint_index : \" + joint_name + \" is not in the skeleton\", 0);\n        }\n        auto it = _joint_map.find(joint_name);\n        ROBOT_DART_ASSERT(it != _joint_map.end(), \"joint_index : \" + joint_name + \" is not in Joint map\", 0);\n        return it-&gt;second;\n    }\n\n    void Robot::set_color_mode(const std::string&amp; color_mode)\n    {\n        if (color_mode == \"material\")\n            _set_color_mode(dart::dynamics::MeshShape::ColorMode::MATERIAL_COLOR, _skeleton);\n        else if (color_mode == \"assimp\")\n            _set_color_mode(dart::dynamics::MeshShape::ColorMode::COLOR_INDEX, _skeleton);\n        else if (color_mode == \"aspect\")\n            _set_color_mode(dart::dynamics::MeshShape::ColorMode::SHAPE_COLOR, _skeleton);\n        else\n            ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown color mode. Valid values: material, assimp and aspect.\");\n    }\n\n    void Robot::set_color_mode(const std::string&amp; color_mode, const std::string&amp; body_name)\n    {\n        dart::dynamics::MeshShape::ColorMode cmode;\n        if (color_mode == \"material\")\n            cmode = dart::dynamics::MeshShape::ColorMode::MATERIAL_COLOR;\n        else if (color_mode == \"assimp\")\n            cmode = dart::dynamics::MeshShape::ColorMode::COLOR_INDEX;\n        else if (color_mode == \"aspect\")\n            cmode = dart::dynamics::MeshShape::ColorMode::SHAPE_COLOR;\n        else\n            ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown color mode. Valid values: material, assimp and aspect.\");\n\n        auto bn = _skeleton-&gt;getBodyNode(body_name);\n        if (bn) {\n            for (size_t j = 0; j &lt; bn-&gt;getNumShapeNodes(); ++j) {\n                dart::dynamics::ShapeNode* sn = bn-&gt;getShapeNode(j);\n                _set_color_mode(cmode, sn);\n            }\n        }\n    }\n\n    void Robot::set_self_collision(bool enable_self_collisions, bool enable_adjacent_collisions)\n    {\n        _skeleton-&gt;setSelfCollisionCheck(enable_self_collisions);\n        _skeleton-&gt;setAdjacentBodyCheck(enable_adjacent_collisions);\n    }\n\n    bool Robot::self_colliding() const\n    {\n        return _skeleton-&gt;getSelfCollisionCheck();\n    }\n\n    bool Robot::adjacent_colliding() const\n    {\n        return _skeleton-&gt;getAdjacentBodyCheck() &amp;&amp; self_colliding();\n    }\n\n    void Robot::set_cast_shadows(bool cast_shadows) { _cast_shadows = cast_shadows; }\n\n    bool Robot::cast_shadows() const { return _cast_shadows; }\n\n    void Robot::set_ghost(bool ghost) { _is_ghost = ghost; }\n\n    bool Robot::ghost() const { return _is_ghost; }\n\n    void Robot::set_draw_axis(const std::string&amp; body_name, double size)\n    {\n        auto bd = _skeleton-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd, \"Body name does not exist in skeleton\", );\n        std::pair&lt;dart::dynamics::BodyNode*, double&gt; p = {bd, size};\n        auto iter = std::find(_axis_shapes.begin(), _axis_shapes.end(), p);\n        if (iter == _axis_shapes.end())\n            _axis_shapes.push_back(p);\n    }\n\n    void Robot::remove_all_drawing_axis()\n    {\n        _axis_shapes.clear();\n    }\n\n    const std::vector&lt;std::pair&lt;dart::dynamics::BodyNode*, double&gt;&gt;&amp; Robot::drawing_axes() const { return _axis_shapes; }\n\n    dart::dynamics::SkeletonPtr Robot::_load_model(const std::string&amp; filename, const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages, bool is_urdf_string)\n    {\n        ROBOT_DART_EXCEPTION_ASSERT(!filename.empty(), \"Empty URDF filename\");\n\n        dart::dynamics::SkeletonPtr tmp_skel;\n        if (!is_urdf_string) {\n            // search for the right directory for our files\n            std::string model_file = utheque::path(filename, false, std::string(ROBOT_DART_PREFIX));\n            // store the name for future use\n            _model_filename = model_file;\n            _packages = packages;\n            // std::cout &lt;&lt; \"RobotDART:: using: \" &lt;&lt; model_file &lt;&lt; std::endl;\n\n            fs::path path(model_file);\n            std::string extension = path.extension().string();\n            if (extension == \".urdf\") {\n#if DART_VERSION_AT_LEAST(6, 12, 0)\n                dart::io::DartLoader::Options options;\n                // if links have no inertia, we put ~zero mass and very very small inertia\n                options.mDefaultInertia = dart::dynamics::Inertia(1e-10, Eigen::Vector3d::Zero(), Eigen::Matrix3d::Identity() * 1e-6);\n                dart::io::DartLoader loader(options);\n#else\n                dart::io::DartLoader loader;\n#endif\n                for (size_t i = 0; i &lt; packages.size(); i++) {\n                    std::string package = std::get&lt;1&gt;(packages[i]);\n                    std::string package_path = utheque::directory(package, false, std::string(ROBOT_DART_PREFIX));\n                    loader.addPackageDirectory(\n                        std::get&lt;0&gt;(packages[i]), package_path + \"/\" + package);\n                }\n                tmp_skel = loader.parseSkeleton(model_file);\n            }\n            else if (extension == \".sdf\")\n                tmp_skel = dart::io::SdfParser::readSkeleton(model_file);\n            else if (extension == \".skel\") {\n                tmp_skel = dart::io::SkelParser::readSkeleton(model_file);\n                // if the skel file contains a world\n                // try to read the skeleton with name 'robot_name'\n                if (!tmp_skel) {\n                    dart::simulation::WorldPtr world = dart::io::SkelParser::readWorld(model_file);\n                    tmp_skel = world-&gt;getSkeleton(_robot_name);\n                }\n            }\n            else\n                return nullptr;\n        }\n        else {\n            // Load from URDF string\n            dart::io::DartLoader loader;\n            for (size_t i = 0; i &lt; packages.size(); i++) {\n                std::string package = std::get&lt;1&gt;(packages[i]);\n                std::string package_path = utheque::directory(package, false, std::string(ROBOT_DART_PREFIX));\n                loader.addPackageDirectory(std::get&lt;0&gt;(packages[i]), package_path + \"/\" + package);\n            }\n            tmp_skel = loader.parseSkeletonString(filename, \"\");\n        }\n\n        if (tmp_skel == nullptr)\n            return nullptr;\n\n        tmp_skel-&gt;setName(_robot_name);\n        // Set joint limits\n        for (size_t i = 0; i &lt; tmp_skel-&gt;getNumJoints(); ++i) {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n            tmp_skel-&gt;getJoint(i)-&gt;setLimitEnforcement(true);\n#else\n            tmp_skel-&gt;getJoint(i)-&gt;setPositionLimitEnforced(true);\n#endif\n        }\n\n        _set_color_mode(dart::dynamics::MeshShape::ColorMode::SHAPE_COLOR, tmp_skel);\n\n        return tmp_skel;\n    }\n\n    void Robot::_set_color_mode(dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)\n    {\n        for (size_t i = 0; i &lt; skel-&gt;getNumBodyNodes(); ++i) {\n            dart::dynamics::BodyNode* bn = skel-&gt;getBodyNode(i);\n            for (size_t j = 0; j &lt; bn-&gt;getNumShapeNodes(); ++j) {\n                dart::dynamics::ShapeNode* sn = bn-&gt;getShapeNode(j);\n                _set_color_mode(color_mode, sn);\n            }\n        }\n    }\n\n    void Robot::_set_color_mode(dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode* sn)\n    {\n        if (sn-&gt;getVisualAspect()) {\n            dart::dynamics::MeshShape* ms\n                = dynamic_cast&lt;dart::dynamics::MeshShape*&gt;(sn-&gt;getShape().get());\n            if (ms)\n                ms-&gt;setColorMode(color_mode);\n        }\n    }\n\n    void Robot::_set_actuator_type(size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic, bool override_base)\n    {\n        ROBOT_DART_ASSERT(joint_index &lt; _skeleton-&gt;getNumJoints(), \"joint_index index out of bounds\", );\n        auto jt = _skeleton-&gt;getJoint(joint_index);\n        // Do not override 6D base if robot is free and override_base is false\n        if (free() &amp;&amp; (!override_base &amp;&amp; _skeleton-&gt;getRootJoint() == jt))\n            return;\n#if DART_VERSION_AT_LEAST(6, 7, 0)\n        if (override_mimic || jt-&gt;getActuatorType() != dart::dynamics::Joint::MIMIC)\n#endif\n            jt-&gt;setActuatorType(type);\n    }\n\n    void Robot::_set_actuator_types(const std::vector&lt;dart::dynamics::Joint::ActuatorType&gt;&amp; types, bool override_mimic, bool override_base)\n    {\n        ROBOT_DART_ASSERT(types.size() == _skeleton-&gt;getNumJoints(), \"Actuator types vector size is not the same as the joints of the robot\", );\n        // Ignore first root joint if robot is free, and override_base is false\n        bool ignore_base = free() &amp;&amp; !override_base;\n        auto root_jt = _skeleton-&gt;getRootJoint();\n        for (size_t i = 0; i &lt; _skeleton-&gt;getNumJoints(); ++i) {\n            auto jt = _skeleton-&gt;getJoint(i);\n            if (jt-&gt;getNumDofs() == 0 || (ignore_base &amp;&amp; jt == root_jt))\n                continue;\n#if DART_VERSION_AT_LEAST(6, 7, 0)\n            if (override_mimic || jt-&gt;getActuatorType() != dart::dynamics::Joint::MIMIC)\n#endif\n                jt-&gt;setActuatorType(types[i]);\n        }\n    }\n\n    void Robot::_set_actuator_types(dart::dynamics::Joint::ActuatorType type, bool override_mimic, bool override_base)\n    {\n        // Ignore first root joint if robot is free, and override_base is false\n        bool ignore_base = free() &amp;&amp; !override_base;\n        auto root_jt = _skeleton-&gt;getRootJoint();\n        for (size_t i = 0; i &lt; _skeleton-&gt;getNumJoints(); ++i) {\n            auto jt = _skeleton-&gt;getJoint(i);\n            if (jt-&gt;getNumDofs() == 0 || (ignore_base &amp;&amp; jt == root_jt))\n                continue;\n#if DART_VERSION_AT_LEAST(6, 7, 0)\n            if (override_mimic || jt-&gt;getActuatorType() != dart::dynamics::Joint::MIMIC)\n#endif\n                jt-&gt;setActuatorType(type);\n        }\n    }\n\n    dart::dynamics::Joint::ActuatorType Robot::_actuator_type(size_t joint_index) const\n    {\n        ROBOT_DART_ASSERT(joint_index &lt; _skeleton-&gt;getNumJoints(), \"joint_index out of bounds\", dart::dynamics::Joint::ActuatorType::FORCE);\n        return _skeleton-&gt;getJoint(joint_index)-&gt;getActuatorType();\n    }\n\n    std::vector&lt;dart::dynamics::Joint::ActuatorType&gt; Robot::_actuator_types() const\n    {\n        std::vector&lt;dart::dynamics::Joint::ActuatorType&gt; types;\n        for (size_t i = 0; i &lt; _skeleton-&gt;getNumJoints(); ++i) {\n            types.push_back(_skeleton-&gt;getJoint(i)-&gt;getActuatorType());\n        }\n\n        return types;\n    }\n\n    Eigen::MatrixXd Robot::_jacobian(const Eigen::MatrixXd&amp; full_jacobian, const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        if (dof_names.empty())\n            return full_jacobian;\n\n        Eigen::MatrixXd jac_ret(6, dof_names.size());\n\n        for (size_t i = 0; i &lt; dof_names.size(); i++) {\n            auto it = _dof_map.find(dof_names[i]);\n            ROBOT_DART_ASSERT(it != _dof_map.end(), \"_jacobian: \" + dof_names[i] + \" is not in dof_map\", Eigen::MatrixXd());\n\n            jac_ret.col(i) = full_jacobian.col(it-&gt;second);\n        }\n\n        return jac_ret;\n    }\n\n    Eigen::MatrixXd Robot::_mass_matrix(const Eigen::MatrixXd&amp; full_mass_matrix, const std::vector&lt;std::string&gt;&amp; dof_names) const\n    {\n        if (dof_names.empty())\n            return full_mass_matrix;\n\n        Eigen::MatrixXd M_ret(dof_names.size(), dof_names.size());\n\n        for (size_t i = 0; i &lt; dof_names.size(); i++) {\n            auto it = _dof_map.find(dof_names[i]);\n            ROBOT_DART_ASSERT(it != _dof_map.end(), \"mass_matrix: \" + dof_names[i] + \" is not in dof_map\", Eigen::MatrixXd());\n\n            M_ret(i, i) = full_mass_matrix(it-&gt;second, it-&gt;second);\n\n            for (size_t j = i + 1; j &lt; dof_names.size(); j++) {\n                auto it2 = _dof_map.find(dof_names[j]);\n                ROBOT_DART_ASSERT(it2 != _dof_map.end(), \"mass_matrix: \" + dof_names[j] + \" is not in dof_map\", Eigen::MatrixXd());\n\n                M_ret(i, j) = full_mass_matrix(it-&gt;second, it2-&gt;second);\n                M_ret(j, i) = full_mass_matrix(it2-&gt;second, it-&gt;second);\n            }\n        }\n\n        return M_ret;\n    }\n\n    std::shared_ptr&lt;Robot&gt; Robot::create_box(const Eigen::Vector3d&amp; dims, const Eigen::Isometry3d&amp; tf, const std::string&amp; type, double mass, const Eigen::Vector4d&amp; color, const std::string&amp; box_name)\n    {\n        Eigen::Vector6d x;\n        x.head&lt;3&gt;() = dart::math::logMap(tf.linear());\n        x.tail&lt;3&gt;() = tf.translation();\n\n        return create_box(dims, x, type, mass, color, box_name);\n    }\n\n    std::shared_ptr&lt;Robot&gt; Robot::create_box(const Eigen::Vector3d&amp; dims, const Eigen::Vector6d&amp; pose, const std::string&amp; type, double mass, const Eigen::Vector4d&amp; color, const std::string&amp; box_name)\n    {\n        ROBOT_DART_ASSERT((dims.array() &gt; 0.).all(), \"Dimensions should be bigger than zero!\", nullptr);\n        ROBOT_DART_ASSERT(mass &gt; 0., \"Box mass should be bigger than zero!\", nullptr);\n\n        dart::dynamics::SkeletonPtr box_skel = dart::dynamics::Skeleton::create(box_name);\n\n        // Give the box a body\n        dart::dynamics::BodyNodePtr body;\n        if (type == \"free\")\n            body = box_skel-&gt;createJointAndBodyNodePair&lt;dart::dynamics::FreeJoint&gt;(nullptr).second;\n        else\n            body = box_skel-&gt;createJointAndBodyNodePair&lt;dart::dynamics::WeldJoint&gt;(nullptr).second;\n        body-&gt;setName(box_name);\n\n        // Give the body a shape\n        auto box = std::make_shared&lt;dart::dynamics::BoxShape&gt;(dims);\n        auto box_node = body-&gt;createShapeNodeWith&lt;dart::dynamics::VisualAspect,\n            dart::dynamics::CollisionAspect, dart::dynamics::DynamicsAspect&gt;(box);\n        box_node-&gt;getVisualAspect()-&gt;setColor(color);\n        // Set up inertia\n        dart::dynamics::Inertia inertia;\n        inertia.setMass(mass);\n        inertia.setMoment(box-&gt;computeInertia(mass));\n        body-&gt;setInertia(inertia);\n\n        // Put the body into position\n        auto robot = std::make_shared&lt;Robot&gt;(box_skel, box_name);\n\n        if (type == \"free\") // free floating\n            robot-&gt;set_positions(pose);\n        else // fixed\n        {\n            Eigen::Isometry3d T;\n            T.linear() = dart::math::expMapRot(pose.head&lt;3&gt;());\n            T.translation() = pose.tail&lt;3&gt;();\n            body-&gt;getParentJoint()-&gt;setTransformFromParentBodyNode(T);\n        }\n\n        return robot;\n    }\n\n    std::shared_ptr&lt;Robot&gt; Robot::create_ellipsoid(const Eigen::Vector3d&amp; dims, const Eigen::Isometry3d&amp; tf, const std::string&amp; type, double mass, const Eigen::Vector4d&amp; color, const std::string&amp; ellipsoid_name)\n    {\n        Eigen::Vector6d x;\n        x.head&lt;3&gt;() = dart::math::logMap(tf.linear());\n        x.tail&lt;3&gt;() = tf.translation();\n\n        return create_ellipsoid(dims, x, type, mass, color, ellipsoid_name);\n    }\n\n    std::shared_ptr&lt;Robot&gt; Robot::create_ellipsoid(const Eigen::Vector3d&amp; dims, const Eigen::Vector6d&amp; pose, const std::string&amp; type, double mass, const Eigen::Vector4d&amp; color, const std::string&amp; ellipsoid_name)\n    {\n        ROBOT_DART_ASSERT((dims.array() &gt; 0.).all(), \"Dimensions should be bigger than zero!\", nullptr);\n        ROBOT_DART_ASSERT(mass &gt; 0., \"Box mass should be bigger than zero!\", nullptr);\n\n        dart::dynamics::SkeletonPtr ellipsoid_skel = dart::dynamics::Skeleton::create(ellipsoid_name);\n\n        // Give the ellipsoid a body\n        dart::dynamics::BodyNodePtr body;\n        if (type == \"free\")\n            body = ellipsoid_skel-&gt;createJointAndBodyNodePair&lt;dart::dynamics::FreeJoint&gt;(nullptr).second;\n        else\n            body = ellipsoid_skel-&gt;createJointAndBodyNodePair&lt;dart::dynamics::WeldJoint&gt;(nullptr).second;\n        body-&gt;setName(ellipsoid_name);\n\n        // Give the body a shape\n        auto ellipsoid = std::make_shared&lt;dart::dynamics::EllipsoidShape&gt;(dims);\n        auto ellipsoid_node = body-&gt;createShapeNodeWith&lt;dart::dynamics::VisualAspect,\n            dart::dynamics::CollisionAspect, dart::dynamics::DynamicsAspect&gt;(ellipsoid);\n        ellipsoid_node-&gt;getVisualAspect()-&gt;setColor(color);\n        // Set up inertia\n        dart::dynamics::Inertia inertia;\n        inertia.setMass(mass);\n        inertia.setMoment(ellipsoid-&gt;computeInertia(mass));\n        body-&gt;setInertia(inertia);\n\n        auto robot = std::make_shared&lt;Robot&gt;(ellipsoid_skel, ellipsoid_name);\n\n        // Put the body into position\n        if (type == \"free\") // free floating\n            robot-&gt;set_positions(pose);\n        else // fixed\n        {\n            Eigen::Isometry3d T;\n            T.linear() = dart::math::expMapRot(pose.head&lt;3&gt;());\n            T.translation() = pose.tail&lt;3&gt;();\n            body-&gt;getParentJoint()-&gt;setTransformFromParentBodyNode(T);\n        }\n\n        return robot;\n    }\n} // namespace robot_dart\n</code></pre>"},{"location":"api/robot_8hpp/","title":"File robot.hpp","text":"<p>FileList &gt; robot_dart &gt; robot.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;unordered_map&gt;</code></li> <li><code>#include &lt;robot_dart/utils.hpp&gt;</code></li> </ul>"},{"location":"api/robot_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace control"},{"location":"api/robot_8hpp/#classes","title":"Classes","text":"Type Name class Robot <p>The documentation for this class was generated from the following file <code>robot_dart/robot.hpp</code></p>"},{"location":"api/robot_8hpp_source/","title":"File robot.hpp","text":"<p>File List &gt; robot_dart &gt; robot.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_ROBOT_HPP\n#define ROBOT_DART_ROBOT_HPP\n\n#include &lt;unordered_map&gt;\n\n#include &lt;robot_dart/utils.hpp&gt;\n\nnamespace robot_dart {\n    class RobotDARTSimu;\n    namespace control {\n        class RobotControl;\n    }\n\n    class Robot : public std::enable_shared_from_this&lt;Robot&gt; {\n    public:\n        Robot(const std::string&amp; model_file, const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages, const std::string&amp; robot_name = \"robot\", bool is_urdf_string = false, bool cast_shadows = true);\n        Robot(const std::string&amp; model_file, const std::string&amp; robot_name = \"robot\", bool is_urdf_string = false, bool cast_shadows = true);\n        Robot(dart::dynamics::SkeletonPtr skeleton, const std::string&amp; robot_name = \"robot\", bool cast_shadows = true);\n        virtual ~Robot() {}\n\n        std::shared_ptr&lt;Robot&gt; clone() const;\n        std::shared_ptr&lt;Robot&gt; clone_ghost(const std::string&amp; ghost_name = \"ghost\", const Eigen::Vector4d&amp; ghost_color = {0.3, 0.3, 0.3, 0.7}) const;\n\n        dart::dynamics::SkeletonPtr skeleton();\n        dart::dynamics::BodyNode* body_node(const std::string&amp; body_name);\n        dart::dynamics::BodyNode* body_node(size_t body_index);\n\n        dart::dynamics::Joint* joint(const std::string&amp; joint_name);\n        dart::dynamics::Joint* joint(size_t joint_index);\n\n        dart::dynamics::DegreeOfFreedom* dof(const std::string&amp; dof_name);\n        dart::dynamics::DegreeOfFreedom* dof(size_t dof_index);\n\n        const std::string&amp; name() const;\n        // to use the same urdf somewhere else\n        const std::string&amp; model_filename() const { return _model_filename; }\n        const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; model_packages() const { return _packages; }\n\n        void update(double t);\n\n        void reinit_controllers();\n\n        size_t num_controllers() const;\n        std::vector&lt;std::shared_ptr&lt;control::RobotControl&gt;&gt; controllers() const;\n        std::vector&lt;std::shared_ptr&lt;control::RobotControl&gt;&gt; active_controllers() const;\n\n        std::shared_ptr&lt;control::RobotControl&gt; controller(size_t index) const;\n\n        void add_controller(\n            const std::shared_ptr&lt;control::RobotControl&gt;&amp; controller, double weight = 1.0);\n        void remove_controller(const std::shared_ptr&lt;control::RobotControl&gt;&amp; controller);\n        void remove_controller(size_t index);\n        void clear_controllers();\n\n        void fix_to_world();\n        // pose: Orientation-Position\n        void free_from_world(const Eigen::Vector6d&amp; pose = Eigen::Vector6d::Zero());\n\n        bool fixed() const;\n        bool free() const;\n\n        virtual void reset();\n\n        void clear_external_forces();\n        void clear_internal_forces();\n        void reset_commands();\n\n        // actuator type can be: torque, servo, velocity, passive, locked, mimic (only for completeness, use set_mimic to use this)\n        // Be careful that actuator types are per joint and not per DoF\n        void set_actuator_types(const std::string&amp; type, const std::vector&lt;std::string&gt;&amp; joint_names = {}, bool override_mimic = false, bool override_base = false);\n        void set_actuator_type(const std::string&amp; type, const std::string&amp; joint_name, bool override_mimic = false, bool override_base = false);\n        void set_mimic(const std::string&amp; joint_name, const std::string&amp; mimic_joint_name, double multiplier = 1., double offset = 0.);\n\n        std::string actuator_type(const std::string&amp; joint_name) const;\n        std::vector&lt;std::string&gt; actuator_types(const std::vector&lt;std::string&gt;&amp; joint_names = {}) const;\n\n        void set_position_enforced(const std::vector&lt;bool&gt;&amp; enforced, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n        void set_position_enforced(bool enforced, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n\n        std::vector&lt;bool&gt; position_enforced(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n\n        void force_position_bounds();\n\n        void set_damping_coeffs(const std::vector&lt;double&gt;&amp; damps, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n        void set_damping_coeffs(double damp, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n\n        std::vector&lt;double&gt; damping_coeffs(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n\n        void set_coulomb_coeffs(const std::vector&lt;double&gt;&amp; cfrictions, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n        void set_coulomb_coeffs(double cfriction, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n\n        std::vector&lt;double&gt; coulomb_coeffs(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n\n        void set_spring_stiffnesses(const std::vector&lt;double&gt;&amp; stiffnesses, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n        void set_spring_stiffnesses(double stiffness, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n\n        std::vector&lt;double&gt; spring_stiffnesses(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n\n        // the friction direction is in local frame\n        void set_friction_dir(const std::string&amp; body_name, const Eigen::Vector3d&amp; direction);\n        void set_friction_dir(size_t body_index, const Eigen::Vector3d&amp; direction);\n        Eigen::Vector3d friction_dir(const std::string&amp; body_name);\n        Eigen::Vector3d friction_dir(size_t body_index);\n\n        void set_friction_coeff(const std::string&amp; body_name, double value);\n        void set_friction_coeff(size_t body_index, double value);\n        void set_friction_coeffs(double value);\n        double friction_coeff(const std::string&amp; body_name);\n        double friction_coeff(size_t body_index);\n\n        void set_secondary_friction_coeff(const std::string&amp; body_name, double value);\n        void set_secondary_friction_coeff(size_t body_index, double value);\n        void set_secondary_friction_coeffs(double value);\n        double secondary_friction_coeff(const std::string&amp; body_name);\n        double secondary_friction_coeff(size_t body_index);\n\n        void set_restitution_coeff(const std::string&amp; body_name, double value);\n        void set_restitution_coeff(size_t body_index, double value);\n        void set_restitution_coeffs(double value);\n        double restitution_coeff(const std::string&amp; body_name);\n        double restitution_coeff(size_t body_index);\n\n        Eigen::Isometry3d base_pose() const;\n        Eigen::Vector6d base_pose_vec() const;\n        void set_base_pose(const Eigen::Isometry3d&amp; tf);\n        void set_base_pose(const Eigen::Vector6d&amp; pose);\n\n        size_t num_dofs() const;\n        size_t num_joints() const;\n        size_t num_bodies() const;\n\n        Eigen::Vector3d com() const;\n        Eigen::Vector6d com_velocity() const;\n        Eigen::Vector6d com_acceleration() const;\n\n        Eigen::VectorXd positions(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        void set_positions(const Eigen::VectorXd&amp; positions, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n\n        Eigen::VectorXd position_lower_limits(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        void set_position_lower_limits(const Eigen::VectorXd&amp; positions, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n        Eigen::VectorXd position_upper_limits(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        void set_position_upper_limits(const Eigen::VectorXd&amp; positions, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n\n        Eigen::VectorXd velocities(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        void set_velocities(const Eigen::VectorXd&amp; velocities, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n\n        Eigen::VectorXd velocity_lower_limits(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        void set_velocity_lower_limits(const Eigen::VectorXd&amp; velocities, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n        Eigen::VectorXd velocity_upper_limits(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        void set_velocity_upper_limits(const Eigen::VectorXd&amp; velocities, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n\n        Eigen::VectorXd accelerations(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        void set_accelerations(const Eigen::VectorXd&amp; accelerations, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n\n        Eigen::VectorXd acceleration_lower_limits(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        void set_acceleration_lower_limits(const Eigen::VectorXd&amp; accelerations, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n        Eigen::VectorXd acceleration_upper_limits(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        void set_acceleration_upper_limits(const Eigen::VectorXd&amp; accelerations, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n\n        Eigen::VectorXd forces(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        void set_forces(const Eigen::VectorXd&amp; forces, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n\n        Eigen::VectorXd force_lower_limits(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        void set_force_lower_limits(const Eigen::VectorXd&amp; forces, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n        Eigen::VectorXd force_upper_limits(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        void set_force_upper_limits(const Eigen::VectorXd&amp; forces, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n\n        Eigen::VectorXd commands(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        void set_commands(const Eigen::VectorXd&amp; commands, const std::vector&lt;std::string&gt;&amp; dof_names = {});\n\n        std::pair&lt;Eigen::Vector6d, Eigen::Vector6d&gt; force_torque(size_t joint_index) const;\n\n        void set_external_force(const std::string&amp; body_name, const Eigen::Vector3d&amp; force, const Eigen::Vector3d&amp; offset = Eigen::Vector3d::Zero(), bool force_local = false, bool offset_local = true);\n        void set_external_force(size_t body_index, const Eigen::Vector3d&amp; force, const Eigen::Vector3d&amp; offset = Eigen::Vector3d::Zero(), bool force_local = false, bool offset_local = true);\n        void add_external_force(const std::string&amp; body_name, const Eigen::Vector3d&amp; force, const Eigen::Vector3d&amp; offset = Eigen::Vector3d::Zero(), bool force_local = false, bool offset_local = true);\n        void add_external_force(size_t body_index, const Eigen::Vector3d&amp; force, const Eigen::Vector3d&amp; offset = Eigen::Vector3d::Zero(), bool force_local = false, bool offset_local = true);\n\n        void set_external_torque(const std::string&amp; body_name, const Eigen::Vector3d&amp; torque, bool local = false);\n        void set_external_torque(size_t body_index, const Eigen::Vector3d&amp; torque, bool local = false);\n        void add_external_torque(const std::string&amp; body_name, const Eigen::Vector3d&amp; torque, bool local = false);\n        void add_external_torque(size_t body_index, const Eigen::Vector3d&amp; torque, bool local = false);\n\n        Eigen::Vector6d external_forces(const std::string&amp; body_name) const;\n        Eigen::Vector6d external_forces(size_t body_index) const;\n\n        Eigen::Isometry3d body_pose(const std::string&amp; body_name) const;\n        Eigen::Isometry3d body_pose(size_t body_index) const;\n\n        Eigen::Vector6d body_pose_vec(const std::string&amp; body_name) const;\n        Eigen::Vector6d body_pose_vec(size_t body_index) const;\n\n        Eigen::Vector6d body_velocity(const std::string&amp; body_name) const;\n        Eigen::Vector6d body_velocity(size_t body_index) const;\n\n        Eigen::Vector6d body_acceleration(const std::string&amp; body_name) const;\n        Eigen::Vector6d body_acceleration(size_t body_index) const;\n\n        std::vector&lt;std::string&gt; body_names() const;\n        std::string body_name(size_t body_index) const;\n        void set_body_name(size_t body_index, const std::string&amp; body_name);\n        size_t body_index(const std::string&amp; body_name) const;\n\n        double body_mass(const std::string&amp; body_name) const;\n        double body_mass(size_t body_index) const;\n        void set_body_mass(const std::string&amp; body_name, double mass);\n        void set_body_mass(size_t body_index, double mass);\n        void add_body_mass(const std::string&amp; body_name, double mass);\n        void add_body_mass(size_t body_index, double mass);\n\n        Eigen::MatrixXd jacobian(const std::string&amp; body_name, const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        Eigen::MatrixXd jacobian_deriv(const std::string&amp; body_name, const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n\n        Eigen::MatrixXd com_jacobian(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        Eigen::MatrixXd com_jacobian_deriv(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n\n        Eigen::MatrixXd mass_matrix(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        Eigen::MatrixXd aug_mass_matrix(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        Eigen::MatrixXd inv_mass_matrix(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        Eigen::MatrixXd inv_aug_mass_matrix(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n\n        Eigen::VectorXd coriolis_forces(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        Eigen::VectorXd gravity_forces(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        Eigen::VectorXd coriolis_gravity_forces(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n        Eigen::VectorXd constraint_forces(const std::vector&lt;std::string&gt;&amp; dof_names = {}) const;\n\n        // Get only the part of vector for DOFs in dof_names\n        Eigen::VectorXd vec_dof(const Eigen::VectorXd&amp; vec, const std::vector&lt;std::string&gt;&amp; dof_names) const;\n\n        void update_joint_dof_maps();\n        const std::unordered_map&lt;std::string, size_t&gt;&amp; dof_map() const;\n        const std::unordered_map&lt;std::string, size_t&gt;&amp; joint_map() const;\n\n        std::vector&lt;std::string&gt; dof_names(bool filter_mimics = false, bool filter_locked = false, bool filter_passive = false) const;\n        std::vector&lt;std::string&gt; mimic_dof_names() const;\n        std::vector&lt;std::string&gt; locked_dof_names() const;\n        std::vector&lt;std::string&gt; passive_dof_names() const;\n        std::string dof_name(size_t dof_index) const;\n        size_t dof_index(const std::string&amp; dof_name) const;\n\n        std::vector&lt;std::string&gt; joint_names() const;\n        std::string joint_name(size_t joint_index) const;\n        void set_joint_name(size_t joint_index, const std::string&amp; joint_name);\n        size_t joint_index(const std::string&amp; joint_name) const;\n\n        // MATERIAL_COLOR, COLOR_INDEX, SHAPE_COLOR\n        // This applies only to MeshShapes. Color mode can be: \"material\", \"assimp\", or \"aspect\"\n        // \"material\" -&gt; uses the color of the material in the mesh file\n        // \"assimp\" -&gt; uses the color specified by aiMesh::mColor\n        // \"aspect\" -&gt; uses the color defined in the VisualAspect (if not changed, this is what read from the URDF)\n        void set_color_mode(const std::string&amp; color_mode);\n        void set_color_mode(const std::string&amp; color_mode, const std::string&amp; body_name);\n\n        void set_self_collision(bool enable_self_collisions = true, bool enable_adjacent_collisions = false);\n        bool self_colliding() const;\n        // This returns true if self colliding AND adjacent checks are on\n        bool adjacent_colliding() const;\n\n        // GUI options\n        void set_cast_shadows(bool cast_shadows = true);\n        bool cast_shadows() const;\n\n        void set_ghost(bool ghost = true);\n        bool ghost() const;\n\n        void set_draw_axis(const std::string&amp; body_name, double size = 0.25);\n        void remove_all_drawing_axis();\n        const std::vector&lt;std::pair&lt;dart::dynamics::BodyNode*, double&gt;&gt;&amp; drawing_axes() const;\n\n        // helper functions\n        static std::shared_ptr&lt;Robot&gt; create_box(const Eigen::Vector3d&amp; dims,\n            const Eigen::Isometry3d&amp; tf, const std::string&amp; type = \"free\",\n            double mass = 1.0, const Eigen::Vector4d&amp; color = dart::Color::Red(1.0),\n            const std::string&amp; box_name = \"box\");\n        // pose: 6D log_map\n        static std::shared_ptr&lt;Robot&gt; create_box(const Eigen::Vector3d&amp; dims,\n            const Eigen::Vector6d&amp; pose = Eigen::Vector6d::Zero(), const std::string&amp; type = \"free\",\n            double mass = 1.0, const Eigen::Vector4d&amp; color = dart::Color::Red(1.0),\n            const std::string&amp; box_name = \"box\");\n\n        static std::shared_ptr&lt;Robot&gt; create_ellipsoid(const Eigen::Vector3d&amp; dims,\n            const Eigen::Isometry3d&amp; tf, const std::string&amp; type = \"free\",\n            double mass = 1.0, const Eigen::Vector4d&amp; color = dart::Color::Red(1.0),\n            const std::string&amp; ellipsoid_name = \"ellipsoid\");\n        // pose: 6D log_map\n        static std::shared_ptr&lt;Robot&gt; create_ellipsoid(const Eigen::Vector3d&amp; dims,\n            const Eigen::Vector6d&amp; pose = Eigen::Vector6d::Zero(), const std::string&amp; type = \"free\",\n            double mass = 1.0, const Eigen::Vector4d&amp; color = dart::Color::Red(1.0),\n            const std::string&amp; ellipsoid_name = \"ellipsoid\");\n\n    protected:\n        std::string _get_path(const std::string&amp; filename) const;\n        dart::dynamics::SkeletonPtr _load_model(const std::string&amp; filename, const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages = std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;(), bool is_urdf_string = false);\n\n        void _set_color_mode(dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel);\n        void _set_color_mode(dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode* sn);\n        void _set_actuator_type(size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic = false, bool override_base = false);\n        void _set_actuator_types(const std::vector&lt;dart::dynamics::Joint::ActuatorType&gt;&amp; types, bool override_mimic = false, bool override_base = false);\n        void _set_actuator_types(dart::dynamics::Joint::ActuatorType type, bool override_mimic = false, bool override_base = false);\n\n        dart::dynamics::Joint::ActuatorType _actuator_type(size_t joint_index) const;\n        std::vector&lt;dart::dynamics::Joint::ActuatorType&gt; _actuator_types() const;\n\n        Eigen::MatrixXd _jacobian(const Eigen::MatrixXd&amp; full_jacobian, const std::vector&lt;std::string&gt;&amp; dof_names) const;\n        Eigen::MatrixXd _mass_matrix(const Eigen::MatrixXd&amp; full_mass_matrix, const std::vector&lt;std::string&gt;&amp; dof_names) const;\n\n        virtual void _post_addition(RobotDARTSimu*) {}\n        virtual void _post_removal(RobotDARTSimu*) {}\n\n        friend class RobotDARTSimu;\n\n        std::string _robot_name;\n        std::string _model_filename;\n        std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt; _packages;\n        dart::dynamics::SkeletonPtr _skeleton;\n        std::vector&lt;std::shared_ptr&lt;control::RobotControl&gt;&gt; _controllers;\n        std::unordered_map&lt;std::string, size_t&gt; _dof_map, _joint_map;\n        bool _cast_shadows;\n        bool _is_ghost;\n        std::vector&lt;std::pair&lt;dart::dynamics::BodyNode*, double&gt;&gt; _axis_shapes;\n    };\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/dir_1a1ccbdd0954eb7721b1a771872472c9/","title":"Dir robot_dart/control","text":"<p>FileList &gt; control</p>"},{"location":"api/dir_1a1ccbdd0954eb7721b1a771872472c9/#files","title":"Files","text":"Type Name file pd_control.cpp file pd_control.hpp file policy_control.hpp file robot_control.cpp file robot_control.hpp file simple_control.cpp file simple_control.hpp <p>The documentation for this class was generated from the following file <code>robot_dart/control/</code></p>"},{"location":"api/pd__control_8cpp/","title":"File pd_control.cpp","text":"<p>FileList &gt; control &gt; pd_control.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"pd_control.hpp\"</code></li> <li><code>#include \"robot_dart/robot.hpp\"</code></li> <li><code>#include \"robot_dart/utils.hpp\"</code></li> <li><code>#include \"robot_dart/utils_headers_dart_dynamics.hpp\"</code></li> </ul>"},{"location":"api/pd__control_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace control <p>The documentation for this class was generated from the following file <code>robot_dart/control/pd_control.cpp</code></p>"},{"location":"api/pd__control_8cpp_source/","title":"File pd_control.cpp","text":"<p>File List &gt; control &gt; pd_control.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"pd_control.hpp\"\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/utils.hpp\"\n#include \"robot_dart/utils_headers_dart_dynamics.hpp\"\n\nnamespace robot_dart {\n    namespace control {\n        PDControl::PDControl() : RobotControl() {}\n        PDControl::PDControl(const Eigen::VectorXd&amp; ctrl, bool full_control, bool use_angular_errors) : RobotControl(ctrl, full_control), _use_angular_errors(use_angular_errors) {}\n        PDControl::PDControl(const Eigen::VectorXd&amp; ctrl, const std::vector&lt;std::string&gt;&amp; controllable_dofs, bool use_angular_errors) : RobotControl(ctrl, controllable_dofs), _use_angular_errors(use_angular_errors) {}\n\n        void PDControl::configure()\n        {\n            if (_ctrl.size() == _control_dof)\n                _active = true;\n\n            if (_Kp.size() == 0)\n                set_pd(10., 0.1);\n        }\n\n        Eigen::VectorXd PDControl::calculate(double)\n        {\n            ROBOT_DART_ASSERT(_control_dof == _ctrl.size(), \"PDControl: Controller parameters size is not the same as DOFs of the robot\", Eigen::VectorXd::Zero(_control_dof));\n            auto robot = _robot.lock();\n\n            Eigen::VectorXd dq = robot-&gt;velocities(_controllable_dofs);\n\n            Eigen::VectorXd error;\n            if (!_use_angular_errors) {\n                Eigen::VectorXd q = robot-&gt;positions(_controllable_dofs);\n                error = _ctrl - q;\n            }\n            else {\n                error = Eigen::VectorXd::Zero(_control_dof);\n\n                std::unordered_map&lt;size_t, Eigen::VectorXd&gt; joint_vals, joint_desired, errors;\n\n                for (int i = 0; i &lt; _control_dof; ++i) {\n                    auto dof = robot-&gt;dof(_controllable_dofs[i]);\n                    size_t joint_index = dof-&gt;getJoint()-&gt;getJointIndexInSkeleton();\n                    if (joint_vals.find(joint_index) == joint_vals.end()) {\n                        joint_vals[joint_index] = dof-&gt;getJoint()-&gt;getPositions();\n                        joint_desired[joint_index] = dof-&gt;getJoint()-&gt;getPositions();\n                    }\n\n                    joint_desired[joint_index][dof-&gt;getIndexInJoint()] = _ctrl[i];\n                }\n\n                for (int i = 0; i &lt; _control_dof; ++i) {\n                    auto dof = robot-&gt;dof(_controllable_dofs[i]);\n                    size_t joint_index = dof-&gt;getJoint()-&gt;getJointIndexInSkeleton();\n                    size_t dof_index_in_joint = dof-&gt;getIndexInJoint();\n\n                    Eigen::VectorXd val;\n                    if (errors.find(joint_index) == errors.end()) {\n                        val = Eigen::VectorXd(dof-&gt;getJoint()-&gt;getNumDofs());\n\n                        std::string joint_type = robot-&gt;dof(_controllable_dofs[i])-&gt;getJoint()-&gt;getType();\n                        if (joint_type == dart::dynamics::RevoluteJoint::getStaticType()) {\n                            val[dof_index_in_joint] = _angle_dist(_ctrl[i], joint_vals[joint_index][dof_index_in_joint]);\n                        }\n                        else if (joint_type == dart::dynamics::BallJoint::getStaticType()) {\n                            Eigen::Matrix3d R_desired = dart::math::expMapRot(joint_desired[joint_index]);\n                            Eigen::Matrix3d R_current = dart::math::expMapRot(joint_vals[joint_index]);\n                            val = dart::math::logMap(R_desired * R_current.transpose());\n                        }\n                        else if (joint_type == dart::dynamics::EulerJoint::getStaticType()) {\n                            // TO-DO: Check if this is 100% correct\n                            for (size_t d = 0; d &lt; dof-&gt;getJoint()-&gt;getNumDofs(); d++)\n                                val[d] = _angle_dist(joint_desired[joint_index][d], joint_vals[joint_index][d]);\n                        }\n                        else if (joint_type == dart::dynamics::FreeJoint::getStaticType()) {\n                            auto free_joint = static_cast&lt;dart::dynamics::FreeJoint*&gt;(dof-&gt;getJoint());\n\n                            Eigen::Isometry3d tf_desired = free_joint-&gt;convertToTransform(joint_desired[joint_index]);\n                            Eigen::Isometry3d tf_current = free_joint-&gt;convertToTransform(joint_vals[joint_index]);\n\n                            val.tail(3) = tf_desired.translation() - tf_current.translation();\n                            val.head(3) = dart::math::logMap(tf_desired.linear().matrix() * tf_current.linear().matrix().transpose());\n                        }\n                        else {\n                            val[dof_index_in_joint] = _ctrl[i] - joint_vals[joint_index][dof_index_in_joint];\n                        }\n\n                        errors[joint_index] = val;\n                    }\n                    else\n                        val = errors[joint_index];\n                    error(i) = val[dof_index_in_joint];\n                }\n            }\n\n            Eigen::VectorXd commands = _Kp.array() * error.array() - _Kd.array() * dq.array();\n\n            return commands;\n        }\n\n        void PDControl::set_pd(double Kp, double Kd)\n        {\n            _Kp = Eigen::VectorXd::Constant(_control_dof, Kp);\n            _Kd = Eigen::VectorXd::Constant(_control_dof, Kd);\n        }\n\n        void PDControl::set_pd(const Eigen::VectorXd&amp; Kp, const Eigen::VectorXd&amp; Kd)\n        {\n            ROBOT_DART_ASSERT(Kp.size() == _control_dof, \"PDControl: The Kp size is not the same as the DOFs!\", );\n            ROBOT_DART_ASSERT(Kd.size() == _control_dof, \"PDControl: The Kd size is not the same as the DOFs!\", );\n            _Kp = Kp;\n            _Kd = Kd;\n        }\n\n        std::pair&lt;Eigen::VectorXd, Eigen::VectorXd&gt; PDControl::pd() const\n        {\n            return std::make_pair(_Kp, _Kd);\n        }\n\n        bool PDControl::using_angular_errors() const { return _use_angular_errors; }\n\n        void PDControl::set_use_angular_errors(bool enable) { _use_angular_errors = enable; }\n\n        std::shared_ptr&lt;RobotControl&gt; PDControl::clone() const\n        {\n            return std::make_shared&lt;PDControl&gt;(*this);\n        }\n\n        double PDControl::_angle_dist(double target, double current)\n        {\n            double theta = target - current;\n            while (theta &lt; -M_PI)\n                theta += 2 * M_PI;\n            while (theta &gt; M_PI)\n                theta -= 2 * M_PI;\n            return theta;\n        }\n    } // namespace control\n} // namespace robot_dart\n</code></pre>"},{"location":"api/pd__control_8hpp/","title":"File pd_control.hpp","text":"<p>FileList &gt; control &gt; pd_control.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;utility&gt;</code></li> <li><code>#include &lt;robot_dart/control/robot_control.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/robot.hpp&gt;</code></li> </ul>"},{"location":"api/pd__control_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace control"},{"location":"api/pd__control_8hpp/#classes","title":"Classes","text":"Type Name class PDControl <p>The documentation for this class was generated from the following file <code>robot_dart/control/pd_control.hpp</code></p>"},{"location":"api/pd__control_8hpp_source/","title":"File pd_control.hpp","text":"<p>File List &gt; control &gt; pd_control.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_CONTROL_PD_CONTROL\n#define ROBOT_DART_CONTROL_PD_CONTROL\n\n#include &lt;utility&gt;\n\n#include &lt;robot_dart/control/robot_control.hpp&gt;\n#include &lt;robot_dart/robot.hpp&gt;\n\nnamespace robot_dart {\n    namespace control {\n\n        class PDControl : public RobotControl {\n        public:\n            PDControl();\n            PDControl(const Eigen::VectorXd&amp; ctrl, bool full_control = false, bool use_angular_errors = true);\n            PDControl(const Eigen::VectorXd&amp; ctrl, const std::vector&lt;std::string&gt;&amp; controllable_dofs, bool use_angular_errors = true);\n\n            void configure() override;\n            Eigen::VectorXd calculate(double) override;\n\n            void set_pd(double p, double d);\n            void set_pd(const Eigen::VectorXd&amp; p, const Eigen::VectorXd&amp; d);\n\n            std::pair&lt;Eigen::VectorXd, Eigen::VectorXd&gt; pd() const;\n\n            bool using_angular_errors() const;\n            void set_use_angular_errors(bool enable = true);\n\n            std::shared_ptr&lt;RobotControl&gt; clone() const override;\n\n        protected:\n            Eigen::VectorXd _Kp;\n            Eigen::VectorXd _Kd;\n            bool _use_angular_errors;\n\n            static double _angle_dist(double target, double current);\n        };\n    } // namespace control\n} // namespace robot_dart\n#endif\n</code></pre>"},{"location":"api/policy__control_8hpp/","title":"File policy_control.hpp","text":"<p>FileList &gt; control &gt; policy_control.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/control/robot_control.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/robot.hpp&gt;</code></li> </ul>"},{"location":"api/policy__control_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace control"},{"location":"api/policy__control_8hpp/#classes","title":"Classes","text":"Type Name class PolicyControl &lt;typename Policy&gt; <p>The documentation for this class was generated from the following file <code>robot_dart/control/policy_control.hpp</code></p>"},{"location":"api/policy__control_8hpp_source/","title":"File policy_control.hpp","text":"<p>File List &gt; control &gt; policy_control.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_CONTROL_POLICY_CONTROL\n#define ROBOT_DART_CONTROL_POLICY_CONTROL\n\n#include &lt;robot_dart/control/robot_control.hpp&gt;\n#include &lt;robot_dart/robot.hpp&gt;\n\nnamespace robot_dart {\n    namespace control {\n\n        template &lt;typename Policy&gt;\n        class PolicyControl : public RobotControl {\n        public:\n            PolicyControl() : RobotControl() {}\n            PolicyControl(double dt, const Eigen::VectorXd&amp; ctrl, bool full_control = false) : RobotControl(ctrl, full_control), _dt(dt), _first(true), _full_dt(false) {}\n            PolicyControl(const Eigen::VectorXd&amp; ctrl, bool full_control = false) : RobotControl(ctrl, full_control), _dt(0.), _first(true), _full_dt(true) {}\n            PolicyControl(double dt, const Eigen::VectorXd&amp; ctrl, const std::vector&lt;std::string&gt;&amp; controllable_dofs) : RobotControl(ctrl, controllable_dofs), _dt(dt), _first(true), _full_dt(false) {}\n            PolicyControl(const Eigen::VectorXd&amp; ctrl, const std::vector&lt;std::string&gt;&amp; controllable_dofs) : RobotControl(ctrl, controllable_dofs), _dt(0.), _first(true), _full_dt(true) {}\n\n            void configure() override\n            {\n                _policy.set_params(_ctrl);\n                if (_policy.output_size() == _control_dof)\n                    _active = true;\n                else\n                    ROBOT_DART_WARNING(_policy.output_size() != _control_dof, \"Control DoF != Policy output size. Policy is not active.\");\n                auto robot = _robot.lock();\n                if (_full_dt)\n                    _dt = robot-&gt;skeleton()-&gt;getTimeStep();\n                _first = true;\n                _i = 0;\n                _threshold = -robot-&gt;skeleton()-&gt;getTimeStep() * 0.5;\n            }\n\n            void set_h_params(const Eigen::VectorXd&amp; h_params)\n            {\n                _policy.set_h_params(h_params);\n            }\n\n            Eigen::VectorXd h_params() const\n            {\n                return _policy.h_params();\n            }\n\n            Eigen::VectorXd calculate(double t) override\n            {\n                ROBOT_DART_ASSERT(_control_dof == _policy.output_size(), \"PolicyControl: Policy output size is not the same as DOFs of the robot\", Eigen::VectorXd::Zero(_control_dof));\n                if (_first || _full_dt || (t - _prev_time - _dt) &gt;= _threshold) {\n                    _prev_commands = _policy.query(_robot.lock(), t);\n\n                    _first = false;\n                    _prev_time = t;\n                    _i++;\n                }\n\n                return _prev_commands;\n            }\n\n            std::shared_ptr&lt;RobotControl&gt; clone() const override\n            {\n                return std::make_shared&lt;PolicyControl&gt;(*this);\n            }\n\n        protected:\n            int _i;\n            Policy _policy;\n            double _dt, _prev_time, _threshold;\n            Eigen::VectorXd _prev_commands;\n            bool _first, _full_dt;\n        };\n    } // namespace control\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/robot__control_8cpp/","title":"File robot_control.cpp","text":"<p>FileList &gt; control &gt; robot_control.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_control.hpp\"</code></li> <li><code>#include \"robot_dart/robot.hpp\"</code></li> <li><code>#include \"robot_dart/utils.hpp\"</code></li> <li><code>#include \"robot_dart/utils_headers_dart_dynamics.hpp\"</code></li> </ul>"},{"location":"api/robot__control_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace control <p>The documentation for this class was generated from the following file <code>robot_dart/control/robot_control.cpp</code></p>"},{"location":"api/robot__control_8cpp_source/","title":"File robot_control.cpp","text":"<p>File List &gt; control &gt; robot_control.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"robot_control.hpp\"\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/utils.hpp\"\n#include \"robot_dart/utils_headers_dart_dynamics.hpp\"\n\nnamespace robot_dart {\n    namespace control {\n        RobotControl::RobotControl() : _weight(1.), _active(false), _check_free(true) {}\n        RobotControl::RobotControl(const Eigen::VectorXd&amp; ctrl, const std::vector&lt;std::string&gt;&amp; controllable_dofs) : _ctrl(ctrl), _weight(1.), _active(false), _check_free(false), _controllable_dofs(controllable_dofs) {}\n        RobotControl::RobotControl(const Eigen::VectorXd&amp; ctrl, bool full_control) : _ctrl(ctrl), _weight(1.), _active(false), _check_free(!full_control) {}\n\n        void RobotControl::set_parameters(const Eigen::VectorXd&amp; ctrl)\n        {\n            _ctrl = ctrl;\n            _active = false;\n            init();\n        }\n\n        const Eigen::VectorXd&amp; RobotControl::parameters() const\n        {\n            return _ctrl;\n        }\n\n        void RobotControl::init()\n        {\n            ROBOT_DART_ASSERT(_robot.use_count() &gt; 0, \"RobotControl: parent robot should be initialized; use set_robot()\", );\n            auto robot = _robot.lock();\n            _dof = robot-&gt;skeleton()-&gt;getNumDofs();\n\n            if (_check_free &amp;&amp; robot-&gt;free()) {\n                auto names = robot-&gt;dof_names(true, true, true);\n                _controllable_dofs = std::vector&lt;std::string&gt;(names.begin() + 6, names.end());\n            }\n            else if (_controllable_dofs.empty()) {\n                // we cannot control mimic, locked and passive joints\n                _controllable_dofs = robot-&gt;dof_names(true, true, true);\n            }\n\n            _control_dof = _controllable_dofs.size();\n\n            configure();\n        }\n\n        void RobotControl::set_robot(const std::shared_ptr&lt;Robot&gt;&amp; robot)\n        {\n            _robot = robot;\n        }\n\n        std::shared_ptr&lt;Robot&gt; RobotControl::robot() const\n        {\n            return _robot.lock();\n        }\n\n        void RobotControl::activate(bool enable)\n        {\n            _active = false;\n            if (enable) {\n                init();\n            }\n        }\n\n        bool RobotControl::active() const\n        {\n            return _active;\n        }\n\n        const std::vector&lt;std::string&gt;&amp; RobotControl::controllable_dofs() const { return _controllable_dofs; }\n\n        double RobotControl::weight() const\n        {\n            return _weight;\n        }\n\n        void RobotControl::set_weight(double weight)\n        {\n            _weight = weight;\n        }\n    } // namespace control\n} // namespace robot_dart\n</code></pre>"},{"location":"api/robot__control_8hpp/","title":"File robot_control.hpp","text":"<p>FileList &gt; control &gt; robot_control.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/utils.hpp&gt;</code></li> <li><code>#include &lt;memory&gt;</code></li> <li><code>#include &lt;vector&gt;</code></li> </ul>"},{"location":"api/robot__control_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace control"},{"location":"api/robot__control_8hpp/#classes","title":"Classes","text":"Type Name class RobotControl <p>The documentation for this class was generated from the following file <code>robot_dart/control/robot_control.hpp</code></p>"},{"location":"api/robot__control_8hpp_source/","title":"File robot_control.hpp","text":"<p>File List &gt; control &gt; robot_control.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_CONTROL_ROBOT_CONTROL\n#define ROBOT_DART_CONTROL_ROBOT_CONTROL\n\n#include &lt;robot_dart/utils.hpp&gt;\n\n#include &lt;memory&gt;\n#include &lt;vector&gt;\n\nnamespace robot_dart {\n    class Robot;\n\n    namespace control {\n\n        class RobotControl {\n        public:\n            RobotControl();\n            RobotControl(const Eigen::VectorXd&amp; ctrl, bool full_control = false);\n            RobotControl(const Eigen::VectorXd&amp; ctrl, const std::vector&lt;std::string&gt;&amp; controllable_dofs);\n            virtual ~RobotControl() {}\n\n            void set_parameters(const Eigen::VectorXd&amp; ctrl);\n            const Eigen::VectorXd&amp; parameters() const;\n\n            void init();\n\n            void set_robot(const std::shared_ptr&lt;Robot&gt;&amp; robot);\n            std::shared_ptr&lt;Robot&gt; robot() const;\n\n            void activate(bool enable = true);\n            bool active() const;\n\n            const std::vector&lt;std::string&gt;&amp; controllable_dofs() const;\n\n            double weight() const;\n            void set_weight(double weight);\n\n            virtual void configure() = 0;\n            // TO-DO: Maybe make this const?\n            virtual Eigen::VectorXd calculate(double t) = 0;\n            virtual std::shared_ptr&lt;RobotControl&gt; clone() const = 0;\n\n        protected:\n            std::weak_ptr&lt;Robot&gt; _robot;\n            Eigen::VectorXd _ctrl;\n            double _weight;\n            bool _active, _check_free = false;\n            int _dof, _control_dof;\n            std::vector&lt;std::string&gt; _controllable_dofs;\n        };\n    } // namespace control\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/simple__control_8cpp/","title":"File simple_control.cpp","text":"<p>FileList &gt; control &gt; simple_control.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"simple_control.hpp\"</code></li> <li><code>#include \"robot_dart/robot.hpp\"</code></li> <li><code>#include \"robot_dart/utils.hpp\"</code></li> </ul>"},{"location":"api/simple__control_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace control <p>The documentation for this class was generated from the following file <code>robot_dart/control/simple_control.cpp</code></p>"},{"location":"api/simple__control_8cpp_source/","title":"File simple_control.cpp","text":"<p>File List &gt; control &gt; simple_control.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"simple_control.hpp\"\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/utils.hpp\"\n\nnamespace robot_dart {\n    namespace control {\n        SimpleControl::SimpleControl() : RobotControl() {}\n        SimpleControl::SimpleControl(const Eigen::VectorXd&amp; ctrl, bool full_control) : RobotControl(ctrl, full_control) {}\n        SimpleControl::SimpleControl(const Eigen::VectorXd&amp; ctrl, const std::vector&lt;std::string&gt;&amp; controllable_dofs) : RobotControl(ctrl, controllable_dofs) {}\n\n        void SimpleControl::configure()\n        {\n            if (_ctrl.size() == _control_dof)\n                _active = true;\n        }\n\n        Eigen::VectorXd SimpleControl::calculate(double)\n        {\n            ROBOT_DART_ASSERT(_control_dof == _ctrl.size(), \"SimpleControl: Controller parameters size is not the same as DOFs of the robot\", Eigen::VectorXd::Zero(_control_dof));\n            return _ctrl;\n        }\n\n        std::shared_ptr&lt;RobotControl&gt; SimpleControl::clone() const\n        {\n            return std::make_shared&lt;SimpleControl&gt;(*this);\n        }\n    } // namespace control\n} // namespace robot_dart\n</code></pre>"},{"location":"api/simple__control_8hpp/","title":"File simple_control.hpp","text":"<p>FileList &gt; control &gt; simple_control.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/control/robot_control.hpp&gt;</code></li> </ul>"},{"location":"api/simple__control_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace control"},{"location":"api/simple__control_8hpp/#classes","title":"Classes","text":"Type Name class SimpleControl <p>The documentation for this class was generated from the following file <code>robot_dart/control/simple_control.hpp</code></p>"},{"location":"api/simple__control_8hpp_source/","title":"File simple_control.hpp","text":"<p>File List &gt; control &gt; simple_control.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_CONTROL_SIMPLE_CONTROL\n#define ROBOT_DART_CONTROL_SIMPLE_CONTROL\n\n#include &lt;robot_dart/control/robot_control.hpp&gt;\n\nnamespace robot_dart {\n    namespace control {\n\n        class SimpleControl : public RobotControl {\n        public:\n            SimpleControl();\n            SimpleControl(const Eigen::VectorXd&amp; ctrl, bool full_control = false);\n            SimpleControl(const Eigen::VectorXd&amp; ctrl, const std::vector&lt;std::string&gt;&amp; controllable_dofs);\n\n            void configure() override;\n            Eigen::VectorXd calculate(double) override;\n            std::shared_ptr&lt;RobotControl&gt; clone() const override;\n        };\n    } // namespace control\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/dir_6a9d4b7ec29c938d1d9a486c655cfc8a/","title":"Dir robot_dart/gui","text":"<p>FileList &gt; gui</p>"},{"location":"api/dir_6a9d4b7ec29c938d1d9a486c655cfc8a/#files","title":"Files","text":"Type Name file base.hpp file helper.cpp file helper.hpp file stb_image_write.h"},{"location":"api/dir_6a9d4b7ec29c938d1d9a486c655cfc8a/#directories","title":"Directories","text":"Type Name dir magnum <p>The documentation for this class was generated from the following file <code>robot_dart/gui/</code></p>"},{"location":"api/base_8hpp/","title":"File base.hpp","text":"<p>FileList &gt; gui &gt; base.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/helper.hpp&gt;</code></li> </ul>"},{"location":"api/base_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui"},{"location":"api/base_8hpp/#classes","title":"Classes","text":"Type Name class Base <p>The documentation for this class was generated from the following file <code>robot_dart/gui/base.hpp</code></p>"},{"location":"api/base_8hpp_source/","title":"File base.hpp","text":"<p>File List &gt; gui &gt; base.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_BASE_HPP\n#define ROBOT_DART_GUI_BASE_HPP\n\n#include &lt;robot_dart/gui/helper.hpp&gt;\n\nnamespace robot_dart {\n    class RobotDARTSimu;\n\n    namespace gui {\n        class Base {\n        public:\n            Base() {}\n\n            virtual ~Base() {}\n\n            virtual void set_simu(RobotDARTSimu* simu) { _simu = simu; }\n            const RobotDARTSimu* simu() const { return _simu; }\n\n            virtual bool done() const { return false; }\n\n            virtual void refresh() {}\n\n            virtual void set_render_period(double) {}\n\n            virtual void set_enable(bool) {}\n            virtual void set_fps(int) {}\n\n            virtual Image image() { return Image(); }\n            virtual GrayscaleImage depth_image() { return GrayscaleImage(); }\n            virtual GrayscaleImage raw_depth_image() { return GrayscaleImage(); }\n            virtual DepthImage depth_array() { return DepthImage(); }\n\n            virtual size_t width() const { return 0; }\n            virtual size_t height() const { return 0; }\n\n        protected:\n            RobotDARTSimu* _simu = nullptr;\n        };\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/helper_8cpp/","title":"File helper.cpp","text":"<p>FileList &gt; gui &gt; helper.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"helper.hpp\"</code></li> <li><code>#include \"stb_image_write.h\"</code></li> </ul>"},{"location":"api/helper_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui"},{"location":"api/helper_8cpp/#macros","title":"Macros","text":"Type Name define STB_IMAGE_WRITE_IMPLEMENTATION"},{"location":"api/helper_8cpp/#macro-definition-documentation","title":"Macro Definition Documentation","text":""},{"location":"api/helper_8cpp/#define-stb_image_write_implementation","title":"define STB_IMAGE_WRITE_IMPLEMENTATION","text":"<pre><code>#define STB_IMAGE_WRITE_IMPLEMENTATION \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/helper.cpp</code></p>"},{"location":"api/helper_8cpp_source/","title":"File helper.cpp","text":"<p>File List &gt; gui &gt; helper.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"helper.hpp\"\n\n#define STB_IMAGE_WRITE_IMPLEMENTATION\n#include \"stb_image_write.h\"\n\nnamespace robot_dart {\n    namespace gui {\n        void save_png_image(const std::string&amp; filename, const Image&amp; rgb)\n        {\n            auto ends_with = [](const std::string&amp; value, const std::string&amp; ending) {\n                if (ending.size() &gt; value.size())\n                    return false;\n                return std::equal(ending.rbegin(), ending.rend(), value.rbegin());\n            };\n\n            std::string png = \".png\";\n            if (ends_with(filename, png))\n                png = \"\";\n\n            stbi_write_png((filename + png).c_str(), rgb.width, rgb.height, rgb.channels, rgb.data.data(), rgb.width * rgb.channels);\n        }\n\n        void save_png_image(const std::string&amp; filename, const GrayscaleImage&amp; gray)\n        {\n            auto ends_with = [](const std::string&amp; value, const std::string&amp; ending) {\n                if (ending.size() &gt; value.size())\n                    return false;\n                return std::equal(ending.rbegin(), ending.rend(), value.rbegin());\n            };\n\n            std::string png = \".png\";\n            if (ends_with(filename, png))\n                png = \"\";\n\n            stbi_write_png((filename + png).c_str(), gray.width, gray.height, 1, gray.data.data(), gray.width);\n        }\n\n        GrayscaleImage convert_rgb_to_grayscale(const Image&amp; rgb)\n        {\n            assert(rgb.channels == 3);\n            size_t width = rgb.width;\n            size_t height = rgb.height;\n\n            GrayscaleImage gray;\n            gray.width = width;\n            gray.height = height;\n            gray.data.resize(width * height);\n\n            for (size_t h = 0; h &lt; height; h++) {\n                for (size_t w = 0; w &lt; width; w++) {\n                    int id = w + h * width;\n                    int id_rgb = w * rgb.channels + h * (width * rgb.channels);\n                    uint8_t color = 0.3 * rgb.data[id_rgb + 0] + 0.59 * rgb.data[id_rgb + 1] + 0.11 * rgb.data[id_rgb + 2];\n                    gray.data[id] = color;\n                }\n            }\n\n            return gray;\n        }\n\n        std::vector&lt;Eigen::Vector3d&gt; point_cloud_from_depth_array(const DepthImage&amp; depth_image, const Eigen::Matrix3d&amp; intrinsic_matrix, const Eigen::Matrix4d&amp; tf, double far_plane)\n        {\n            // This is assuming that K is normal intrisinc matrix (i.e., camera pointing to +Z),\n            // but an OpenGL camera (i.e., pointing to -Z). Thus it transforms the points accordingly\n            // TO-DO: Format the intrinsic matrix correctly, and take as an argument the camera orientation\n            // with respect to the normal cameras. See http://ksimek.github.io/2013/06/03/calibrated_cameras_in_opengl/.\n            auto point_3d = [](const Eigen::Matrix3d&amp; K, size_t u, size_t v, double depth) {\n                double fx = K(0, 0);\n                double fy = K(1, 1);\n                double cx = K(0, 2);\n                double cy = K(1, 2);\n                double gamma = K(0, 1);\n\n                Eigen::Vector3d p;\n                p &lt;&lt; 0., 0., -depth;\n\n                p(1) = (cy - v) * depth / fy;\n                p(0) = -((cx - u) * depth - gamma * p(1)) / fx;\n\n                return p;\n            };\n\n            std::vector&lt;Eigen::Vector3d&gt; point_cloud;\n\n            size_t height = depth_image.height;\n            size_t width = depth_image.width;\n            for (size_t h = 0; h &lt; height; h++) {\n                for (size_t w = 0; w &lt; width; w++) {\n                    int id = w + h * width;\n                    if (depth_image.data[id] &gt;= 0.99 * far_plane) // close to far plane\n                        continue;\n                    Eigen::Vector4d pp;\n                    pp.head(3) = point_3d(intrinsic_matrix, w, h, depth_image.data[id]);\n                    pp.tail(1) &lt;&lt; 1.;\n                    pp = tf.inverse() * pp;\n\n                    point_cloud.push_back(pp.head(3));\n                }\n            }\n\n            return point_cloud;\n        }\n    } // namespace gui\n} // namespace robot_dart\n</code></pre>"},{"location":"api/helper_8hpp/","title":"File helper.hpp","text":"<p>FileList &gt; gui &gt; helper.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;string&gt;</code></li> <li><code>#include &lt;vector&gt;</code></li> <li><code>#include &lt;robot_dart/utils.hpp&gt;</code></li> </ul>"},{"location":"api/helper_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui"},{"location":"api/helper_8hpp/#classes","title":"Classes","text":"Type Name struct DepthImage struct GrayscaleImage struct Image <p>The documentation for this class was generated from the following file <code>robot_dart/gui/helper.hpp</code></p>"},{"location":"api/helper_8hpp_source/","title":"File helper.hpp","text":"<p>File List &gt; gui &gt; helper.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_HELPER_HPP\n#define ROBOT_DART_GUI_HELPER_HPP\n\n#include &lt;string&gt;\n#include &lt;vector&gt;\n\n#include &lt;robot_dart/utils.hpp&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        struct Image {\n            size_t width = 0, height = 0;\n            size_t channels = 3;\n            std::vector&lt;uint8_t&gt; data;\n        };\n\n        struct GrayscaleImage {\n            size_t width = 0, height = 0;\n            std::vector&lt;uint8_t&gt; data;\n        };\n\n        struct DepthImage {\n            size_t width = 0, height = 0;\n            std::vector&lt;double&gt; data;\n        };\n\n        void save_png_image(const std::string&amp; filename, const Image&amp; rgb);\n        void save_png_image(const std::string&amp; filename, const GrayscaleImage&amp; gray);\n\n        GrayscaleImage convert_rgb_to_grayscale(const Image&amp; rgb);\n\n        std::vector&lt;Eigen::Vector3d&gt; point_cloud_from_depth_array(const DepthImage&amp; depth_image, const Eigen::Matrix3d&amp; intrinsic_matrix, const Eigen::Matrix4d&amp; tf, double far_plane = 1000.);\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/dir_5d18adecbc10cabf3ca51da31f2acdd1/","title":"Dir robot_dart/gui/magnum","text":"<p>FileList &gt; gui &gt; magnum</p>"},{"location":"api/dir_5d18adecbc10cabf3ca51da31f2acdd1/#files","title":"Files","text":"Type Name file base_application.cpp file base_application.hpp file base_graphics.hpp file drawables.cpp file drawables.hpp file glfw_application.cpp file glfw_application.hpp file graphics.cpp file graphics.hpp file types.hpp file utils_headers_eigen.hpp file windowless_gl_application.cpp file windowless_gl_application.hpp file windowless_graphics.cpp file windowless_graphics.hpp"},{"location":"api/dir_5d18adecbc10cabf3ca51da31f2acdd1/#directories","title":"Directories","text":"Type Name dir gs dir sensor <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/</code></p>"},{"location":"api/base__application_8cpp/","title":"File base_application.cpp","text":"<p>FileList &gt; gui &gt; magnum &gt; base_application.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"base_application.hpp\"</code></li> <li><code>#include &lt;robot_dart/gui/magnum/gs/helper.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/robot_dart_simu.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/utils.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/utils_headers_dart_dynamics.hpp&gt;</code></li> <li><code>#include &lt;Corrade/Containers/StridedArrayView.h&gt;</code></li> <li><code>#include &lt;Corrade/Utility/Resource.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/CubeMapTexture.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/DefaultFramebuffer.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Renderer.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Texture.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/TextureFormat.h&gt;</code></li> <li><code>#include &lt;Magnum/MeshTools/Compile.h&gt;</code></li> <li><code>#include &lt;Magnum/MeshTools/CompressIndices.h&gt;</code></li> <li><code>#include &lt;Magnum/MeshTools/Interleave.h&gt;</code></li> <li><code>#include &lt;Magnum/Primitives/Axis.h&gt;</code></li> <li><code>#include &lt;Magnum/Primitives/Square.h&gt;</code></li> <li><code>#include &lt;Magnum/Trade/MeshData.h&gt;</code></li> <li><code>#include &lt;Magnum/Trade/PhongMaterialData.h&gt;</code></li> </ul>"},{"location":"api/base__application_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/base_application.cpp</code></p>"},{"location":"api/base__application_8cpp_source/","title":"Macro Syntax Error","text":"<p>File: <code>api/base__application_8cpp_source.md</code></p> <p>Line 88 in Markdown file: Expected an expression, got 'end of print statement' <pre><code>                    _gl_contexts.emplace_back(Magnum::Platform::WindowlessGLContext{{}});\n</code></pre></p>"},{"location":"api/base__application_8hpp/","title":"File base_application.hpp","text":"<p>FileList &gt; gui &gt; magnum &gt; base_application.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;mutex&gt;</code></li> <li><code>#include &lt;unistd.h&gt;</code></li> <li><code>#include &lt;unordered_map&gt;</code></li> <li><code>#include &lt;robot_dart/gui/helper.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/drawables.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/gs/camera.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/gs/cube_map.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/gs/cube_map_color.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/gs/phong_multi_light.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/gs/shadow_map.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/gs/shadow_map_color.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/types.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/utils_headers_external_gui.hpp&gt;</code></li> <li><code>#include &lt;Magnum/GL/CubeMapTextureArray.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Framebuffer.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Mesh.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/TextureArray.h&gt;</code></li> <li><code>#include &lt;Magnum/Platform/GLContext.h&gt;</code></li> <li><code>#include &lt;Magnum/Platform/WindowlessEglApplication.h&gt;</code></li> <li><code>#include &lt;Magnum/Shaders/DistanceFieldVector.h&gt;</code></li> <li><code>#include &lt;Magnum/Shaders/Flat.h&gt;</code></li> <li><code>#include &lt;Magnum/Shaders/VertexColor.h&gt;</code></li> <li><code>#include &lt;Magnum/Text/AbstractFont.h&gt;</code></li> <li><code>#include &lt;Magnum/Text/DistanceFieldGlyphCache.h&gt;</code></li> <li><code>#include &lt;Magnum/Text/Renderer.h&gt;</code></li> </ul>"},{"location":"api/base__application_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum"},{"location":"api/base__application_8hpp/#classes","title":"Classes","text":"Type Name class BaseApplication struct DebugDrawData struct GlobalData struct GraphicsConfiguration"},{"location":"api/base__application_8hpp/#macros","title":"Macros","text":"Type Name define get_gl_context (name) get_gl_context_with_sleep(name, 0) define get_gl_context_with_sleep (name, ms_sleep)  define release_gl_context (name) robot_dart::gui::magnum::GlobalData::instance()-&gt;free_gl_context(name);"},{"location":"api/base__application_8hpp/#macro-definition-documentation","title":"Macro Definition Documentation","text":""},{"location":"api/base__application_8hpp/#define-get_gl_context","title":"define get_gl_context","text":"<pre><code>#define get_gl_context (\n    name\n) get_gl_context_with_sleep(name, 0)\n</code></pre>"},{"location":"api/base__application_8hpp/#define-get_gl_context_with_sleep","title":"define get_gl_context_with_sleep","text":"<pre><code>#define get_gl_context_with_sleep (\n    name,\n    ms_sleep\n) /* Create/Get GLContext */                                                \\\n    Corrade::Utility::Debug name##_magnum_silence_output{nullptr};            \\\n    Magnum::Platform::WindowlessGLContext* name = nullptr;                    \\\n    while (name == nullptr) {                                                 \\\n        name = robot_dart::gui::magnum::GlobalData::instance()-&gt;gl_context(); \\\n        /* Sleep for some ms */                                               \\\n        usleep(ms_sleep * 1000);                                              \\\n    }                                                                         \\\n    while (!name-&gt;makeCurrent()) {                                            \\\n        /* Sleep for some ms */                                               \\\n        usleep(ms_sleep * 1000);                                              \\\n    }                                                                         \\\n                                                                              \\\n    Magnum::Platform::GLContext name##_magnum_context;\n</code></pre>"},{"location":"api/base__application_8hpp/#define-release_gl_context","title":"define release_gl_context","text":"<pre><code>#define release_gl_context (\n    name\n) robot_dart::gui::magnum::GlobalData::instance()-&gt;free_gl_context(name);\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/base_application.hpp</code></p>"},{"location":"api/base__application_8hpp_source/","title":"File base_application.hpp","text":"<p>File List &gt; gui &gt; magnum &gt; base_application.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_BASE_APPLICATION_HPP\n#define ROBOT_DART_GUI_MAGNUM_BASE_APPLICATION_HPP\n\n#include &lt;mutex&gt;\n#include &lt;unistd.h&gt;\n#include &lt;unordered_map&gt;\n\n#include &lt;robot_dart/gui/helper.hpp&gt;\n#include &lt;robot_dart/gui/magnum/drawables.hpp&gt;\n#include &lt;robot_dart/gui/magnum/gs/camera.hpp&gt;\n#include &lt;robot_dart/gui/magnum/gs/cube_map.hpp&gt;\n#include &lt;robot_dart/gui/magnum/gs/cube_map_color.hpp&gt;\n#include &lt;robot_dart/gui/magnum/gs/phong_multi_light.hpp&gt;\n#include &lt;robot_dart/gui/magnum/gs/shadow_map.hpp&gt;\n#include &lt;robot_dart/gui/magnum/gs/shadow_map_color.hpp&gt;\n#include &lt;robot_dart/gui/magnum/types.hpp&gt;\n\n#include &lt;robot_dart/utils_headers_external_gui.hpp&gt;\n\n#include &lt;Magnum/GL/CubeMapTextureArray.h&gt;\n#include &lt;Magnum/GL/Framebuffer.h&gt;\n#include &lt;Magnum/GL/Mesh.h&gt;\n#include &lt;Magnum/GL/TextureArray.h&gt;\n#include &lt;Magnum/Platform/GLContext.h&gt;\n#ifndef MAGNUM_MAC_OSX\n#include &lt;Magnum/Platform/WindowlessEglApplication.h&gt;\n#else\n#include &lt;Magnum/Platform/WindowlessCglApplication.h&gt;\n#endif\n#include &lt;Magnum/Shaders/DistanceFieldVector.h&gt;\n#include &lt;Magnum/Shaders/Flat.h&gt;\n#include &lt;Magnum/Shaders/VertexColor.h&gt;\n\n#include &lt;Magnum/Text/AbstractFont.h&gt;\n#include &lt;Magnum/Text/DistanceFieldGlyphCache.h&gt;\n#include &lt;Magnum/Text/Renderer.h&gt;\n\n#define get_gl_context_with_sleep(name, ms_sleep)                             \\\n    /* Create/Get GLContext */                                                \\\n    Corrade::Utility::Debug name##_magnum_silence_output{nullptr};            \\\n    Magnum::Platform::WindowlessGLContext* name = nullptr;                    \\\n    while (name == nullptr) {                                                 \\\n        name = robot_dart::gui::magnum::GlobalData::instance()-&gt;gl_context(); \\\n        /* Sleep for some ms */                                               \\\n        usleep(ms_sleep * 1000);                                              \\\n    }                                                                         \\\n    while (!name-&gt;makeCurrent()) {                                            \\\n        /* Sleep for some ms */                                               \\\n        usleep(ms_sleep * 1000);                                              \\\n    }                                                                         \\\n                                                                              \\\n    Magnum::Platform::GLContext name##_magnum_context;\n\n#define get_gl_context(name) get_gl_context_with_sleep(name, 0)\n\n#define release_gl_context(name) robot_dart::gui::magnum::GlobalData::instance()-&gt;free_gl_context(name);\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            struct GlobalData {\n            public:\n                static GlobalData* instance()\n                {\n                    static GlobalData gdata;\n                    return &amp;gdata;\n                }\n\n                GlobalData(const GlobalData&amp;) = delete;\n                void operator=(const GlobalData&amp;) = delete;\n\n                Magnum::Platform::WindowlessGLContext* gl_context();\n                void free_gl_context(Magnum::Platform::WindowlessGLContext* context);\n\n                /* You should call this before starting to draw or after finished */\n                void set_max_contexts(size_t N);\n\n            private:\n                GlobalData() = default;\n                ~GlobalData() = default;\n\n                void _create_contexts();\n\n                std::vector&lt;Magnum::Platform::WindowlessGLContext&gt; _gl_contexts;\n                std::vector&lt;bool&gt; _used;\n                std::mutex _context_mutex;\n                size_t _max_contexts = 4;\n            };\n\n            struct GraphicsConfiguration {\n                // General\n                size_t width = 640;\n                size_t height = 480;\n                std::string title = \"DART\";\n\n                // Shadows\n#ifndef MAGNUM_MAC_OSX\n                bool shadowed = true;\n                bool transparent_shadows = true;\n#else\n                // Disabling shadows by default on OSX\n                bool shadowed = false;\n                bool transparent_shadows = false;\n#endif\n                size_t shadow_map_size = 1024;\n\n                // Lights\n                size_t max_lights = 3;\n                double specular_strength = 0.25; // strength of the specular component\n\n                // These options are only for the main camera\n                bool draw_main_camera = true;\n                bool draw_debug = true;\n                bool draw_text = true;\n\n                // Background (default = black)\n                Eigen::Vector4d bg_color{0.0, 0.0, 0.0, 1.0};\n            };\n\n            struct DebugDrawData {\n                Magnum::Shaders::VertexColorGL3D* axes_shader;\n                Magnum::GL::Mesh* axes_mesh;\n                Magnum::Shaders::FlatGL2D* background_shader;\n                Magnum::GL::Mesh* background_mesh;\n\n                Magnum::Shaders::DistanceFieldVectorGL2D* text_shader;\n                Magnum::GL::Buffer* text_vertices;\n                Magnum::GL::Buffer* text_indices;\n                Magnum::Text::AbstractFont* font;\n                Magnum::Text::DistanceFieldGlyphCache* cache;\n            };\n\n            class BaseApplication {\n            public:\n                BaseApplication(const GraphicsConfiguration&amp; configuration = GraphicsConfiguration());\n                virtual ~BaseApplication() {}\n\n                void init(RobotDARTSimu* simu, const GraphicsConfiguration&amp; configuration);\n\n                void clear_lights();\n                void add_light(const gs::Light&amp; light);\n                gs::Light&amp; light(size_t i);\n                std::vector&lt;gs::Light&gt;&amp; lights();\n                size_t num_lights() const;\n\n                Magnum::SceneGraph::DrawableGroup3D&amp; drawables() { return _drawables; }\n                Scene3D&amp; scene() { return _scene; }\n                gs::Camera&amp; camera() { return *_camera; }\n                const gs::Camera&amp; camera() const { return *_camera; }\n\n                bool done() const;\n\n                void look_at(const Eigen::Vector3d&amp; camera_pos,\n                    const Eigen::Vector3d&amp; look_at,\n                    const Eigen::Vector3d&amp; up);\n\n                virtual void render() {}\n\n                void update_lights(const gs::Camera&amp; camera);\n                void update_graphics();\n                void render_shadows();\n\n                bool attach_camera(gs::Camera&amp; camera, dart::dynamics::BodyNode* body);\n\n                // video (FPS is mandatory here, see the Graphics class for automatic computation)\n                void record_video(const std::string&amp; video_fname, int fps) { _camera-&gt;record_video(video_fname, fps); }\n\n                bool shadowed() const { return _shadowed; }\n                bool transparent_shadows() const { return _transparent_shadows; }\n                void enable_shadows(bool enable = true, bool drawTransparentShadows = false);\n\n                Corrade::Containers::Optional&lt;Magnum::Image2D&gt;&amp; image() { return _camera-&gt;image(); }\n\n                // This is for visualization purposes\n                GrayscaleImage depth_image();\n\n                // Image filled with depth buffer values\n                GrayscaleImage raw_depth_image();\n\n                // \"Image\" filled with depth buffer values (this returns an array of doubles)\n                DepthImage depth_array();\n\n                // Access to debug data\n                DebugDrawData debug_draw_data()\n                {\n                    DebugDrawData data;\n                    data.axes_shader = _3D_axis_shader.get();\n                    data.background_shader = _background_shader.get();\n                    data.axes_mesh = _3D_axis_mesh.get();\n                    data.background_mesh = _background_mesh.get();\n                    data.text_shader = _text_shader.get();\n                    data.text_vertices = _text_vertices.get();\n                    data.text_indices = _text_indices.get();\n                    data.font = _font.get();\n                    data.cache = _glyph_cache.get();\n\n                    return data;\n                }\n\n            protected:\n                /* Magnum */\n                Scene3D _scene;\n                Magnum::SceneGraph::DrawableGroup3D _drawables, _shadowed_drawables, _shadowed_color_drawables, _cubemap_drawables, _cubemap_color_drawables;\n                std::unique_ptr&lt;gs::PhongMultiLight&gt; _color_shader, _texture_shader;\n\n                std::unique_ptr&lt;gs::Camera&gt; _camera;\n\n                bool _done = false;\n\n                /* GUI Config */\n                GraphicsConfiguration _configuration;\n\n                /* DART */\n                RobotDARTSimu* _simu;\n                std::unique_ptr&lt;Magnum::DartIntegration::World&gt; _dart_world;\n                std::unordered_map&lt;Magnum::DartIntegration::Object*, ObjectStruct*&gt; _drawable_objects;\n                std::vector&lt;gs::Light&gt; _lights;\n\n                /* Shadows */\n                bool _shadowed = true, _transparent_shadows = false;\n                int _transparentSize = 0;\n                std::unique_ptr&lt;gs::ShadowMap&gt; _shadow_shader, _shadow_texture_shader;\n                std::unique_ptr&lt;gs::ShadowMapColor&gt; _shadow_color_shader, _shadow_texture_color_shader;\n                std::unique_ptr&lt;gs::CubeMap&gt; _cubemap_shader, _cubemap_texture_shader;\n                std::unique_ptr&lt;gs::CubeMapColor&gt; _cubemap_color_shader, _cubemap_texture_color_shader;\n                std::vector&lt;ShadowData&gt; _shadow_data;\n                std::unique_ptr&lt;Magnum::GL::Texture2DArray&gt; _shadow_texture, _shadow_color_texture;\n                std::unique_ptr&lt;Magnum::GL::CubeMapTextureArray&gt; _shadow_cube_map, _shadow_color_cube_map;\n                int _max_lights = 5;\n                int _shadow_map_size = 512;\n                std::unique_ptr&lt;Camera3D&gt; _shadow_camera;\n                Object3D* _shadow_camera_object;\n\n                /* Debug visualization */\n                std::unique_ptr&lt;Magnum::GL::Mesh&gt; _3D_axis_mesh;\n                std::unique_ptr&lt;Magnum::Shaders::VertexColorGL3D&gt; _3D_axis_shader;\n                std::unique_ptr&lt;Magnum::GL::Mesh&gt; _background_mesh;\n                std::unique_ptr&lt;Magnum::Shaders::FlatGL2D&gt; _background_shader;\n\n                /* Text visualization */\n                std::unique_ptr&lt;Magnum::Shaders::DistanceFieldVectorGL2D&gt; _text_shader;\n                Corrade::PluginManager::Manager&lt;Magnum::Text::AbstractFont&gt; _font_manager;\n                Corrade::Containers::Pointer&lt;Magnum::Text::DistanceFieldGlyphCache&gt; _glyph_cache;\n                Corrade::Containers::Pointer&lt;Magnum::Text::AbstractFont&gt; _font;\n                Corrade::Containers::Pointer&lt;Magnum::GL::Buffer&gt; _text_vertices;\n                Corrade::Containers::Pointer&lt;Magnum::GL::Buffer&gt; _text_indices;\n\n                /* Importer */\n                Corrade::PluginManager::Manager&lt;Magnum::Trade::AbstractImporter&gt; _importer_manager;\n\n                void _gl_clean_up();\n                void _prepare_shadows();\n            };\n\n            template &lt;typename T&gt;\n            inline BaseApplication* make_application(RobotDARTSimu* simu, const GraphicsConfiguration&amp; configuration = GraphicsConfiguration())\n            {\n                int argc = 0;\n                char** argv = NULL;\n\n                return new T(argc, argv, simu, configuration);\n                // configuration.width, configuration.height, configuration.shadowed, configuration.transparent_shadows, configuration.max_lights, configuration.shadow_map_size);\n            }\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/base__graphics_8hpp/","title":"File base_graphics.hpp","text":"<p>FileList &gt; gui &gt; magnum &gt; base_graphics.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/base.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/glfw_application.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/gs/helper.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/utils_headers_eigen.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/robot_dart_simu.hpp&gt;</code></li> <li><code>#include &lt;Corrade/Utility/Resource.h&gt;</code></li> </ul>"},{"location":"api/base__graphics_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum"},{"location":"api/base__graphics_8hpp/#classes","title":"Classes","text":"Type Name class BaseGraphics &lt;typename T&gt;"},{"location":"api/base__graphics_8hpp/#public-static-functions","title":"Public Static Functions","text":"Type Name void robot_dart_initialize_magnum_resources ()"},{"location":"api/base__graphics_8hpp/#public-static-functions-documentation","title":"Public Static Functions Documentation","text":""},{"location":"api/base__graphics_8hpp/#function-robot_dart_initialize_magnum_resources","title":"function robot_dart_initialize_magnum_resources","text":"<pre><code>static inline void robot_dart_initialize_magnum_resources () \n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/base_graphics.hpp</code></p>"},{"location":"api/base__graphics_8hpp_source/","title":"File base_graphics.hpp","text":"<p>File List &gt; gui &gt; magnum &gt; base_graphics.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_BASE_GRAPHICS_HPP\n#define ROBOT_DART_GUI_MAGNUM_BASE_GRAPHICS_HPP\n\n#include &lt;robot_dart/gui/base.hpp&gt;\n#include &lt;robot_dart/gui/magnum/glfw_application.hpp&gt;\n#include &lt;robot_dart/gui/magnum/gs/helper.hpp&gt;\n#include &lt;robot_dart/gui/magnum/utils_headers_eigen.hpp&gt;\n#include &lt;robot_dart/robot_dart_simu.hpp&gt;\n\n// We need this for CORRADE_RESOURCE_INITIALIZE\n#include &lt;Corrade/Utility/Resource.h&gt;\n\ninline static void robot_dart_initialize_magnum_resources()\n{\n    CORRADE_RESOURCE_INITIALIZE(RobotDARTShaders);\n}\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            template &lt;typename T = GlfwApplication&gt;\n            class BaseGraphics : public Base {\n            public:\n                BaseGraphics(const GraphicsConfiguration&amp; configuration = GraphicsConfiguration())\n                    : _configuration(configuration), _enabled(true)\n                {\n                    robot_dart_initialize_magnum_resources();\n                }\n\n                virtual ~BaseGraphics() {}\n\n                virtual void set_simu(RobotDARTSimu* simu) override\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(simu, \"Simulation pointer is null!\");\n                    _simu = simu;\n                    _magnum_app.reset(make_application&lt;T&gt;(simu, _configuration));\n                }\n\n                size_t width() const override\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return _magnum_app-&gt;camera().width();\n                }\n\n                size_t height() const override\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return _magnum_app-&gt;camera().height();\n                }\n\n                bool done() const override\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return _magnum_app-&gt;done();\n                }\n\n                void refresh() override\n                {\n                    if (!_enabled)\n                        return;\n\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    _magnum_app-&gt;render();\n                }\n\n                void set_enable(bool enable) override\n                {\n                    _enabled = enable;\n                }\n\n                void set_fps(int fps) override { _fps = fps; }\n\n                void look_at(const Eigen::Vector3d&amp; camera_pos,\n                    const Eigen::Vector3d&amp; look_at = Eigen::Vector3d(0, 0, 0),\n                    const Eigen::Vector3d&amp; up = Eigen::Vector3d(0, 0, 1))\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    _magnum_app-&gt;look_at(camera_pos, look_at, up);\n                }\n\n                void clear_lights()\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    _magnum_app-&gt;clear_lights();\n                }\n\n                void add_light(const magnum::gs::Light&amp; light)\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    _magnum_app-&gt;add_light(light);\n                }\n\n                std::vector&lt;gs::Light&gt;&amp; lights()\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return _magnum_app-&gt;lights();\n                }\n\n                size_t num_lights() const\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return _magnum_app-&gt;num_lights();\n                }\n\n                magnum::gs::Light&amp; light(size_t i)\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return _magnum_app-&gt;light(i);\n                }\n\n                void record_video(const std::string&amp; video_fname, int fps = -1)\n                {\n                    int fps_computed = (fps == -1) ? _fps : fps;\n                    ROBOT_DART_EXCEPTION_ASSERT(fps_computed != -1, \"Video FPS not set!\");\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n\n                    _magnum_app-&gt;record_video(video_fname, fps_computed);\n                }\n\n                bool shadowed() const\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return _magnum_app-&gt;shadowed();\n                }\n\n                bool transparent_shadows() const\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return _magnum_app-&gt;transparent_shadows();\n                }\n\n                void enable_shadows(bool enable = true, bool transparent = true)\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    _magnum_app-&gt;enable_shadows(enable, transparent);\n                }\n\n                Magnum::Image2D* magnum_image()\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    if (_magnum_app-&gt;image())\n                        return &amp;(*_magnum_app-&gt;image());\n                    return nullptr;\n                }\n\n                Image image() override\n                {\n                    auto image = magnum_image();\n                    if (image)\n                        return gs::rgb_from_image(image);\n                    return Image();\n                }\n\n                GrayscaleImage depth_image() override\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return _magnum_app-&gt;depth_image();\n                }\n\n                GrayscaleImage raw_depth_image() override\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return _magnum_app-&gt;raw_depth_image();\n                }\n\n                DepthImage depth_array() override\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return _magnum_app-&gt;depth_array();\n                }\n\n                gs::Camera&amp; camera()\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return _magnum_app-&gt;camera();\n                }\n\n                const gs::Camera&amp; camera() const\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return _magnum_app-&gt;camera();\n                }\n\n                Eigen::Matrix3d camera_intrinsic_matrix() const\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return Magnum::EigenIntegration::cast&lt;Eigen::Matrix3d&gt;(Magnum::Matrix3d(_magnum_app-&gt;camera().intrinsic_matrix()));\n                }\n\n                Eigen::Matrix4d camera_extrinsic_matrix() const\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return Magnum::EigenIntegration::cast&lt;Eigen::Matrix4d&gt;(Magnum::Matrix4d(_magnum_app-&gt;camera().extrinsic_matrix()));\n                }\n\n                BaseApplication* magnum_app()\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return &amp;*_magnum_app;\n                }\n\n                const BaseApplication* magnum_app() const\n                {\n                    ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n                    return &amp;*_magnum_app;\n                }\n\n            protected:\n                GraphicsConfiguration _configuration;\n                bool _enabled;\n                int _fps;\n                std::unique_ptr&lt;BaseApplication&gt; _magnum_app;\n\n                Corrade::Utility::Debug _magnum_silence_output{nullptr};\n            };\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/drawables_8cpp/","title":"File drawables.cpp","text":"<p>FileList &gt; gui &gt; magnum &gt; drawables.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/drawables.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui_data.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/robot_dart_simu.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/utils.hpp&gt;</code></li> <li><code>#include &lt;Magnum/GL/CubeMapTexture.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/DefaultFramebuffer.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Mesh.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Renderer.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/AbstractFramebuffer.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/GL.h&gt;</code></li> </ul>"},{"location":"api/drawables_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/drawables.cpp</code></p>"},{"location":"api/drawables_8cpp_source/","title":"File drawables.cpp","text":"<p>File List &gt; gui &gt; magnum &gt; drawables.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include &lt;robot_dart/gui/magnum/drawables.hpp&gt;\n#include &lt;robot_dart/gui_data.hpp&gt;\n#include &lt;robot_dart/robot_dart_simu.hpp&gt;\n#include &lt;robot_dart/utils.hpp&gt;\n\n#include &lt;Magnum/GL/CubeMapTexture.h&gt;\n#include &lt;Magnum/GL/DefaultFramebuffer.h&gt;\n#include &lt;Magnum/GL/Mesh.h&gt;\n#include &lt;Magnum/GL/Renderer.h&gt;\n\n#include &lt;Magnum/GL/AbstractFramebuffer.h&gt;\n#include &lt;Magnum/GL/GL.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            // DrawableObject\n            DrawableObject::DrawableObject(\n                RobotDARTSimu* simu,\n                dart::dynamics::ShapeNode* shape,\n                const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes,\n                const std::vector&lt;gs::Material&gt;&amp; materials,\n                gs::PhongMultiLight&amp; color,\n                gs::PhongMultiLight&amp; texture,\n                Object3D* parent,\n                Magnum::SceneGraph::DrawableGroup3D* group)\n                : Object3D{parent},\n                  Magnum::SceneGraph::Drawable3D{*this, group},\n                  _simu(simu),\n                  _shape(shape),\n                  _meshes{meshes},\n                  _color_shader{color},\n                  _texture_shader{texture},\n                  _materials(materials)\n            {\n                _is_soft_body.resize(_meshes.size(), false);\n            }\n\n            DrawableObject&amp; DrawableObject::set_meshes(const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes)\n            {\n                _meshes = meshes;\n                return *this;\n            }\n\n            DrawableObject&amp; DrawableObject::set_materials(const std::vector&lt;gs::Material&gt;&amp; materials)\n            {\n                _materials = materials;\n                return *this;\n            }\n\n            DrawableObject&amp; DrawableObject::set_soft_bodies(const std::vector&lt;bool&gt;&amp; softBody)\n            {\n                _is_soft_body = softBody;\n                return *this;\n            }\n\n            DrawableObject&amp; DrawableObject::set_scalings(const std::vector&lt;Magnum::Vector3&gt;&amp; scalings)\n            {\n                _scalings = scalings;\n\n                _has_negative_scaling.resize(_scalings.size());\n                for (size_t i = 0; i &lt; scalings.size(); i++) {\n                    _has_negative_scaling[i] = false;\n                    for (size_t j = 0; j &lt; 3; j++)\n                        if (_scalings[i][j] &lt; 0.f) {\n                            _has_negative_scaling[i] = true;\n                            break;\n                        }\n                }\n\n                return *this;\n            }\n\n            DrawableObject&amp; DrawableObject::set_transparent(bool transparent)\n            {\n                _isTransparent = transparent;\n                return *this;\n            }\n\n            DrawableObject&amp; DrawableObject::set_color_shader(std::reference_wrapper&lt;gs::PhongMultiLight&gt; shader)\n            {\n                _color_shader = shader;\n                return *this;\n            }\n\n            DrawableObject&amp; DrawableObject::set_texture_shader(std::reference_wrapper&lt;gs::PhongMultiLight&gt; shader)\n            {\n                _texture_shader = shader;\n                return *this;\n            }\n\n            void DrawableObject::draw(const Magnum::Matrix4&amp; transformationMatrix, Magnum::SceneGraph::Camera3D&amp; camera)\n            {\n                for (size_t i = 0; i &lt; _meshes.size(); i++) {\n                    Magnum::GL::Mesh&amp; mesh = _meshes[i];\n                    Magnum::Matrix4 scalingMatrix = Magnum::Matrix4::scaling(_scalings[i]);\n                    bool isColor = !_materials[i].has_diffuse_texture();\n                    if (_is_soft_body[i])\n                        Magnum::GL::Renderer::disable(Magnum::GL::Renderer::Feature::FaceCulling);\n                    else if (_has_negative_scaling[i])\n                        Magnum::GL::Renderer::setFaceCullingMode(Magnum::GL::Renderer::PolygonFacing::Front);\n                    if (isColor) {\n                        _color_shader.get()\n                            .set_material(_materials[i])\n                            .set_transformation_matrix(absoluteTransformationMatrix() * scalingMatrix)\n                            .set_normal_matrix((transformationMatrix * scalingMatrix).rotationScaling())\n                            .set_camera_matrix(camera.cameraMatrix())\n                            .set_projection_matrix(camera.projectionMatrix())\n                            .draw(mesh);\n                    }\n                    else {\n                        _texture_shader.get()\n                            .set_material(_materials[i])\n                            .set_transformation_matrix(absoluteTransformationMatrix() * scalingMatrix)\n                            .set_normal_matrix((transformationMatrix * scalingMatrix).rotationScaling())\n                            .set_camera_matrix(camera.cameraMatrix())\n                            .set_projection_matrix(camera.projectionMatrix())\n                            .draw(mesh);\n                    }\n\n                    if (_is_soft_body[i])\n                        Magnum::GL::Renderer::enable(Magnum::GL::Renderer::Feature::FaceCulling);\n                    else if (_has_negative_scaling[i])\n                        Magnum::GL::Renderer::setFaceCullingMode(Magnum::GL::Renderer::PolygonFacing::Back);\n                }\n            }\n\n            // ShadowedObject\n            ShadowedObject::ShadowedObject(\n                RobotDARTSimu* simu,\n                dart::dynamics::ShapeNode* shape,\n                const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes,\n                gs::ShadowMap&amp; shader,\n                gs::ShadowMap&amp; texture_shader,\n                Object3D* parent,\n                Magnum::SceneGraph::DrawableGroup3D* group)\n                : Object3D{parent},\n                  Magnum::SceneGraph::Drawable3D{*this, group},\n                  _simu(simu),\n                  _shape(shape),\n                  _meshes{meshes},\n                  _shader{shader},\n                  _texture_shader(texture_shader) {}\n\n            ShadowedObject&amp; ShadowedObject::set_meshes(const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes)\n            {\n                _meshes = meshes;\n                return *this;\n            }\n\n            ShadowedObject&amp; ShadowedObject::set_materials(const std::vector&lt;gs::Material&gt;&amp; materials)\n            {\n                _materials = materials;\n                return *this;\n            }\n\n            ShadowedObject&amp; ShadowedObject::set_scalings(const std::vector&lt;Magnum::Vector3&gt;&amp; scalings)\n            {\n                _scalings = scalings;\n                return *this;\n            }\n\n            void ShadowedObject::draw(const Magnum::Matrix4&amp; transformationMatrix, Magnum::SceneGraph::Camera3D&amp; camera)\n            {\n                if (!_simu-&gt;gui_data()-&gt;cast_shadows(_shape))\n                    return;\n                for (size_t i = 0; i &lt; _meshes.size(); i++) {\n                    Magnum::GL::Mesh&amp; mesh = _meshes[i];\n                    Magnum::Matrix4 scalingMatrix = Magnum::Matrix4::scaling(_scalings[i]);\n                    bool isColor = !_materials[i].has_diffuse_texture();\n                    if (isColor) {\n                        (_shader.get())\n                            .set_transformation_matrix(transformationMatrix * scalingMatrix)\n                            .set_projection_matrix(camera.projectionMatrix())\n                            .set_material(_materials[i])\n                            .draw(mesh);\n                    }\n                    else {\n                        (_texture_shader.get())\n                            .set_transformation_matrix(transformationMatrix * scalingMatrix)\n                            .set_projection_matrix(camera.projectionMatrix())\n                            .set_material(_materials[i])\n                            .draw(mesh);\n                    }\n                }\n            }\n\n            // ShadowedColorObject\n            ShadowedColorObject::ShadowedColorObject(\n                RobotDARTSimu* simu,\n                dart::dynamics::ShapeNode* shape,\n                const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes,\n                gs::ShadowMapColor&amp; shader,\n                gs::ShadowMapColor&amp; texture_shader,\n                Object3D* parent,\n                Magnum::SceneGraph::DrawableGroup3D* group)\n                : Object3D{parent},\n                  Magnum::SceneGraph::Drawable3D{*this, group},\n                  _simu(simu),\n                  _shape(shape),\n                  _meshes{meshes},\n                  _shader{shader},\n                  _texture_shader(texture_shader) {}\n\n            ShadowedColorObject&amp; ShadowedColorObject::set_meshes(const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes)\n            {\n                _meshes = meshes;\n                return *this;\n            }\n\n            ShadowedColorObject&amp; ShadowedColorObject::set_materials(const std::vector&lt;gs::Material&gt;&amp; materials)\n            {\n                _materials = materials;\n                return *this;\n            }\n\n            ShadowedColorObject&amp; ShadowedColorObject::set_scalings(const std::vector&lt;Magnum::Vector3&gt;&amp; scalings)\n            {\n                _scalings = scalings;\n                return *this;\n            }\n\n            void ShadowedColorObject::draw(const Magnum::Matrix4&amp; transformationMatrix, Magnum::SceneGraph::Camera3D&amp; camera)\n            {\n                if (!_simu-&gt;gui_data()-&gt;cast_shadows(_shape))\n                    return;\n                for (size_t i = 0; i &lt; _meshes.size(); i++) {\n                    Magnum::GL::Mesh&amp; mesh = _meshes[i];\n                    Magnum::Matrix4 scalingMatrix = Magnum::Matrix4::scaling(_scalings[i]);\n                    bool isColor = !_materials[i].has_diffuse_texture();\n                    if (isColor) {\n                        (_shader.get())\n                            .set_transformation_matrix(transformationMatrix * scalingMatrix)\n                            .set_projection_matrix(camera.projectionMatrix())\n                            .set_material(_materials[i])\n                            .draw(mesh);\n                    }\n                    else {\n                        (_texture_shader.get())\n                            .set_transformation_matrix(transformationMatrix * scalingMatrix)\n                            .set_projection_matrix(camera.projectionMatrix())\n                            .set_material(_materials[i])\n                            .draw(mesh);\n                    }\n                }\n            }\n\n            // CubeMapShadowedObject\n            CubeMapShadowedObject::CubeMapShadowedObject(\n                RobotDARTSimu* simu,\n                dart::dynamics::ShapeNode* shape,\n                const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes,\n                gs::CubeMap&amp; shader,\n                gs::CubeMap&amp; texture_shader,\n                Object3D* parent,\n                Magnum::SceneGraph::DrawableGroup3D* group)\n                : Object3D{parent},\n                  Magnum::SceneGraph::Drawable3D{*this, group},\n                  _simu(simu),\n                  _shape(shape),\n                  _meshes{meshes},\n                  _shader{shader},\n                  _texture_shader(texture_shader) {}\n\n            CubeMapShadowedObject&amp; CubeMapShadowedObject::set_meshes(const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes)\n            {\n                _meshes = meshes;\n                return *this;\n            }\n\n            CubeMapShadowedObject&amp; CubeMapShadowedObject::set_materials(const std::vector&lt;gs::Material&gt;&amp; materials)\n            {\n                _materials = materials;\n                return *this;\n            }\n\n            CubeMapShadowedObject&amp; CubeMapShadowedObject::set_scalings(const std::vector&lt;Magnum::Vector3&gt;&amp; scalings)\n            {\n                _scalings = scalings;\n                return *this;\n            }\n\n            void CubeMapShadowedObject::draw(const Magnum::Matrix4&amp;, Magnum::SceneGraph::Camera3D&amp;)\n            {\n                for (size_t i = 0; i &lt; _meshes.size(); i++) {\n                    Magnum::GL::Mesh&amp; mesh = _meshes[i];\n                    Magnum::Matrix4 scalingMatrix = Magnum::Matrix4::scaling(_scalings[i]);\n                    bool isColor = !_materials[i].has_diffuse_texture();\n                    if (isColor) {\n                        (_shader.get())\n                            .set_transformation_matrix(absoluteTransformation() * scalingMatrix)\n                            .set_material(_materials[i])\n                            .draw(mesh);\n                    }\n                    else {\n                        (_texture_shader.get())\n                            .set_transformation_matrix(absoluteTransformation() * scalingMatrix)\n                            .set_material(_materials[i])\n                            .draw(mesh);\n                    }\n                }\n            }\n\n            // CubeMapShadowedColorObject\n            CubeMapShadowedColorObject::CubeMapShadowedColorObject(\n                RobotDARTSimu* simu,\n                dart::dynamics::ShapeNode* shape,\n                const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes,\n                gs::CubeMapColor&amp; shader,\n                gs::CubeMapColor&amp; texture_shader,\n                Object3D* parent,\n                Magnum::SceneGraph::DrawableGroup3D* group)\n                : Object3D{parent},\n                  Magnum::SceneGraph::Drawable3D{*this, group},\n                  _simu(simu),\n                  _shape(shape),\n                  _meshes{meshes},\n                  _shader{shader},\n                  _texture_shader(texture_shader) {}\n\n            CubeMapShadowedColorObject&amp; CubeMapShadowedColorObject::set_meshes(const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes)\n            {\n                _meshes = meshes;\n                return *this;\n            }\n\n            CubeMapShadowedColorObject&amp; CubeMapShadowedColorObject::set_materials(const std::vector&lt;gs::Material&gt;&amp; materials)\n            {\n                _materials = materials;\n                return *this;\n            }\n\n            CubeMapShadowedColorObject&amp; CubeMapShadowedColorObject::set_scalings(const std::vector&lt;Magnum::Vector3&gt;&amp; scalings)\n            {\n                _scalings = scalings;\n                return *this;\n            }\n\n            void CubeMapShadowedColorObject::draw(const Magnum::Matrix4&amp;, Magnum::SceneGraph::Camera3D&amp;)\n            {\n                if (!_simu-&gt;gui_data()-&gt;cast_shadows(_shape))\n                    return;\n                for (size_t i = 0; i &lt; _meshes.size(); i++) {\n                    Magnum::GL::Mesh&amp; mesh = _meshes[i];\n                    Magnum::Matrix4 scalingMatrix = Magnum::Matrix4::scaling(_scalings[i]);\n                    bool isColor = !_materials[i].has_diffuse_texture();\n                    if (isColor) {\n                        (_shader.get())\n                            .set_transformation_matrix(absoluteTransformation() * scalingMatrix)\n                            .set_material(_materials[i])\n                            .draw(mesh);\n                    }\n                    else {\n                        (_texture_shader.get())\n                            .set_transformation_matrix(absoluteTransformation() * scalingMatrix)\n                            .set_material(_materials[i])\n                            .draw(mesh);\n                    }\n                }\n            }\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n</code></pre>"},{"location":"api/drawables_8hpp/","title":"File drawables.hpp","text":"<p>FileList &gt; gui &gt; magnum &gt; drawables.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/helper.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/gs/cube_map.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/gs/cube_map_color.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/gs/phong_multi_light.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/gs/shadow_map.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/gs/shadow_map_color.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/types.hpp&gt;</code></li> <li><code>#include &lt;Magnum/GL/Framebuffer.h&gt;</code></li> <li><code>#include &lt;Magnum/SceneGraph/Drawable.h&gt;</code></li> </ul>"},{"location":"api/drawables_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace dart namespace dynamics namespace robot_dart namespace gui namespace magnum"},{"location":"api/drawables_8hpp/#classes","title":"Classes","text":"Type Name class CubeMapShadowedColorObject class CubeMapShadowedObject class DrawableObject struct ObjectStruct struct ShadowData class ShadowedColorObject class ShadowedObject <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/drawables.hpp</code></p>"},{"location":"api/drawables_8hpp_source/","title":"File drawables.hpp","text":"<p>File List &gt; gui &gt; magnum &gt; drawables.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_DRAWABLES_HPP\n#define ROBOT_DART_GUI_MAGNUM_DRAWABLES_HPP\n\n#include &lt;robot_dart/gui/helper.hpp&gt;\n#include &lt;robot_dart/gui/magnum/gs/cube_map.hpp&gt;\n#include &lt;robot_dart/gui/magnum/gs/cube_map_color.hpp&gt;\n#include &lt;robot_dart/gui/magnum/gs/phong_multi_light.hpp&gt;\n#include &lt;robot_dart/gui/magnum/gs/shadow_map.hpp&gt;\n#include &lt;robot_dart/gui/magnum/gs/shadow_map_color.hpp&gt;\n#include &lt;robot_dart/gui/magnum/types.hpp&gt;\n\n#include &lt;Magnum/GL/Framebuffer.h&gt;\n\n#include &lt;Magnum/SceneGraph/Drawable.h&gt;\n\nnamespace dart {\n    namespace dynamics {\n        class ShapeNode;\n    }\n} // namespace dart\n\nnamespace robot_dart {\n    class RobotDARTSimu;\n\n    namespace gui {\n        namespace magnum {\n            class DrawableObject : public Object3D, public Magnum::SceneGraph::Drawable3D {\n            public:\n                explicit DrawableObject(\n                    RobotDARTSimu* simu,\n                    dart::dynamics::ShapeNode* shape,\n                    const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes,\n                    const std::vector&lt;gs::Material&gt;&amp; materials,\n                    gs::PhongMultiLight&amp; color,\n                    gs::PhongMultiLight&amp; texture,\n                    Object3D* parent,\n                    Magnum::SceneGraph::DrawableGroup3D* group);\n\n                DrawableObject&amp; set_meshes(const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes);\n                DrawableObject&amp; set_materials(const std::vector&lt;gs::Material&gt;&amp; materials);\n                DrawableObject&amp; set_soft_bodies(const std::vector&lt;bool&gt;&amp; softBody);\n                DrawableObject&amp; set_scalings(const std::vector&lt;Magnum::Vector3&gt;&amp; scalings);\n                DrawableObject&amp; set_transparent(bool transparent = true);\n\n                DrawableObject&amp; set_color_shader(std::reference_wrapper&lt;gs::PhongMultiLight&gt; shader);\n                DrawableObject&amp; set_texture_shader(std::reference_wrapper&lt;gs::PhongMultiLight&gt; shader);\n\n                const std::vector&lt;gs::Material&gt;&amp; materials() const { return _materials; }\n                bool transparent() const { return _isTransparent; }\n\n                RobotDARTSimu* simu() const { return _simu; }\n                dart::dynamics::ShapeNode* shape() const { return _shape; }\n\n            private:\n                void draw(const Magnum::Matrix4&amp; transformationMatrix, Magnum::SceneGraph::Camera3D&amp; camera) override;\n\n                RobotDARTSimu* _simu;\n                dart::dynamics::ShapeNode* _shape;\n                std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt; _meshes;\n                std::reference_wrapper&lt;gs::PhongMultiLight&gt; _color_shader;\n                std::reference_wrapper&lt;gs::PhongMultiLight&gt; _texture_shader;\n                std::vector&lt;gs::Material&gt; _materials;\n                std::vector&lt;Magnum::Vector3&gt; _scalings;\n                std::vector&lt;bool&gt; _has_negative_scaling;\n                std::vector&lt;bool&gt; _is_soft_body;\n                bool _isTransparent;\n            };\n\n            class ShadowedObject : public Object3D, public Magnum::SceneGraph::Drawable3D {\n            public:\n                explicit ShadowedObject(\n                    RobotDARTSimu* simu,\n                    dart::dynamics::ShapeNode* shape,\n                    const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes,\n                    gs::ShadowMap&amp; shader,\n                    gs::ShadowMap&amp; texture_shader,\n                    Object3D* parent,\n                    Magnum::SceneGraph::DrawableGroup3D* group);\n\n                ShadowedObject&amp; set_meshes(const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes);\n                ShadowedObject&amp; set_materials(const std::vector&lt;gs::Material&gt;&amp; materials);\n                ShadowedObject&amp; set_scalings(const std::vector&lt;Magnum::Vector3&gt;&amp; scalings);\n\n                RobotDARTSimu* simu() const { return _simu; }\n                dart::dynamics::ShapeNode* shape() const { return _shape; }\n\n            private:\n                void draw(const Magnum::Matrix4&amp; transformationMatrix, Magnum::SceneGraph::Camera3D&amp; camera) override;\n\n                RobotDARTSimu* _simu;\n                dart::dynamics::ShapeNode* _shape;\n                std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt; _meshes;\n                std::reference_wrapper&lt;gs::ShadowMap&gt; _shader, _texture_shader;\n                std::vector&lt;gs::Material&gt; _materials;\n                std::vector&lt;Magnum::Vector3&gt; _scalings;\n            };\n\n            class ShadowedColorObject : public Object3D, public Magnum::SceneGraph::Drawable3D {\n            public:\n                explicit ShadowedColorObject(\n                    RobotDARTSimu* simu,\n                    dart::dynamics::ShapeNode* shape,\n                    const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes,\n                    gs::ShadowMapColor&amp; shader,\n                    gs::ShadowMapColor&amp; texture_shader,\n                    Object3D* parent,\n                    Magnum::SceneGraph::DrawableGroup3D* group);\n\n                ShadowedColorObject&amp; set_meshes(const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes);\n                ShadowedColorObject&amp; set_materials(const std::vector&lt;gs::Material&gt;&amp; materials);\n                ShadowedColorObject&amp; set_scalings(const std::vector&lt;Magnum::Vector3&gt;&amp; scalings);\n\n                RobotDARTSimu* simu() const { return _simu; }\n                dart::dynamics::ShapeNode* shape() const { return _shape; }\n\n            private:\n                void draw(const Magnum::Matrix4&amp; transformationMatrix, Magnum::SceneGraph::Camera3D&amp; camera) override;\n\n                RobotDARTSimu* _simu;\n                dart::dynamics::ShapeNode* _shape;\n                std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt; _meshes;\n                std::reference_wrapper&lt;gs::ShadowMapColor&gt; _shader, _texture_shader;\n                std::vector&lt;gs::Material&gt; _materials;\n                std::vector&lt;Magnum::Vector3&gt; _scalings;\n            };\n\n            class CubeMapShadowedObject : public Object3D, public Magnum::SceneGraph::Drawable3D {\n            public:\n                explicit CubeMapShadowedObject(\n                    RobotDARTSimu* simu,\n                    dart::dynamics::ShapeNode* shape,\n                    const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes,\n                    gs::CubeMap&amp; shader,\n                    gs::CubeMap&amp; texture_shader,\n                    Object3D* parent,\n                    Magnum::SceneGraph::DrawableGroup3D* group);\n\n                CubeMapShadowedObject&amp; set_meshes(const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes);\n                CubeMapShadowedObject&amp; set_materials(const std::vector&lt;gs::Material&gt;&amp; materials);\n                CubeMapShadowedObject&amp; set_scalings(const std::vector&lt;Magnum::Vector3&gt;&amp; scalings);\n\n                RobotDARTSimu* simu() const { return _simu; }\n                dart::dynamics::ShapeNode* shape() const { return _shape; }\n\n            private:\n                void draw(const Magnum::Matrix4&amp; transformationMatrix, Magnum::SceneGraph::Camera3D&amp; camera) override;\n\n                RobotDARTSimu* _simu;\n                dart::dynamics::ShapeNode* _shape;\n                std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt; _meshes;\n                std::reference_wrapper&lt;gs::CubeMap&gt; _shader, _texture_shader;\n                std::vector&lt;gs::Material&gt; _materials;\n                std::vector&lt;Magnum::Vector3&gt; _scalings;\n            };\n\n            class CubeMapShadowedColorObject : public Object3D, public Magnum::SceneGraph::Drawable3D {\n            public:\n                explicit CubeMapShadowedColorObject(\n                    RobotDARTSimu* simu,\n                    dart::dynamics::ShapeNode* shape,\n                    const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes,\n                    gs::CubeMapColor&amp; shader,\n                    gs::CubeMapColor&amp; texture_shader,\n                    Object3D* parent,\n                    Magnum::SceneGraph::DrawableGroup3D* group);\n\n                CubeMapShadowedColorObject&amp; set_meshes(const std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt;&amp; meshes);\n                CubeMapShadowedColorObject&amp; set_materials(const std::vector&lt;gs::Material&gt;&amp; materials);\n                CubeMapShadowedColorObject&amp; set_scalings(const std::vector&lt;Magnum::Vector3&gt;&amp; scalings);\n\n                RobotDARTSimu* simu() const { return _simu; }\n                dart::dynamics::ShapeNode* shape() const { return _shape; }\n\n            private:\n                void draw(const Magnum::Matrix4&amp; transformationMatrix, Magnum::SceneGraph::Camera3D&amp; camera) override;\n\n                RobotDARTSimu* _simu;\n                dart::dynamics::ShapeNode* _shape;\n                std::vector&lt;std::reference_wrapper&lt;Magnum::GL::Mesh&gt;&gt; _meshes;\n                std::reference_wrapper&lt;gs::CubeMapColor&gt; _shader, _texture_shader;\n                std::vector&lt;gs::Material&gt; _materials;\n                std::vector&lt;Magnum::Vector3&gt; _scalings;\n            };\n\n            struct ShadowData {\n                Magnum::GL::Framebuffer shadow_framebuffer{Magnum::NoCreate};\n                Magnum::GL::Framebuffer shadow_color_framebuffer{Magnum::NoCreate};\n            };\n\n            struct ObjectStruct {\n                DrawableObject* drawable;\n                ShadowedObject* shadowed;\n                ShadowedColorObject* shadowed_color;\n                CubeMapShadowedObject* cubemapped;\n                CubeMapShadowedColorObject* cubemapped_color;\n            };\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n#endif\n</code></pre>"},{"location":"api/glfw__application_8cpp/","title":"File glfw_application.cpp","text":"<p>FileList &gt; gui &gt; magnum &gt; glfw_application.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"glfw_application.hpp\"</code></li> <li><code>#include \"robot_dart/utils.hpp\"</code></li> <li><code>#include &lt;Magnum/GL/DefaultFramebuffer.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Renderer.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Version.h&gt;</code></li> <li><code>#include &lt;Magnum/PixelFormat.h&gt;</code></li> </ul>"},{"location":"api/glfw__application_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/glfw_application.cpp</code></p>"},{"location":"api/glfw__application_8cpp_source/","title":"Macro Syntax Error","text":"<p>File: <code>api/glfw__application_8cpp_source.md</code></p> <p>Line 69 in Markdown file: unexpected '}' <pre><code>                Magnum::GL::defaultFramebuffer.setViewport({{}, event.framebufferSize()});\n</code></pre></p>"},{"location":"api/glfw__application_8hpp/","title":"File glfw_application.hpp","text":"<p>FileList &gt; gui &gt; magnum &gt; glfw_application.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/base_application.hpp&gt;</code></li> <li><code>#include &lt;Magnum/Platform/GlfwApplication.h&gt;</code></li> </ul>"},{"location":"api/glfw__application_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum"},{"location":"api/glfw__application_8hpp/#classes","title":"Classes","text":"Type Name class GlfwApplication <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/glfw_application.hpp</code></p>"},{"location":"api/glfw__application_8hpp_source/","title":"File glfw_application.hpp","text":"<p>File List &gt; gui &gt; magnum &gt; glfw_application.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_GLFW_APPLICATION_HPP\n#define ROBOT_DART_GUI_MAGNUM_GLFW_APPLICATION_HPP\n\n#include &lt;robot_dart/gui/magnum/base_application.hpp&gt;\n\n// Workaround for X11lib defines\n#undef Button1\n#undef Button2\n#undef Button3\n#undef Button4\n#undef Button5\n#include &lt;Magnum/Platform/GlfwApplication.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            class GlfwApplication : public BaseApplication, public Magnum::Platform::Application {\n            public:\n                explicit GlfwApplication(int argc, char** argv, RobotDARTSimu* simu, const GraphicsConfiguration&amp; configuration = GraphicsConfiguration());\n\n                ~GlfwApplication();\n\n                void render() override;\n\n            protected:\n                RobotDARTSimu* _simu;\n                Magnum::Float _speed_move, _speed_strafe;\n                bool _draw_main_camera, _draw_debug;\n                Magnum::Color4 _bg_color;\n\n                static constexpr Magnum::Float _speed = 0.05f;\n\n                void viewportEvent(ViewportEvent&amp; event) override;\n\n                void drawEvent() override;\n\n                virtual void keyReleaseEvent(KeyEvent&amp; event) override;\n                virtual void keyPressEvent(KeyEvent&amp; event) override;\n\n                virtual void mouseScrollEvent(MouseScrollEvent&amp; event) override;\n                virtual void mouseMoveEvent(MouseMoveEvent&amp; event) override;\n\n                void exitEvent(ExitEvent&amp; event) override;\n            };\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/graphics_8cpp/","title":"File graphics.cpp","text":"<p>FileList &gt; gui &gt; magnum &gt; graphics.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/graphics.hpp&gt;</code></li> </ul>"},{"location":"api/graphics_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/graphics.cpp</code></p>"},{"location":"api/graphics_8cpp_source/","title":"File graphics.cpp","text":"<p>File List &gt; gui &gt; magnum &gt; graphics.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include &lt;robot_dart/gui/magnum/graphics.hpp&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            void Graphics::set_simu(RobotDARTSimu* simu)\n            {\n                BaseGraphics&lt;GlfwApplication&gt;::set_simu(simu);\n                // we synchronize by default if we have the graphics activated\n                simu-&gt;scheduler().set_sync(true);\n                // enable summary text when graphics activated\n                simu-&gt;enable_text_panel(true);\n                simu-&gt;enable_status_bar(true);\n            }\n\n            GraphicsConfiguration Graphics::default_configuration()\n            {\n                return GraphicsConfiguration();\n            }\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n</code></pre>"},{"location":"api/graphics_8hpp/","title":"File graphics.hpp","text":"<p>FileList &gt; gui &gt; magnum &gt; graphics.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/base_graphics.hpp&gt;</code></li> </ul>"},{"location":"api/graphics_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum"},{"location":"api/graphics_8hpp/#classes","title":"Classes","text":"Type Name class Graphics <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/graphics.hpp</code></p>"},{"location":"api/graphics_8hpp_source/","title":"File graphics.hpp","text":"<p>File List &gt; gui &gt; magnum &gt; graphics.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_GRAPHICS_HPP\n#define ROBOT_DART_GUI_MAGNUM_GRAPHICS_HPP\n\n#include &lt;robot_dart/gui/magnum/base_graphics.hpp&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            class Graphics : public BaseGraphics&lt;GlfwApplication&gt; {\n            public:\n                Graphics(const GraphicsConfiguration&amp; configuration = default_configuration()) : BaseGraphics&lt;GlfwApplication&gt;(configuration) {}\n                ~Graphics() {}\n\n                void set_simu(RobotDARTSimu* simu) override;\n\n                static GraphicsConfiguration default_configuration();\n            };\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/dir_2f8612d80f6bb57c97efd4c82e0df286/","title":"Dir robot_dart/gui/magnum/gs","text":"<p>FileList &gt; gs</p>"},{"location":"api/dir_2f8612d80f6bb57c97efd4c82e0df286/#files","title":"Files","text":"Type Name file camera.cpp file camera.hpp file create_compatibility_shader.hpp file cube_map.cpp file cube_map.hpp file cube_map_color.cpp file cube_map_color.hpp file helper.cpp file helper.hpp file light.cpp file light.hpp file material.cpp file material.hpp file phong_multi_light.cpp file phong_multi_light.hpp file shadow_map.cpp file shadow_map.hpp file shadow_map_color.cpp file shadow_map_color.hpp <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/</code></p>"},{"location":"api/gs_2camera_8cpp/","title":"File camera.cpp","text":"<p>FileList &gt; gs &gt; camera.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"camera.hpp\"</code></li> <li><code>#include \"robot_dart/gui/magnum/base_application.hpp\"</code></li> <li><code>#include \"robot_dart/gui_data.hpp\"</code></li> <li><code>#include \"robot_dart/robot_dart_simu.hpp\"</code></li> <li><code>#include \"robot_dart/utils.hpp\"</code></li> <li><code>#include &lt;external/process.hpp&gt;</code></li> <li><code>#include &lt;algorithm&gt;</code></li> <li><code>#include &lt;Corrade/Containers/ArrayViewStl.h&gt;</code></li> <li><code>#include &lt;Corrade/Containers/StridedArrayView.h&gt;</code></li> <li><code>#include &lt;Corrade/Utility/Algorithms.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/AbstractFramebuffer.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/GL.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/PixelFormat.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Renderer.h&gt;</code></li> <li><code>#include &lt;Magnum/ImageView.h&gt;</code></li> <li><code>#include &lt;Magnum/PixelFormat.h&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/utils_headers_eigen.hpp&gt;</code></li> <li><code>#include &lt;utheque/utheque.hpp&gt;</code></li> </ul>"},{"location":"api/gs_2camera_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/camera.cpp</code></p>"},{"location":"api/gs_2camera_8cpp_source/","title":"Macro Syntax Error","text":"<p>File: <code>api/gs_2camera_8cpp_source.md</code></p> <p>Line 204 in Markdown file: expected name or number <pre><code>                    return {{projection[0][0], 0., 0.},\n</code></pre></p>"},{"location":"api/gs_2camera_8hpp/","title":"File camera.hpp","text":"<p>FileList &gt; gs &gt; camera.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/gs/light.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/types.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/robot_dart_simu.hpp&gt;</code></li> <li><code>#include &lt;Corrade/Containers/Optional.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Mesh.h&gt;</code></li> <li><code>#include &lt;Magnum/Image.h&gt;</code></li> <li><code>#include &lt;Magnum/Shaders/DistanceFieldVector.h&gt;</code></li> <li><code>#include &lt;Magnum/Shaders/VertexColor.h&gt;</code></li> <li><code>#include &lt;Magnum/Text/Renderer.h&gt;</code></li> </ul>"},{"location":"api/gs_2camera_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace TinyProcessLib namespace robot_dart namespace gui namespace magnum namespace gs"},{"location":"api/gs_2camera_8hpp/#classes","title":"Classes","text":"Type Name class Camera <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/camera.hpp</code></p>"},{"location":"api/gs_2camera_8hpp_source/","title":"File camera.hpp","text":"<p>File List &gt; gs &gt; camera.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_GS_CAMERA_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_CAMERA_HPP\n\n#include &lt;robot_dart/gui/magnum/gs/light.hpp&gt;\n#include &lt;robot_dart/gui/magnum/types.hpp&gt;\n#include &lt;robot_dart/robot_dart_simu.hpp&gt;\n\n#include &lt;Corrade/Containers/Optional.h&gt;\n#include &lt;Magnum/GL/Mesh.h&gt;\n#include &lt;Magnum/Image.h&gt;\n#include &lt;Magnum/Shaders/DistanceFieldVector.h&gt;\n#include &lt;Magnum/Shaders/VertexColor.h&gt;\n#include &lt;Magnum/Text/Renderer.h&gt;\n\nnamespace TinyProcessLib {\n    class Process;\n}\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            struct DebugDrawData;\n\n            namespace gs {\n                // This is partly code from the ThirdPersonCameraController of https://github.com/alexesDev/magnum-tips\n                class Camera : public Object3D {\n                public:\n                    explicit Camera(Object3D&amp; object, Magnum::Int width, Magnum::Int height);\n                    ~Camera();\n\n                    Camera3D&amp; camera() const;\n                    Object3D&amp; root_object();\n                    Object3D&amp; camera_object() const;\n\n                    Camera&amp; set_viewport(const Magnum::Vector2i&amp; size);\n\n                    Camera&amp; move(const Magnum::Vector2i&amp; shift);\n                    Camera&amp; forward(Magnum::Float speed);\n                    Camera&amp; strafe(Magnum::Float speed);\n\n                    Camera&amp; set_speed(const Magnum::Vector2&amp; speed);\n                    Camera&amp; set_near_plane(Magnum::Float near_plane);\n                    Camera&amp; set_far_plane(Magnum::Float far_plane);\n                    Camera&amp; set_fov(Magnum::Float fov);\n                    Camera&amp; set_camera_params(Magnum::Float near_plane, Magnum::Float far_plane, Magnum::Float fov, Magnum::Int width, Magnum::Int height);\n\n                    Magnum::Vector2 speed() const { return _speed; }\n                    Magnum::Float near_plane() const { return _near_plane; }\n                    Magnum::Float far_plane() const { return _far_plane; }\n                    Magnum::Float fov() const { return static_cast&lt;Magnum::Float&gt;(_fov); }\n                    Magnum::Int width() const { return _camera-&gt;viewport()[0]; }\n                    Magnum::Int height() const { return _camera-&gt;viewport()[1]; }\n                    Magnum::Matrix3 intrinsic_matrix() const;\n                    Magnum::Matrix4 extrinsic_matrix() const;\n\n                    Camera&amp; look_at(const Magnum::Vector3&amp; camera, const Magnum::Vector3&amp; center, const Magnum::Vector3&amp; up = Magnum::Vector3::zAxis());\n\n                    void transform_lights(std::vector&lt;gs::Light&gt;&amp; lights) const;\n\n                    void record(bool recording, bool recording_depth = false)\n                    {\n                        _recording = recording;\n                        _recording_depth = recording_depth;\n                    }\n\n                    // FPS is mandatory here (compared to Graphics and CameraOSR)\n                    void record_video(const std::string&amp; video_fname, int fps);\n                    bool recording() { return _recording; }\n                    bool recording_depth() { return _recording_depth; }\n\n                    Corrade::Containers::Optional&lt;Magnum::Image2D&gt;&amp; image() { return _image; }\n                    Corrade::Containers::Optional&lt;Magnum::Image2D&gt;&amp; depth_image() { return _depth_image; }\n\n                    void draw(Magnum::SceneGraph::DrawableGroup3D&amp; drawables, Magnum::GL::AbstractFramebuffer&amp; framebuffer, Magnum::PixelFormat format, RobotDARTSimu* simu, const DebugDrawData&amp; debug_data, bool draw_debug = true);\n\n                private:\n                    Object3D* _yaw_object;\n                    Object3D* _pitch_object;\n                    Object3D* _camera_object;\n\n                    Camera3D* _camera;\n                    Magnum::Vector2 _speed{-0.01f, 0.01f};\n\n                    Magnum::Vector3 _up, _front, _right;\n                    Magnum::Float _aspect_ratio, _near_plane, _far_plane;\n                    Magnum::Rad _fov;\n                    Magnum::Int _width, _height;\n\n                    bool _recording = false, _recording_depth = false;\n                    bool _recording_video = false;\n                    Corrade::Containers::Optional&lt;Magnum::Image2D&gt; _image, _depth_image;\n\n                    TinyProcessLib::Process* _ffmpeg_process = nullptr;\n\n                    void _clean_up_subprocess();\n                };\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/create__compatibility__shader_8hpp/","title":"File create_compatibility_shader.hpp","text":"<p>FileList &gt; gs &gt; create_compatibility_shader.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;Corrade/Utility/Resource.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Context.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Extensions.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Shader.h&gt;</code></li> <li><code>#include &lt;string&gt;</code></li> </ul>"},{"location":"api/create__compatibility__shader_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace Magnum namespace Shaders namespace Implementation namespace robot_dart namespace gui namespace magnum namespace gs <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/create_compatibility_shader.hpp</code></p>"},{"location":"api/create__compatibility__shader_8hpp_source/","title":"File create_compatibility_shader.hpp","text":"<p>File List &gt; gs &gt; create_compatibility_shader.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef Magnum_Shaders_Implementation_CreateCompatibilityShader_h\n#define Magnum_Shaders_Implementation_CreateCompatibilityShader_h\n/*\n    This file is part of Magnum.\n    Copyright \u00a9 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018\n              Vladim\u00edr Vondru\u0161 &lt;mosra@centrum.cz&gt;\n    Permission is hereby granted, free of charge, to any person obtaining a\n    copy of this software and associated documentation files (the \"Software\"),\n    to deal in the Software without restriction, including without limitation\n    the rights to use, copy, modify, merge, publish, distribute, sublicense,\n    and/or sell copies of the Software, and to permit persons to whom the\n    Software is furnished to do so, subject to the following conditions:\n    The above copyright notice and this permission notice shall be included\n    in all copies or substantial portions of the Software.\n    THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL\n    THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n    FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n    DEALINGS IN THE SOFTWARE.\n*/\n\n#include &lt;Corrade/Utility/Resource.h&gt;\n\n#include &lt;Magnum/GL/Context.h&gt;\n#include &lt;Magnum/GL/Extensions.h&gt;\n#include &lt;Magnum/GL/Shader.h&gt;\n\n#include &lt;string&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                namespace {\n                    enum : Magnum::Int { AmbientTextureLayer = 0,\n                        DiffuseTextureLayer = 1,\n                        SpecularTextureLayer = 2 };\n                }\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\nnamespace Magnum {\n    namespace Shaders {\n        namespace Implementation {\n\n            inline GL::Shader createCompatibilityShader(const Utility::Resource&amp; rs, GL::Version version, GL::Shader::Type type)\n            {\n                GL::Shader shader(version, type);\n\n#ifndef MAGNUM_TARGET_GLES\n                if (GL::Context::current().isExtensionDisabled&lt;GL::Extensions::ARB::explicit_attrib_location&gt;(version))\n                    shader.addSource(\"#define DISABLE_GL_ARB_explicit_attrib_location\\n\");\n                if (GL::Context::current().isExtensionDisabled&lt;GL::Extensions::ARB::shading_language_420pack&gt;(version))\n                    shader.addSource(\"#define DISABLE_GL_ARB_shading_language_420pack\\n\");\n                if (GL::Context::current().isExtensionDisabled&lt;GL::Extensions::ARB::explicit_uniform_location&gt;(version))\n                    shader.addSource(\"#define DISABLE_GL_ARB_explicit_uniform_location\\n\");\n#endif\n\n#ifndef MAGNUM_TARGET_GLES2\n                if (type == GL::Shader::Type::Vertex &amp;&amp; GL::Context::current().isExtensionDisabled&lt;GL::Extensions::MAGNUM::shader_vertex_id&gt;(version))\n                    shader.addSource(\"#define DISABLE_GL_MAGNUM_shader_vertex_id\\n\");\n#endif\n\n/* My Android emulator (running on NVidia) doesn't define GL_ES\n       preprocessor macro, thus *all* the stock shaders fail to compile */\n#ifdef CORRADE_TARGET_ANDROID\n                shader.addSource(\"#ifndef GL_ES\\n#define GL_ES 1\\n#endif\\n\");\n#endif\n\n                shader.addSource(rs.get(\"compatibility.glsl\"));\n                return shader;\n            }\n\n        } // namespace Implementation\n    } // namespace Shaders\n} // namespace Magnum\n\n#endif\n</code></pre>"},{"location":"api/cube__map_8cpp/","title":"File cube_map.cpp","text":"<p>FileList &gt; gs &gt; cube_map.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"cube_map.hpp\"</code></li> <li><code>#include \"create_compatibility_shader.hpp\"</code></li> <li><code>#include &lt;Magnum/GL/Texture.h&gt;</code></li> </ul>"},{"location":"api/cube__map_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/cube_map.cpp</code></p>"},{"location":"api/cube__map_8cpp_source/","title":"File cube_map.cpp","text":"<p>File List &gt; gs &gt; cube_map.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"cube_map.hpp\"\n#include \"create_compatibility_shader.hpp\"\n\n#include &lt;Magnum/GL/Texture.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                CubeMap::CubeMap(CubeMap::Flags flags) : _flags(flags)\n                {\n                    Corrade::Utility::Resource rs_shaders(\"RobotDARTShaders\");\n\n                    const Magnum::GL::Version version = Magnum::GL::Version::GL320;\n\n                    Magnum::GL::Shader vert = Magnum::Shaders::Implementation::createCompatibilityShader(\n                        rs_shaders, version, Magnum::GL::Shader::Type::Vertex);\n                    Magnum::GL::Shader geom = Magnum::Shaders::Implementation::createCompatibilityShader(\n                        rs_shaders, version, Magnum::GL::Shader::Type::Geometry);\n                    Magnum::GL::Shader frag = Magnum::Shaders::Implementation::createCompatibilityShader(\n                        rs_shaders, version, Magnum::GL::Shader::Type::Fragment);\n\n                    std::string defines = \"#define POSITION_ATTRIBUTE_LOCATION \" + std::to_string(Position::Location) + \"\\n\";\n                    defines += \"#define TEXTURECOORDINATES_ATTRIBUTE_LOCATION \" + std::to_string(TextureCoordinates::Location) + \"\\n\";\n\n                    vert.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n                        .addSource(defines)\n                        .addSource(rs_shaders.get(\"CubeMap.vert\"));\n                    geom.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n                        .addSource(rs_shaders.get(\"CubeMap.geom\"));\n                    frag.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n                        .addSource(rs_shaders.get(\"CubeMap.frag\"));\n\n                    CORRADE_INTERNAL_ASSERT_OUTPUT(Magnum::GL::Shader::compile({vert, geom, frag}));\n\n                    attachShaders({vert, geom, frag});\n\n                    if (!Magnum::GL::Context::current().isExtensionSupported&lt;Magnum::GL::Extensions::ARB::explicit_attrib_location&gt;(version)) {\n                        bindAttributeLocation(Position::Location, \"position\");\n                        if (flags)\n                            bindAttributeLocation(TextureCoordinates::Location, \"textureCoords\");\n                    }\n\n                    CORRADE_INTERNAL_ASSERT_OUTPUT(link());\n\n                    if (!Magnum::GL::Context::current().isExtensionSupported&lt;Magnum::GL::Extensions::ARB::explicit_uniform_location&gt;(version)) {\n                        _transformation_matrix_uniform = uniformLocation(\"transformationMatrix\");\n                        _shadow_matrices_uniform = uniformLocation(\"shadowMatrices[0]\");\n                        _light_position_uniform = uniformLocation(\"lightPosition\");\n                        _far_plane_uniform = uniformLocation(\"farPlane\");\n                        _light_index_uniform = uniformLocation(\"lightIndex\");\n                        _diffuse_color_uniform = uniformLocation(\"diffuseColor\");\n                    }\n                }\n\n                CubeMap::CubeMap(Magnum::NoCreateT) noexcept : Magnum::GL::AbstractShaderProgram{Magnum::NoCreate} {}\n\n                CubeMap::Flags CubeMap::flags() const { return _flags; }\n\n                CubeMap&amp; CubeMap::set_transformation_matrix(const Magnum::Matrix4&amp; matrix)\n                {\n                    setUniform(_transformation_matrix_uniform, matrix);\n                    return *this;\n                }\n\n                CubeMap&amp; CubeMap::set_shadow_matrices(Magnum::Matrix4 matrices[6])\n                {\n                    for (size_t i = 0; i &lt; 6; i++)\n                        setUniform(_shadow_matrices_uniform + i, matrices[i]);\n                    return *this;\n                }\n\n                CubeMap&amp; CubeMap::set_light_position(const Magnum::Vector3&amp; position)\n                {\n                    setUniform(_light_position_uniform, position);\n                    return *this;\n                }\n\n                CubeMap&amp; CubeMap::set_far_plane(Magnum::Float far_plane)\n                {\n                    setUniform(_far_plane_uniform, far_plane);\n                    return *this;\n                }\n\n                CubeMap&amp; CubeMap::set_light_index(Magnum::Int index)\n                {\n                    setUniform(_light_index_uniform, index);\n                    return *this;\n                }\n\n                CubeMap&amp; CubeMap::set_material(Material&amp; material)\n                {\n                    if (material.has_diffuse_texture() &amp;&amp; (_flags &amp; Flag::DiffuseTexture)) {\n                        (*material.diffuse_texture()).bind(DiffuseTextureLayer);\n                        setUniform(_diffuse_color_uniform, Magnum::Color4{1.0f});\n                    }\n                    else\n                        setUniform(_diffuse_color_uniform, material.diffuse_color());\n\n                    return *this;\n                }\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n</code></pre>"},{"location":"api/cube__map_8hpp/","title":"File cube_map.hpp","text":"<p>FileList &gt; gs &gt; cube_map.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/gs/material.hpp&gt;</code></li> <li><code>#include &lt;Corrade/Containers/ArrayView.h&gt;</code></li> <li><code>#include &lt;Corrade/Containers/Reference.h&gt;</code></li> <li><code>#include &lt;Corrade/Utility/Assert.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/AbstractShaderProgram.h&gt;</code></li> <li><code>#include &lt;Magnum/Math/Color.h&gt;</code></li> <li><code>#include &lt;Magnum/Math/Matrix4.h&gt;</code></li> <li><code>#include &lt;Magnum/Shaders/Generic.h&gt;</code></li> </ul>"},{"location":"api/cube__map_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs"},{"location":"api/cube__map_8hpp/#classes","title":"Classes","text":"Type Name class CubeMap <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/cube_map.hpp</code></p>"},{"location":"api/cube__map_8hpp_source/","title":"File cube_map.hpp","text":"<p>File List &gt; gs &gt; cube_map.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_GS_CUBE_MAP_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_CUBE_MAP_HPP\n\n#include &lt;robot_dart/gui/magnum/gs/material.hpp&gt;\n\n#include &lt;Corrade/Containers/ArrayView.h&gt;\n#include &lt;Corrade/Containers/Reference.h&gt;\n#include &lt;Corrade/Utility/Assert.h&gt;\n\n#include &lt;Magnum/GL/AbstractShaderProgram.h&gt;\n#include &lt;Magnum/Math/Color.h&gt;\n#include &lt;Magnum/Math/Matrix4.h&gt;\n#include &lt;Magnum/Shaders/Generic.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                class CubeMap : public Magnum::GL::AbstractShaderProgram {\n                public:\n                    using Position = Magnum::Shaders::Generic3D::Position;\n                    using TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\n\n                    enum class Flag : Magnum::UnsignedByte {\n                        DiffuseTexture = 1 &lt;&lt; 0, \n                    };\n\n                    using Flags = Magnum::Containers::EnumSet&lt;Flag&gt;;\n\n                    explicit CubeMap(Flags flags = {});\n                    explicit CubeMap(Magnum::NoCreateT) noexcept;\n\n                    Flags flags() const;\n\n                    CubeMap&amp; set_transformation_matrix(const Magnum::Matrix4&amp; matrix);\n                    CubeMap&amp; set_shadow_matrices(Magnum::Matrix4 matrices[6]);\n                    CubeMap&amp; set_light_position(const Magnum::Vector3&amp; position);\n                    CubeMap&amp; set_far_plane(Magnum::Float far_plane);\n                    CubeMap&amp; set_light_index(Magnum::Int index);\n                    CubeMap&amp; set_material(Material&amp; material);\n\n                private:\n                    Flags _flags;\n                    Magnum::Int _transformation_matrix_uniform{0},\n                        _shadow_matrices_uniform{5},\n                        _light_position_uniform{1},\n                        _far_plane_uniform{2},\n                        _light_index_uniform{3},\n                        _diffuse_color_uniform{4};\n                };\n\n                CORRADE_ENUMSET_OPERATORS(CubeMap::Flags)\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/cube__map__color_8cpp/","title":"File cube_map_color.cpp","text":"<p>FileList &gt; gs &gt; cube_map_color.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"cube_map_color.hpp\"</code></li> <li><code>#include \"create_compatibility_shader.hpp\"</code></li> <li><code>#include &lt;Magnum/GL/CubeMapTextureArray.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Texture.h&gt;</code></li> </ul>"},{"location":"api/cube__map__color_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/cube_map_color.cpp</code></p>"},{"location":"api/cube__map__color_8cpp_source/","title":"File cube_map_color.cpp","text":"<p>File List &gt; gs &gt; cube_map_color.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"cube_map_color.hpp\"\n#include \"create_compatibility_shader.hpp\"\n\n#include &lt;Magnum/GL/CubeMapTextureArray.h&gt;\n#include &lt;Magnum/GL/Texture.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                CubeMapColor::CubeMapColor(CubeMapColor::Flags flags) : _flags(flags)\n                {\n                    Corrade::Utility::Resource rs_shaders(\"RobotDARTShaders\");\n\n                    const Magnum::GL::Version version = Magnum::GL::Version::GL320;\n\n                    Magnum::GL::Shader vert = Magnum::Shaders::Implementation::createCompatibilityShader(\n                        rs_shaders, version, Magnum::GL::Shader::Type::Vertex);\n                    Magnum::GL::Shader geom = Magnum::Shaders::Implementation::createCompatibilityShader(\n                        rs_shaders, version, Magnum::GL::Shader::Type::Geometry);\n                    Magnum::GL::Shader frag = Magnum::Shaders::Implementation::createCompatibilityShader(\n                        rs_shaders, version, Magnum::GL::Shader::Type::Fragment);\n\n                    std::string defines = \"#define POSITION_ATTRIBUTE_LOCATION \" + std::to_string(Position::Location) + \"\\n\";\n                    defines += \"#define TEXTURECOORDINATES_ATTRIBUTE_LOCATION \" + std::to_string(TextureCoordinates::Location) + \"\\n\";\n\n                    vert.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n                        .addSource(defines)\n                        .addSource(rs_shaders.get(\"CubeMap.vert\"));\n                    geom.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n                        .addSource(rs_shaders.get(\"CubeMap.geom\"));\n                    frag.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n                        .addSource(rs_shaders.get(\"CubeMapColor.frag\"));\n\n                    CORRADE_INTERNAL_ASSERT_OUTPUT(Magnum::GL::Shader::compile({vert, geom, frag}));\n\n                    attachShaders({vert, geom, frag});\n\n                    if (!Magnum::GL::Context::current().isExtensionSupported&lt;Magnum::GL::Extensions::ARB::explicit_attrib_location&gt;(version)) {\n                        bindAttributeLocation(Position::Location, \"position\");\n                        if (flags)\n                            bindAttributeLocation(TextureCoordinates::Location, \"textureCoords\");\n                    }\n\n                    CORRADE_INTERNAL_ASSERT_OUTPUT(link());\n\n                    if (!Magnum::GL::Context::current().isExtensionSupported&lt;Magnum::GL::Extensions::ARB::explicit_uniform_location&gt;(version)) {\n                        _transformation_matrix_uniform = uniformLocation(\"transformationMatrix\");\n                        _shadow_matrices_uniform = uniformLocation(\"shadowMatrices[0]\");\n                        _light_position_uniform = uniformLocation(\"lightPosition\");\n                        _far_plane_uniform = uniformLocation(\"farPlane\");\n                        _light_index_uniform = uniformLocation(\"lightIndex\");\n                        _diffuse_color_uniform = uniformLocation(\"diffuseColor\");\n                    }\n\n                    if (!Magnum::GL::Context::current()\n                             .isExtensionSupported&lt;Magnum::GL::Extensions::ARB::shading_language_420pack&gt;(version)) {\n                        setUniform(uniformLocation(\"cubeMapTextures\"), _cube_map_textures_location);\n                        if (flags) {\n                            if (flags &amp; Flag::DiffuseTexture)\n                                setUniform(uniformLocation(\"diffuseTexture\"), DiffuseTextureLayer);\n                        }\n                    }\n                }\n\n                CubeMapColor::CubeMapColor(Magnum::NoCreateT) noexcept : Magnum::GL::AbstractShaderProgram{Magnum::NoCreate} {}\n\n                CubeMapColor::Flags CubeMapColor::flags() const { return _flags; }\n\n                CubeMapColor&amp; CubeMapColor::set_transformation_matrix(const Magnum::Matrix4&amp; matrix)\n                {\n                    setUniform(_transformation_matrix_uniform, matrix);\n                    return *this;\n                }\n\n                CubeMapColor&amp; CubeMapColor::set_shadow_matrices(Magnum::Matrix4 matrices[6])\n                {\n                    for (size_t i = 0; i &lt; 6; i++)\n                        setUniform(_shadow_matrices_uniform + i, matrices[i]);\n                    return *this;\n                }\n\n                CubeMapColor&amp; CubeMapColor::set_light_position(const Magnum::Vector3&amp; position)\n                {\n                    setUniform(_light_position_uniform, position);\n                    return *this;\n                }\n\n                CubeMapColor&amp; CubeMapColor::set_far_plane(Magnum::Float far_plane)\n                {\n                    setUniform(_far_plane_uniform, far_plane);\n                    return *this;\n                }\n\n                CubeMapColor&amp; CubeMapColor::set_light_index(Magnum::Int index)\n                {\n                    setUniform(_light_index_uniform, index);\n                    return *this;\n                }\n\n                CubeMapColor&amp; CubeMapColor::set_material(Material&amp; material)\n                {\n                    if (material.has_diffuse_texture() &amp;&amp; (_flags &amp; Flag::DiffuseTexture)) {\n                        (*material.diffuse_texture()).bind(DiffuseTextureLayer);\n                        setUniform(_diffuse_color_uniform, Magnum::Color4{1.0f});\n                    }\n                    else\n                        setUniform(_diffuse_color_uniform, material.diffuse_color());\n\n                    return *this;\n                }\n\n                CubeMapColor&amp; CubeMapColor::bind_cube_map_texture(Magnum::GL::CubeMapTextureArray&amp; texture)\n                {\n                    texture.bind(_cube_map_textures_location);\n                    return *this;\n                }\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n</code></pre>"},{"location":"api/cube__map__color_8hpp/","title":"File cube_map_color.hpp","text":"<p>FileList &gt; gs &gt; cube_map_color.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/gs/material.hpp&gt;</code></li> <li><code>#include &lt;Corrade/Containers/ArrayView.h&gt;</code></li> <li><code>#include &lt;Corrade/Containers/Reference.h&gt;</code></li> <li><code>#include &lt;Corrade/Utility/Assert.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/AbstractShaderProgram.h&gt;</code></li> <li><code>#include &lt;Magnum/Math/Color.h&gt;</code></li> <li><code>#include &lt;Magnum/Math/Matrix4.h&gt;</code></li> <li><code>#include &lt;Magnum/Shaders/Generic.h&gt;</code></li> </ul>"},{"location":"api/cube__map__color_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs"},{"location":"api/cube__map__color_8hpp/#classes","title":"Classes","text":"Type Name class CubeMapColor <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/cube_map_color.hpp</code></p>"},{"location":"api/cube__map__color_8hpp_source/","title":"File cube_map_color.hpp","text":"<p>File List &gt; gs &gt; cube_map_color.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_GS_CUBE_MAP_COLOR_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_CUBE_MAP_COLOR_HPP\n\n#include &lt;robot_dart/gui/magnum/gs/material.hpp&gt;\n\n#include &lt;Corrade/Containers/ArrayView.h&gt;\n#include &lt;Corrade/Containers/Reference.h&gt;\n#include &lt;Corrade/Utility/Assert.h&gt;\n\n#include &lt;Magnum/GL/AbstractShaderProgram.h&gt;\n#include &lt;Magnum/Math/Color.h&gt;\n#include &lt;Magnum/Math/Matrix4.h&gt;\n#include &lt;Magnum/Shaders/Generic.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                class CubeMapColor : public Magnum::GL::AbstractShaderProgram {\n                public:\n                    using Position = Magnum::Shaders::Generic3D::Position;\n                    using TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\n\n                    enum class Flag : Magnum::UnsignedByte {\n                        DiffuseTexture = 1 &lt;&lt; 0, \n                    };\n\n                    using Flags = Magnum::Containers::EnumSet&lt;Flag&gt;;\n\n                    explicit CubeMapColor(Flags flags = {});\n                    explicit CubeMapColor(Magnum::NoCreateT) noexcept;\n\n                    Flags flags() const;\n\n                    CubeMapColor&amp; set_transformation_matrix(const Magnum::Matrix4&amp; matrix);\n                    CubeMapColor&amp; set_shadow_matrices(Magnum::Matrix4 matrices[6]);\n                    CubeMapColor&amp; set_light_position(const Magnum::Vector3&amp; position);\n                    CubeMapColor&amp; set_far_plane(Magnum::Float far_plane);\n                    CubeMapColor&amp; set_light_index(Magnum::Int index);\n                    CubeMapColor&amp; set_material(Material&amp; material);\n\n                    CubeMapColor&amp; bind_cube_map_texture(Magnum::GL::CubeMapTextureArray&amp; texture);\n\n                private:\n                    Flags _flags;\n                    Magnum::Int _transformation_matrix_uniform{0},\n                        _shadow_matrices_uniform{5},\n                        _light_position_uniform{1},\n                        _far_plane_uniform{2},\n                        _light_index_uniform{3},\n                        _diffuse_color_uniform{4},\n                        _cube_map_textures_location{2};\n                };\n\n                CORRADE_ENUMSET_OPERATORS(CubeMapColor::Flags)\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/magnum_2gs_2helper_8cpp/","title":"File helper.cpp","text":"<p>FileList &gt; gs &gt; helper.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"helper.hpp\"</code></li> <li><code>#include &lt;Corrade/Containers/ArrayViewStl.h&gt;</code></li> <li><code>#include &lt;Corrade/Containers/StridedArrayView.h&gt;</code></li> <li><code>#include &lt;Corrade/Utility/Algorithms.h&gt;</code></li> <li><code>#include &lt;Magnum/Math/Color.h&gt;</code></li> <li><code>#include &lt;Magnum/Math/PackingBatch.h&gt;</code></li> </ul>"},{"location":"api/magnum_2gs_2helper_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/helper.cpp</code></p>"},{"location":"api/magnum_2gs_2helper_8cpp_source/","title":"File helper.cpp","text":"<p>File List &gt; gs &gt; helper.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"helper.hpp\"\n\n#include &lt;Corrade/Containers/ArrayViewStl.h&gt;\n#include &lt;Corrade/Containers/StridedArrayView.h&gt;\n#include &lt;Corrade/Utility/Algorithms.h&gt;\n\n#include &lt;Magnum/Math/Color.h&gt;\n#include &lt;Magnum/Math/PackingBatch.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                Image rgb_from_image(Magnum::Image2D* image)\n                {\n                    Image img;\n\n                    img.width = image-&gt;size().x();\n                    img.height = image-&gt;size().y();\n                    img.channels = 3;\n                    img.data.resize(image-&gt;size().product() * sizeof(Magnum::Color3ub));\n                    Corrade::Containers::StridedArrayView2D&lt;const Magnum::Color3ub&gt; src = image-&gt;pixels&lt;Magnum::Color3ub&gt;().flipped&lt;0&gt;();\n                    Corrade::Containers::StridedArrayView2D&lt;Magnum::Color3ub&gt; dst{Corrade::Containers::arrayCast&lt;Magnum::Color3ub&gt;(Corrade::Containers::arrayView(img.data)), {std::size_t(image-&gt;size().y()), std::size_t(image-&gt;size().x())}};\n                    Corrade::Utility::copy(src, dst);\n\n                    return img;\n                }\n\n                GrayscaleImage depth_from_image(Magnum::Image2D* image, bool linearize, Magnum::Float near_plane, Magnum::Float far_plane)\n                {\n                    GrayscaleImage img;\n\n                    img.width = image-&gt;size().x();\n                    img.height = image-&gt;size().y();\n                    img.data.resize(image-&gt;size().product() * sizeof(uint8_t));\n\n                    std::vector&lt;Magnum::Float&gt; data = std::vector&lt;Magnum::Float&gt;(image-&gt;size().product());\n                    Corrade::Containers::StridedArrayView2D&lt;const Magnum::Float&gt; src = image-&gt;pixels&lt;Magnum::Float&gt;().flipped&lt;0&gt;();\n                    Corrade::Containers::StridedArrayView2D&lt;Magnum::Float&gt; dst{Corrade::Containers::arrayCast&lt;Magnum::Float&gt;(Corrade::Containers::arrayView(data)), {std::size_t(image-&gt;size().y()), std::size_t(image-&gt;size().x())}};\n                    Corrade::Utility::copy(src, dst);\n\n                    if (linearize) {\n                        for (auto&amp; depth : data)\n                            depth = (2.f * near_plane) / (far_plane + near_plane - depth * (far_plane - near_plane));\n                    }\n\n                    Corrade::Containers::StridedArrayView2D&lt;uint8_t&gt; new_dst{Corrade::Containers::arrayCast&lt;uint8_t&gt;(Corrade::Containers::arrayView(img.data)), {std::size_t(image-&gt;size().y()), std::size_t(image-&gt;size().x())}};\n\n                    Magnum::Math::packInto(dst, new_dst);\n\n                    return img;\n                }\n\n                DepthImage depth_array_from_image(Magnum::Image2D* image, Magnum::Float near_plane, Magnum::Float far_plane)\n                {\n                    DepthImage img;\n                    img.width = image-&gt;size().x();\n                    img.height = image-&gt;size().y();\n\n                    std::vector&lt;Magnum::Float&gt; data = std::vector&lt;Magnum::Float&gt;(image-&gt;size().product());\n                    Corrade::Containers::StridedArrayView2D&lt;const Magnum::Float&gt; src = image-&gt;pixels&lt;Magnum::Float&gt;().flipped&lt;0&gt;();\n                    Corrade::Containers::StridedArrayView2D&lt;Magnum::Float&gt; dst{Corrade::Containers::arrayCast&lt;Magnum::Float&gt;(Corrade::Containers::arrayView(data)), {std::size_t(image-&gt;size().y()), std::size_t(image-&gt;size().x())}};\n                    Corrade::Utility::copy(src, dst);\n\n                    img.data = std::vector&lt;double&gt;(data.begin(), data.end());\n\n                    double zNear = static_cast&lt;double&gt;(near_plane);\n                    double zFar = static_cast&lt;double&gt;(far_plane);\n\n                    // zNear * zFar / (zFar + d * (zNear - zFar));\n                    for (auto&amp; depth : img.data)\n                        // depth = (2. * zNear) / (zFar + zNear - depth * (zFar - zNear));\n                        depth = (zNear * zFar) / (zFar - depth * (zFar - zNear));\n\n                    return img;\n                }\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n</code></pre>"},{"location":"api/magnum_2gs_2helper_8hpp/","title":"File helper.hpp","text":"<p>FileList &gt; gs &gt; helper.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/helper.hpp&gt;</code></li> <li><code>#include &lt;vector&gt;</code></li> <li><code>#include &lt;Magnum/Image.h&gt;</code></li> </ul>"},{"location":"api/magnum_2gs_2helper_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/helper.hpp</code></p>"},{"location":"api/magnum_2gs_2helper_8hpp_source/","title":"File helper.hpp","text":"<p>File List &gt; gs &gt; helper.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_GS_HELPER_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_HELPER_HPP\n\n#include &lt;robot_dart/gui/helper.hpp&gt;\n\n#include &lt;vector&gt;\n\n#include &lt;Magnum/Image.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                Image rgb_from_image(Magnum::Image2D* image);\n                GrayscaleImage depth_from_image(Magnum::Image2D* image, bool linearize = false, Magnum::Float near_plane = 0.f, Magnum::Float far_plane = 100.f);\n                DepthImage depth_array_from_image(Magnum::Image2D* image, Magnum::Float near_plane = 0.f, Magnum::Float far_plane = 100.f);\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/light_8cpp/","title":"File light.cpp","text":"<p>FileList &gt; gs &gt; light.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"light.hpp\"</code></li> <li><code>#include &lt;Magnum/GL/Texture.h&gt;</code></li> </ul>"},{"location":"api/light_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/light.cpp</code></p>"},{"location":"api/light_8cpp_source/","title":"File light.cpp","text":"<p>File List &gt; gs &gt; light.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"light.hpp\"\n\n#include &lt;Magnum/GL/Texture.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                Light::Light() : _position(Magnum::Vector4{0.f, 0.f, 0.f, 1.f}),\n                                 _transformed_position(_position),\n                                 _material(Material()),\n                                 _spot_direction(Magnum::Vector3{1.f, 0.f, 0.f}),\n                                 _spot_exponent(1.f),\n                                 _spot_cut_off(Magnum::Math::Constants&lt;Magnum::Float&gt;::pi()),\n                                 _attenuation(Magnum::Vector4{0.f, 0.f, 1.f, 1.f}),\n                                 _cast_shadows(true) {}\n\n                Light::Light(const Magnum::Vector4&amp; position, const Material&amp; material, const Magnum::Vector3&amp; spot_direction,\n                    Magnum::Float spot_exponent, Magnum::Float spot_cut_off, const Magnum::Vector4&amp; attenuation, bool cast_shadows) : _position(position),\n                                                                                                                                      _transformed_position(_position),\n                                                                                                                                      _material(material),\n                                                                                                                                      _spot_direction(spot_direction),\n                                                                                                                                      _spot_exponent(spot_exponent),\n                                                                                                                                      _spot_cut_off(spot_cut_off),\n                                                                                                                                      _attenuation(attenuation),\n                                                                                                                                      _cast_shadows(cast_shadows) {}\n\n                // Magnum::Vector4&amp; Light::position();\n                Magnum::Vector4 Light::position() const { return _position; }\n\n                Magnum::Vector4&amp; Light::transformed_position() { return _transformed_position; }\n                Magnum::Vector4 Light::transformed_position() const { return _transformed_position; }\n\n                Material&amp; Light::material() { return _material; }\n                Material Light::material() const { return _material; }\n\n                // Magnum::Vector3&amp; Light::spot_direction() { return _spot_direction; }\n                Magnum::Vector3 Light::spot_direction() const { return _spot_direction; }\n\n                Magnum::Vector3&amp; Light::transformed_spot_direction() { return _transformed_spot_direction; }\n                Magnum::Vector3 Light::transformed_spot_direction() const { return _transformed_spot_direction; }\n\n                Magnum::Float&amp; Light::spot_exponent() { return _spot_exponent; }\n                Magnum::Float Light::spot_exponent() const { return _spot_exponent; }\n\n                Magnum::Float&amp; Light::spot_cut_off() { return _spot_cut_off; }\n                Magnum::Float Light::spot_cut_off() const { return _spot_cut_off; }\n\n                Magnum::Vector4&amp; Light::attenuation() { return _attenuation; }\n                Magnum::Vector4 Light::attenuation() const { return _attenuation; }\n\n                Magnum::Matrix4 Light::shadow_matrix() const { return _shadow_transform; }\n\n                bool Light::casts_shadows() const { return _cast_shadows; }\n\n                Light&amp; Light::set_position(const Magnum::Vector4&amp; position)\n                {\n                    _position = position;\n                    _transformed_position = position;\n                    return *this;\n                }\n\n                Light&amp; Light::set_transformed_position(const Magnum::Vector4&amp; transformed_position)\n                {\n                    _transformed_position = transformed_position;\n                    return *this;\n                }\n\n                Light&amp; Light::set_material(const Material&amp; material)\n                {\n                    _material = material;\n                    return *this;\n                }\n\n                Light&amp; Light::set_spot_direction(const Magnum::Vector3&amp; spot_direction)\n                {\n                    _spot_direction = spot_direction;\n                    _transformed_spot_direction = _spot_direction;\n                    return *this;\n                }\n\n                Light&amp; Light::set_transformed_spot_direction(const Magnum::Vector3&amp; transformed_spot_direction)\n                {\n                    _transformed_spot_direction = transformed_spot_direction;\n                    return *this;\n                }\n\n                Light&amp; Light::set_spot_exponent(Magnum::Float spot_exponent)\n                {\n                    _spot_exponent = spot_exponent;\n                    return *this;\n                }\n\n                Light&amp; Light::set_spot_cut_off(Magnum::Float spot_cut_off)\n                {\n                    _spot_cut_off = spot_cut_off;\n                    return *this;\n                }\n\n                Light&amp; Light::set_attenuation(const Magnum::Vector4&amp; attenuation)\n                {\n                    _attenuation = attenuation;\n                    return *this;\n                }\n\n                Light&amp; Light::set_shadow_matrix(const Magnum::Matrix4&amp; shadowTransform)\n                {\n                    _shadow_transform = shadowTransform;\n                    return *this;\n                }\n\n                Light&amp; Light::set_casts_shadows(bool cast_shadows)\n                {\n                    _cast_shadows = cast_shadows;\n                    return *this;\n                }\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n</code></pre>"},{"location":"api/light_8hpp/","title":"File light.hpp","text":"<p>FileList &gt; gs &gt; light.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/gs/material.hpp&gt;</code></li> <li><code>#include &lt;Magnum/Math/Matrix4.h&gt;</code></li> </ul>"},{"location":"api/light_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs"},{"location":"api/light_8hpp/#classes","title":"Classes","text":"Type Name class Light <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/light.hpp</code></p>"},{"location":"api/light_8hpp_source/","title":"File light.hpp","text":"<p>File List &gt; gs &gt; light.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_GS_LIGHT_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_LIGHT_HPP\n\n#include &lt;robot_dart/gui/magnum/gs/material.hpp&gt;\n\n#include &lt;Magnum/Math/Matrix4.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                class Light {\n                public:\n                    Light();\n\n                    Light(const Magnum::Vector4&amp; position, const Material&amp; material, const Magnum::Vector3&amp; spot_direction,\n                        Magnum::Float spot_exponent, Magnum::Float spot_cut_off, const Magnum::Vector4&amp; attenuation, bool cast_shadows = true);\n\n                    // Magnum::Vector4&amp; position();\n                    Magnum::Vector4 position() const;\n                    Magnum::Vector4&amp; transformed_position();\n                    Magnum::Vector4 transformed_position() const;\n\n                    Material&amp; material();\n                    Material material() const;\n\n                    // Magnum::Vector3&amp; spot_direction();\n                    Magnum::Vector3 spot_direction() const;\n\n                    Magnum::Vector3&amp; transformed_spot_direction();\n                    Magnum::Vector3 transformed_spot_direction() const;\n\n                    Magnum::Float&amp; spot_exponent();\n                    Magnum::Float spot_exponent() const;\n\n                    Magnum::Float&amp; spot_cut_off();\n                    Magnum::Float spot_cut_off() const;\n\n                    Magnum::Vector4&amp; attenuation();\n                    Magnum::Vector4 attenuation() const;\n\n                    Magnum::Matrix4 shadow_matrix() const;\n                    bool casts_shadows() const;\n\n                    Light&amp; set_position(const Magnum::Vector4&amp; position);\n                    Light&amp; set_transformed_position(const Magnum::Vector4&amp; transformed_position);\n\n                    Light&amp; set_material(const Material&amp; material);\n\n                    Light&amp; set_spot_direction(const Magnum::Vector3&amp; spot_direction);\n                    Light&amp; set_transformed_spot_direction(const Magnum::Vector3&amp; transformed_spot_direction);\n                    Light&amp; set_spot_exponent(Magnum::Float spot_exponent);\n                    Light&amp; set_spot_cut_off(Magnum::Float spot_cut_off);\n\n                    Light&amp; set_attenuation(const Magnum::Vector4&amp; attenuation);\n\n                    Light&amp; set_shadow_matrix(const Magnum::Matrix4&amp; shadowTransform);\n                    Light&amp; set_casts_shadows(bool cast_shadows);\n\n                protected:\n                    // Position for point-lights and spot-lights\n                    // Direction for directional lights (if position.w == 0)\n                    Magnum::Vector4 _position;\n                    // TO-DO: Handle dirtiness of transformed position\n                    Magnum::Vector4 _transformed_position;\n                    Material _material;\n                    Magnum::Vector3 _spot_direction;\n                    // TO-DO: Handle dirtiness of transformed spot direction\n                    Magnum::Vector3 _transformed_spot_direction;\n                    Magnum::Float _spot_exponent, _spot_cut_off;\n\n                    // Attenuation is: intensity/(constant + d * (linear + quadratic * d)\n                    // where d is the distance from the light position to the vertex position.\n                    //\n                    // (constant,linear,quadratic,intensity)\n                    Magnum::Vector4 _attenuation;\n\n                    // Shadow-Matrix\n                    Magnum::Matrix4 _shadow_transform{};\n\n                    // Whether it casts shadows\n                    bool _cast_shadows = true;\n                };\n\n                // Helpers for creating lights\n                inline Light create_point_light(const Magnum::Vector3&amp; position, const Material&amp; material,\n                    Magnum::Float intensity, const Magnum::Vector3&amp; attenuationTerms)\n                {\n                    Light light;\n                    light.set_material(material);\n                    light.set_position(Magnum::Vector4{position, 1.f})\n                        .set_attenuation(Magnum::Vector4{attenuationTerms, intensity});\n\n                    return light;\n                }\n\n                inline Light create_spot_light(const Magnum::Vector3&amp; position, const Material&amp; material,\n                    const Magnum::Vector3&amp; spot_direction, Magnum::Float spot_exponent, Magnum::Float spot_cut_off,\n                    Magnum::Float intensity, const Magnum::Vector3&amp; attenuationTerms)\n                {\n                    return Light(Magnum::Vector4{position, 1.f}, material, spot_direction, spot_exponent, spot_cut_off,\n                        Magnum::Vector4{attenuationTerms, intensity});\n                }\n\n                inline Light create_directional_light(\n                    const Magnum::Vector3&amp; direction, const Material&amp; material)\n                {\n                    Light light;\n                    light.set_material(material);\n                    light.set_position(Magnum::Vector4{direction, 0.f});\n\n                    return light;\n                }\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/material_8cpp/","title":"File material.cpp","text":"<p>FileList &gt; gs &gt; material.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"material.hpp\"</code></li> <li><code>#include &lt;Magnum/GL/Texture.h&gt;</code></li> </ul>"},{"location":"api/material_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/material.cpp</code></p>"},{"location":"api/material_8cpp_source/","title":"File material.cpp","text":"<p>File List &gt; gs &gt; material.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"material.hpp\"\n\n#include &lt;Magnum/GL/Texture.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                Material::Material() : _ambient(Magnum::Color4{0.f, 0.f, 0.f, 1.f}),\n                                       _diffuse(Magnum::Color4{0.f, 0.f, 0.f, 1.f}),\n                                       _specular(Magnum::Color4{0.f, 0.f, 0.f, 1.f}),\n                                       _shininess(2000.f) {}\n\n                Material::Material(const Magnum::Color4&amp; ambient, const Magnum::Color4&amp; diffuse,\n                    const Magnum::Color4&amp; specular, Magnum::Float shininess) : _ambient(ambient),\n                                                                               _diffuse(diffuse),\n                                                                               _specular(specular),\n                                                                               _shininess(shininess) {}\n\n                Material::Material(Magnum::GL::Texture2D* ambient_texture,\n                    Magnum::GL::Texture2D* diffuse_texture,\n                    Magnum::GL::Texture2D* specular_texture, Magnum::Float shininess) : _ambient(Magnum::Color4{0.f, 0.f, 0.f, 1.f}),\n                                                                                       _diffuse(Magnum::Color4{0.f, 0.f, 0.f, 1.f}),\n                                                                                       _specular(Magnum::Color4{0.f, 0.f, 0.f, 1.f}),\n                                                                                       _shininess(shininess),\n                                                                                       _ambient_texture(ambient_texture),\n                                                                                       _diffuse_texture(diffuse_texture),\n                                                                                       _specular_texture(specular_texture) {}\n\n                Magnum::Color4&amp; Material::ambient_color() { return _ambient; }\n                Magnum::Color4 Material::ambient_color() const { return _ambient; }\n\n                Magnum::Color4&amp; Material::diffuse_color() { return _diffuse; }\n                Magnum::Color4 Material::diffuse_color() const { return _diffuse; }\n\n                Magnum::Color4&amp; Material::specular_color() { return _specular; }\n                Magnum::Color4 Material::specular_color() const { return _specular; }\n\n                Magnum::Float&amp; Material::shininess() { return _shininess; }\n                Magnum::Float Material::shininess() const { return _shininess; }\n\n                Magnum::GL::Texture2D* Material::ambient_texture() { return _ambient_texture; }\n                Magnum::GL::Texture2D* Material::diffuse_texture() { return _diffuse_texture; }\n                Magnum::GL::Texture2D* Material::specular_texture() { return _specular_texture; }\n\n                bool Material::has_ambient_texture() const { return _ambient_texture != NULL; }\n                bool Material::has_diffuse_texture() const { return _diffuse_texture != NULL; }\n                bool Material::has_specular_texture() const { return _specular_texture != NULL; }\n\n                Material&amp; Material::set_ambient_color(const Magnum::Color4&amp; ambient)\n                {\n                    _ambient = ambient;\n                    return *this;\n                }\n\n                Material&amp; Material::set_diffuse_color(const Magnum::Color4&amp; diffuse)\n                {\n                    _diffuse = diffuse;\n                    return *this;\n                }\n\n                Material&amp; Material::set_specular_color(const Magnum::Color4&amp; specular)\n                {\n                    _specular = specular;\n                    return *this;\n                }\n\n                Material&amp; Material::set_shininess(Magnum::Float shininess)\n                {\n                    _shininess = shininess;\n                    return *this;\n                }\n\n                Material&amp; Material::set_ambient_texture(Magnum::GL::Texture2D* ambient_texture)\n                {\n                    _ambient_texture = ambient_texture;\n                    return *this;\n                }\n\n                Material&amp; Material::set_diffuse_texture(Magnum::GL::Texture2D* diffuse_texture)\n                {\n                    _diffuse_texture = diffuse_texture;\n                    return *this;\n                }\n\n                Material&amp; Material::set_specular_texture(Magnum::GL::Texture2D* specular_texture)\n                {\n                    _specular_texture = specular_texture;\n                    return *this;\n                }\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n</code></pre>"},{"location":"api/material_8hpp/","title":"File material.hpp","text":"<p>FileList &gt; gs &gt; material.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;Corrade/Containers/Optional.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/GL.h&gt;</code></li> <li><code>#include &lt;Magnum/Magnum.h&gt;</code></li> <li><code>#include &lt;Magnum/Math/Color.h&gt;</code></li> </ul>"},{"location":"api/material_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs"},{"location":"api/material_8hpp/#classes","title":"Classes","text":"Type Name class Material <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/material.hpp</code></p>"},{"location":"api/material_8hpp_source/","title":"File material.hpp","text":"<p>File List &gt; gs &gt; material.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_GS_MATERIAL_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_MATERIAL_HPP\n\n#include &lt;Corrade/Containers/Optional.h&gt;\n\n#include &lt;Magnum/GL/GL.h&gt;\n#include &lt;Magnum/Magnum.h&gt;\n#include &lt;Magnum/Math/Color.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                class Material {\n                public:\n                    Material();\n\n                    Material(const Magnum::Color4&amp; ambient, const Magnum::Color4&amp; diffuse,\n                        const Magnum::Color4&amp; specular, Magnum::Float shininess);\n\n                    Material(Magnum::GL::Texture2D* ambient_texture,\n                        Magnum::GL::Texture2D* diffuse_texture,\n                        Magnum::GL::Texture2D* specular_texture, Magnum::Float shininess);\n\n                    Magnum::Color4&amp; ambient_color();\n                    Magnum::Color4 ambient_color() const;\n\n                    Magnum::Color4&amp; diffuse_color();\n                    Magnum::Color4 diffuse_color() const;\n\n                    Magnum::Color4&amp; specular_color();\n                    Magnum::Color4 specular_color() const;\n\n                    Magnum::Float&amp; shininess();\n                    Magnum::Float shininess() const;\n\n                    Magnum::GL::Texture2D* ambient_texture();\n                    Magnum::GL::Texture2D* diffuse_texture();\n                    Magnum::GL::Texture2D* specular_texture();\n\n                    bool has_ambient_texture() const;\n                    bool has_diffuse_texture() const;\n                    bool has_specular_texture() const;\n\n                    Material&amp; set_ambient_color(const Magnum::Color4&amp; ambient);\n                    Material&amp; set_diffuse_color(const Magnum::Color4&amp; diffuse);\n                    Material&amp; set_specular_color(const Magnum::Color4&amp; specular);\n                    Material&amp; set_shininess(Magnum::Float shininess);\n\n                    Material&amp; set_ambient_texture(Magnum::GL::Texture2D* ambient_texture);\n                    Material&amp; set_diffuse_texture(Magnum::GL::Texture2D* diffuse_texture);\n                    Material&amp; set_specular_texture(Magnum::GL::Texture2D* specular_texture);\n\n                protected:\n                    Magnum::Color4 _ambient, _diffuse, _specular;\n                    Magnum::Float _shininess;\n                    Magnum::GL::Texture2D* _ambient_texture = NULL;\n                    Magnum::GL::Texture2D* _diffuse_texture = NULL;\n                    Magnum::GL::Texture2D* _specular_texture = NULL;\n                };\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/phong__multi__light_8cpp/","title":"File phong_multi_light.cpp","text":"<p>FileList &gt; gs &gt; phong_multi_light.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"phong_multi_light.hpp\"</code></li> <li><code>#include \"create_compatibility_shader.hpp\"</code></li> <li><code>#include &lt;Magnum/GL/CubeMapTextureArray.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Texture.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/TextureArray.h&gt;</code></li> </ul>"},{"location":"api/phong__multi__light_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/phong_multi_light.cpp</code></p>"},{"location":"api/phong__multi__light_8cpp_source/","title":"File phong_multi_light.cpp","text":"<p>File List &gt; gs &gt; phong_multi_light.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"phong_multi_light.hpp\"\n#include \"create_compatibility_shader.hpp\"\n\n#include &lt;Magnum/GL/CubeMapTextureArray.h&gt;\n#include &lt;Magnum/GL/Texture.h&gt;\n#include &lt;Magnum/GL/TextureArray.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                PhongMultiLight::PhongMultiLight(PhongMultiLight::Flags flags, Magnum::Int max_lights) : _flags(flags), _max_lights(max_lights)\n                {\n                    Corrade::Utility::Resource rs_shaders(\"RobotDARTShaders\");\n\n                    const Magnum::GL::Version version = Magnum::GL::Version::GL320;\n\n                    Magnum::GL::Shader vert = Magnum::Shaders::Implementation::createCompatibilityShader(\n                        rs_shaders, version, Magnum::GL::Shader::Type::Vertex);\n                    Magnum::GL::Shader frag = Magnum::Shaders::Implementation::createCompatibilityShader(\n                        rs_shaders, version, Magnum::GL::Shader::Type::Fragment);\n\n                    std::string defines = \"#define LIGHT_COUNT \" + std::to_string(_max_lights) + \"\\n\";\n                    defines += \"#define POSITION_ATTRIBUTE_LOCATION \" + std::to_string(Position::Location) + \"\\n\";\n                    defines += \"#define NORMAL_ATTRIBUTE_LOCATION \" + std::to_string(Normal::Location) + \"\\n\";\n                    defines += \"#define TEXTURECOORDINATES_ATTRIBUTE_LOCATION \" + std::to_string(TextureCoordinates::Location) + \"\\n\";\n\n                    vert.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n                        .addSource(defines)\n                        .addSource(rs_shaders.get(\"PhongMultiLight.vert\"));\n                    frag.addSource(flags &amp; Flag::AmbientTexture ? \"#define AMBIENT_TEXTURE\\n\" : \"\")\n                        .addSource(flags &amp; Flag::DiffuseTexture ? \"#define DIFFUSE_TEXTURE\\n\" : \"\")\n                        .addSource(flags &amp; Flag::SpecularTexture ? \"#define SPECULAR_TEXTURE\\n\" : \"\")\n                        .addSource(defines)\n                        .addSource(rs_shaders.get(\"PhongMultiLight.frag\"));\n\n                    CORRADE_INTERNAL_ASSERT_OUTPUT(Magnum::GL::Shader::compile({vert, frag}));\n\n                    attachShaders({vert, frag});\n\n                    if (!Magnum::GL::Context::current().isExtensionSupported&lt;Magnum::GL::Extensions::ARB::explicit_attrib_location&gt;(version)) {\n                        bindAttributeLocation(Position::Location, \"position\");\n                        bindAttributeLocation(Normal::Location, \"normal\");\n                        if (flags)\n                            bindAttributeLocation(TextureCoordinates::Location, \"textureCoords\");\n                    }\n\n                    CORRADE_INTERNAL_ASSERT_OUTPUT(link());\n\n                    /* Get light matrices uniform */\n                    _lights_matrices_uniform = uniformLocation(\"lightMatrices[0]\");\n\n                    if (!Magnum::GL::Context::current().isExtensionSupported&lt;Magnum::GL::Extensions::ARB::explicit_uniform_location&gt;(version)) {\n                        _transformation_matrix_uniform = uniformLocation(\"transformationMatrix\");\n                        _projection_matrix_uniform = uniformLocation(\"projectionMatrix\");\n                        _camera_matrix_uniform = uniformLocation(\"cameraMatrix\");\n                        _normal_matrix_uniform = uniformLocation(\"normalMatrix\");\n                        _lights_uniform = uniformLocation(\"lights[0].position\");\n                        _lights_matrices_uniform = uniformLocation(\"lightMatrices[0]\");\n                        _ambient_color_uniform = uniformLocation(\"ambientColor\");\n                        _diffuse_color_uniform = uniformLocation(\"diffuseColor\");\n                        _specular_color_uniform = uniformLocation(\"specularColor\");\n                        _shininess_uniform = uniformLocation(\"shininess\");\n                        _far_plane_uniform = uniformLocation(\"farPlane\");\n                        _specular_strength_uniform = uniformLocation(\"specularStrength\");\n                        _is_shadowed_uniform = uniformLocation(\"isShadowed\");\n                        _transparent_shadows_uniform = uniformLocation(\"drawTransparentShadows\");\n                    }\n\n                    if (!Magnum::GL::Context::current()\n                             .isExtensionSupported&lt;Magnum::GL::Extensions::ARB::shading_language_420pack&gt;(version)) {\n                        setUniform(uniformLocation(\"shadowTextures\"), _shadow_textures_location);\n                        setUniform(uniformLocation(\"cubeMapTextures\"), _cube_map_textures_location);\n                        setUniform(uniformLocation(\"shadowColorTextures\"), _shadow_color_textures_location);\n                        setUniform(uniformLocation(\"cubeMapColorTextures\"), _cube_map_color_textures_location);\n                        if (flags) {\n                            if (flags &amp; Flag::AmbientTexture)\n                                setUniform(uniformLocation(\"ambientTexture\"), AmbientTextureLayer);\n                            if (flags &amp; Flag::DiffuseTexture)\n                                setUniform(uniformLocation(\"diffuseTexture\"), DiffuseTextureLayer);\n                            if (flags &amp; Flag::SpecularTexture)\n                                setUniform(uniformLocation(\"specularTexture\"), SpecularTextureLayer);\n                        }\n                    }\n\n                    /* Set defaults (normally they are set in shader code itself, but just in case) */\n                    Material material;\n\n                    /* Default to fully opaque white so we can see the textures */\n                    if (flags &amp; Flag::AmbientTexture)\n                        material.set_ambient_color(Magnum::Color4{1.0f});\n                    else\n                        material.set_ambient_color(Magnum::Color4{0.0f, 1.0f});\n\n                    if (flags &amp; Flag::DiffuseTexture)\n                        material.set_diffuse_color(Magnum::Color4{1.0f});\n\n                    material.set_specular_color(Magnum::Color4{1.0f});\n                    material.set_shininess(80.0f);\n\n                    set_material(material);\n\n                    /* Lights defaults need to be set by code */\n                    /* All lights are disabled i.e., color equal to black */\n                    Light light;\n                    for (Magnum::Int i = 0; i &lt; _max_lights; i++)\n                        set_light(i, light);\n                }\n\n                PhongMultiLight::PhongMultiLight(Magnum::NoCreateT) noexcept : Magnum::GL::AbstractShaderProgram{Magnum::NoCreate} {}\n\n                PhongMultiLight::Flags PhongMultiLight::flags() const { return _flags; }\n\n                PhongMultiLight&amp; PhongMultiLight::set_material(Material&amp; material)\n                {\n                    // TO-DO: Check if we should do this or let the user define the proper\n                    // material\n                    if (material.has_ambient_texture() &amp;&amp; (_flags &amp; Flag::AmbientTexture)) {\n                        (*material.ambient_texture()).bind(AmbientTextureLayer);\n                        setUniform(_ambient_color_uniform, Magnum::Color4{1.0f});\n                    }\n                    else\n                        setUniform(_ambient_color_uniform, material.ambient_color());\n\n                    if (material.has_diffuse_texture() &amp;&amp; (_flags &amp; Flag::DiffuseTexture)) {\n                        (*material.diffuse_texture()).bind(DiffuseTextureLayer);\n                        setUniform(_diffuse_color_uniform, Magnum::Color4{1.0f});\n                    }\n                    else\n                        setUniform(_diffuse_color_uniform, material.diffuse_color());\n\n                    if (material.has_specular_texture() &amp;&amp; (_flags &amp; Flag::SpecularTexture)) {\n                        (*material.specular_texture()).bind(SpecularTextureLayer);\n                        setUniform(_specular_color_uniform, Magnum::Color4{1.0f});\n                    }\n                    else\n                        setUniform(_specular_color_uniform, material.specular_color());\n\n                    setUniform(_shininess_uniform, material.shininess());\n\n                    return *this;\n                }\n\n                PhongMultiLight&amp; PhongMultiLight::set_light(Magnum::Int i, const Light&amp; light)\n                {\n                    CORRADE_INTERNAL_ASSERT(i &gt;= 0 &amp;&amp; i &lt; _max_lights);\n                    Magnum::Vector4 attenuation = light.attenuation();\n\n                    // light position\n                    setUniform(_lights_uniform + i * _light_loc_size, light.transformed_position());\n                    // light material\n                    setUniform(_lights_uniform + i * _light_loc_size + 1, light.material().ambient_color());\n                    setUniform(_lights_uniform + i * _light_loc_size + 2, light.material().diffuse_color());\n                    setUniform(_lights_uniform + i * _light_loc_size + 3, light.material().specular_color());\n                    // spotlight properties\n                    setUniform(_lights_uniform + i * _light_loc_size + 4, light.transformed_spot_direction());\n                    setUniform(_lights_uniform + i * _light_loc_size + 5, light.spot_exponent());\n                    setUniform(_lights_uniform + i * _light_loc_size + 6, light.spot_cut_off());\n                    // intesity\n                    setUniform(_lights_uniform + i * _light_loc_size + 7, attenuation[3]);\n                    // constant attenuation term\n                    setUniform(_lights_uniform + i * _light_loc_size + 8, attenuation[0]);\n                    // linear attenuation term\n                    setUniform(_lights_uniform + i * _light_loc_size + 9, attenuation[1]);\n                    // quadratic attenuation term\n                    setUniform(_lights_uniform + i * _light_loc_size + 10, attenuation[2]);\n                    // world position\n                    setUniform(_lights_uniform + i * _light_loc_size + 11, light.position());\n                    // casts shadows?\n                    setUniform(_lights_uniform + i * _light_loc_size + 12, light.casts_shadows());\n\n                    setUniform(_lights_matrices_uniform + i, light.shadow_matrix());\n\n                    return *this;\n                }\n\n                PhongMultiLight&amp; PhongMultiLight::set_transformation_matrix(const Magnum::Matrix4&amp; matrix)\n                {\n                    setUniform(_transformation_matrix_uniform, matrix);\n                    return *this;\n                }\n\n                PhongMultiLight&amp; PhongMultiLight::set_camera_matrix(const Magnum::Matrix4&amp; matrix)\n                {\n                    setUniform(_camera_matrix_uniform, matrix);\n                    return *this;\n                }\n\n                PhongMultiLight&amp; PhongMultiLight::set_normal_matrix(const Magnum::Matrix3x3&amp; matrix)\n                {\n                    setUniform(_normal_matrix_uniform, matrix);\n                    return *this;\n                }\n\n                PhongMultiLight&amp; PhongMultiLight::set_projection_matrix(const Magnum::Matrix4&amp; matrix)\n                {\n                    setUniform(_projection_matrix_uniform, matrix);\n                    return *this;\n                }\n\n                PhongMultiLight&amp; PhongMultiLight::set_far_plane(Magnum::Float far_plane)\n                {\n                    setUniform(_far_plane_uniform, far_plane);\n                    return *this;\n                }\n\n                PhongMultiLight&amp; PhongMultiLight::set_is_shadowed(bool shadows)\n                {\n                    setUniform(_is_shadowed_uniform, shadows);\n                    return *this;\n                }\n\n                PhongMultiLight&amp; PhongMultiLight::set_transparent_shadows(bool shadows)\n                {\n                    setUniform(_transparent_shadows_uniform, shadows);\n                    return *this;\n                }\n\n                PhongMultiLight&amp; PhongMultiLight::set_specular_strength(Magnum::Float specular_strength)\n                {\n                    setUniform(_specular_strength_uniform, std::max(0.f, specular_strength));\n                    return *this;\n                }\n\n                PhongMultiLight&amp; PhongMultiLight::bind_shadow_texture(Magnum::GL::Texture2DArray&amp; texture)\n                {\n                    texture.bind(_shadow_textures_location);\n                    return *this;\n                }\n\n                PhongMultiLight&amp; PhongMultiLight::bind_shadow_color_texture(Magnum::GL::Texture2DArray&amp; texture)\n                {\n                    texture.bind(_shadow_color_textures_location);\n                    return *this;\n                }\n\n                PhongMultiLight&amp; PhongMultiLight::bind_cube_map_texture(Magnum::GL::CubeMapTextureArray&amp; texture)\n                {\n                    texture.bind(_cube_map_textures_location);\n                    return *this;\n                }\n\n                PhongMultiLight&amp; PhongMultiLight::bind_cube_map_color_texture(Magnum::GL::CubeMapTextureArray&amp; texture)\n                {\n                    texture.bind(_cube_map_color_textures_location);\n                    return *this;\n                }\n\n                Magnum::Int PhongMultiLight::max_lights() const { return _max_lights; }\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n</code></pre>"},{"location":"api/phong__multi__light_8hpp/","title":"File phong_multi_light.hpp","text":"<p>FileList &gt; gs &gt; phong_multi_light.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/gs/light.hpp&gt;</code></li> <li><code>#include &lt;Corrade/Containers/ArrayView.h&gt;</code></li> <li><code>#include &lt;Corrade/Containers/Reference.h&gt;</code></li> <li><code>#include &lt;Corrade/Utility/Assert.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/AbstractShaderProgram.h&gt;</code></li> <li><code>#include &lt;Magnum/Math/Color.h&gt;</code></li> <li><code>#include &lt;Magnum/Math/Matrix4.h&gt;</code></li> <li><code>#include &lt;Magnum/Shaders/Generic.h&gt;</code></li> </ul>"},{"location":"api/phong__multi__light_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs"},{"location":"api/phong__multi__light_8hpp/#classes","title":"Classes","text":"Type Name class PhongMultiLight <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/phong_multi_light.hpp</code></p>"},{"location":"api/phong__multi__light_8hpp_source/","title":"File phong_multi_light.hpp","text":"<p>File List &gt; gs &gt; phong_multi_light.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_GS_PHONG_MULTI_LIGHT_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_PHONG_MULTI_LIGHT_HPP\n\n#include &lt;robot_dart/gui/magnum/gs/light.hpp&gt;\n\n#include &lt;Corrade/Containers/ArrayView.h&gt;\n#include &lt;Corrade/Containers/Reference.h&gt;\n#include &lt;Corrade/Utility/Assert.h&gt;\n\n#include &lt;Magnum/GL/AbstractShaderProgram.h&gt;\n#include &lt;Magnum/Math/Color.h&gt;\n#include &lt;Magnum/Math/Matrix4.h&gt;\n#include &lt;Magnum/Shaders/Generic.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                class PhongMultiLight : public Magnum::GL::AbstractShaderProgram {\n                public:\n                    using Position = Magnum::Shaders::Generic3D::Position;\n                    using Normal = Magnum::Shaders::Generic3D::Normal;\n                    using TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\n\n                    enum class Flag : Magnum::UnsignedByte {\n                        AmbientTexture = 1 &lt;&lt; 0, \n                        DiffuseTexture = 1 &lt;&lt; 1, \n                        SpecularTexture = 1 &lt;&lt; 2 \n                    };\n\n                    using Flags = Magnum::Containers::EnumSet&lt;Flag&gt;;\n\n                    explicit PhongMultiLight(Flags flags = {}, Magnum::Int max_lights = 10);\n                    explicit PhongMultiLight(Magnum::NoCreateT) noexcept;\n\n                    Flags flags() const;\n\n                    PhongMultiLight&amp; set_material(Material&amp; material);\n                    PhongMultiLight&amp; set_light(Magnum::Int i, const Light&amp; light);\n\n                    PhongMultiLight&amp; set_transformation_matrix(const Magnum::Matrix4&amp; matrix);\n                    PhongMultiLight&amp; set_camera_matrix(const Magnum::Matrix4&amp; matrix);\n                    PhongMultiLight&amp; set_normal_matrix(const Magnum::Matrix3x3&amp; matrix);\n                    PhongMultiLight&amp; set_projection_matrix(const Magnum::Matrix4&amp; matrix);\n\n                    PhongMultiLight&amp; set_far_plane(Magnum::Float far_plane);\n                    PhongMultiLight&amp; set_is_shadowed(bool shadows);\n                    PhongMultiLight&amp; set_transparent_shadows(bool shadows);\n                    PhongMultiLight&amp; set_specular_strength(Magnum::Float specular_strength);\n\n                    PhongMultiLight&amp; bind_shadow_texture(Magnum::GL::Texture2DArray&amp; texture);\n                    PhongMultiLight&amp; bind_shadow_color_texture(Magnum::GL::Texture2DArray&amp; texture);\n                    PhongMultiLight&amp; bind_cube_map_texture(Magnum::GL::CubeMapTextureArray&amp; texture);\n                    PhongMultiLight&amp; bind_cube_map_color_texture(Magnum::GL::CubeMapTextureArray&amp; texture);\n\n                    Magnum::Int max_lights() const;\n\n                private:\n                    Flags _flags;\n                    Magnum::Int _max_lights = 10;\n                    Magnum::Int _transformation_matrix_uniform{0}, _camera_matrix_uniform{7}, _projection_matrix_uniform{1}, _normal_matrix_uniform{2},\n                        _shininess_uniform{3}, _ambient_color_uniform{4}, _diffuse_color_uniform{5}, _specular_color_uniform{6}, _specular_strength_uniform{11},\n                        _lights_uniform{12}, _lights_matrices_uniform, _far_plane_uniform{8}, _is_shadowed_uniform{9}, _transparent_shadows_uniform{10},\n                        _shadow_textures_location{3}, _cube_map_textures_location{4}, _shadow_color_textures_location{5}, _cube_map_color_textures_location{6};\n                    const Magnum::Int _light_loc_size = 13;\n                };\n\n                CORRADE_ENUMSET_OPERATORS(PhongMultiLight::Flags)\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/shadow__map_8cpp/","title":"File shadow_map.cpp","text":"<p>FileList &gt; gs &gt; shadow_map.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"shadow_map.hpp\"</code></li> <li><code>#include \"create_compatibility_shader.hpp\"</code></li> <li><code>#include &lt;Magnum/GL/Texture.h&gt;</code></li> </ul>"},{"location":"api/shadow__map_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/shadow_map.cpp</code></p>"},{"location":"api/shadow__map_8cpp_source/","title":"File shadow_map.cpp","text":"<p>File List &gt; gs &gt; shadow_map.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"shadow_map.hpp\"\n#include \"create_compatibility_shader.hpp\"\n\n#include &lt;Magnum/GL/Texture.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                ShadowMap::ShadowMap(ShadowMap::Flags flags) : _flags(flags)\n                {\n                    Corrade::Utility::Resource rs_shaders(\"RobotDARTShaders\");\n\n                    const Magnum::GL::Version version = Magnum::GL::Version::GL320;\n\n                    Magnum::GL::Shader vert = Magnum::Shaders::Implementation::createCompatibilityShader(\n                        rs_shaders, version, Magnum::GL::Shader::Type::Vertex);\n                    Magnum::GL::Shader frag = Magnum::Shaders::Implementation::createCompatibilityShader(\n                        rs_shaders, version, Magnum::GL::Shader::Type::Fragment);\n\n                    std::string defines = \"#define POSITION_ATTRIBUTE_LOCATION \" + std::to_string(Position::Location) + \"\\n\";\n                    defines += \"#define TEXTURECOORDINATES_ATTRIBUTE_LOCATION \" + std::to_string(TextureCoordinates::Location) + \"\\n\";\n\n                    vert.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n                        .addSource(defines)\n                        .addSource(rs_shaders.get(\"ShadowMap.vert\"));\n                    frag.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n                        .addSource(rs_shaders.get(\"ShadowMap.frag\"));\n\n                    CORRADE_INTERNAL_ASSERT_OUTPUT(Magnum::GL::Shader::compile({vert, frag}));\n\n                    attachShaders({vert, frag});\n\n                    if (!Magnum::GL::Context::current().isExtensionSupported&lt;Magnum::GL::Extensions::ARB::explicit_attrib_location&gt;(version)) {\n                        bindAttributeLocation(Position::Location, \"position\");\n                        if (flags)\n                            bindAttributeLocation(TextureCoordinates::Location, \"textureCoords\");\n                    }\n\n                    CORRADE_INTERNAL_ASSERT_OUTPUT(link());\n\n                    if (!Magnum::GL::Context::current().isExtensionSupported&lt;Magnum::GL::Extensions::ARB::explicit_uniform_location&gt;(version)) {\n                        _transformation_matrix_uniform = uniformLocation(\"transformationMatrix\");\n                        _projection_matrix_uniform = uniformLocation(\"projectionMatrix\");\n                        _diffuse_color_uniform = uniformLocation(\"diffuseColor\");\n                    }\n\n                    if (!Magnum::GL::Context::current()\n                             .isExtensionSupported&lt;Magnum::GL::Extensions::ARB::shading_language_420pack&gt;(version)\n                        &amp;&amp; flags) {\n                        setUniform(uniformLocation(\"diffuseTexture\"), DiffuseTextureLayer);\n                    }\n                }\n\n                ShadowMap::ShadowMap(Magnum::NoCreateT) noexcept : Magnum::GL::AbstractShaderProgram{Magnum::NoCreate} {}\n\n                ShadowMap::Flags ShadowMap::flags() const { return _flags; }\n\n                ShadowMap&amp; ShadowMap::set_transformation_matrix(const Magnum::Matrix4&amp; matrix)\n                {\n                    setUniform(_transformation_matrix_uniform, matrix);\n                    return *this;\n                }\n\n                ShadowMap&amp; ShadowMap::set_projection_matrix(const Magnum::Matrix4&amp; matrix)\n                {\n                    setUniform(_projection_matrix_uniform, matrix);\n                    return *this;\n                }\n\n                ShadowMap&amp; ShadowMap::set_material(Material&amp; material)\n                {\n                    if (material.has_diffuse_texture() &amp;&amp; (_flags &amp; Flag::DiffuseTexture)) {\n                        (*material.diffuse_texture()).bind(DiffuseTextureLayer);\n                        setUniform(_diffuse_color_uniform, Magnum::Color4{1.0f});\n                    }\n                    else\n                        setUniform(_diffuse_color_uniform, material.diffuse_color());\n\n                    return *this;\n                }\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n</code></pre>"},{"location":"api/shadow__map_8hpp/","title":"File shadow_map.hpp","text":"<p>FileList &gt; gs &gt; shadow_map.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/gs/material.hpp&gt;</code></li> <li><code>#include &lt;Corrade/Containers/ArrayView.h&gt;</code></li> <li><code>#include &lt;Corrade/Containers/Reference.h&gt;</code></li> <li><code>#include &lt;Corrade/Utility/Assert.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/AbstractShaderProgram.h&gt;</code></li> <li><code>#include &lt;Magnum/Math/Color.h&gt;</code></li> <li><code>#include &lt;Magnum/Math/Matrix4.h&gt;</code></li> <li><code>#include &lt;Magnum/Shaders/Generic.h&gt;</code></li> </ul>"},{"location":"api/shadow__map_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs"},{"location":"api/shadow__map_8hpp/#classes","title":"Classes","text":"Type Name class ShadowMap <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/shadow_map.hpp</code></p>"},{"location":"api/shadow__map_8hpp_source/","title":"File shadow_map.hpp","text":"<p>File List &gt; gs &gt; shadow_map.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_GS_SHADOW_MAP_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_SHADOW_MAP_HPP\n\n#include &lt;robot_dart/gui/magnum/gs/material.hpp&gt;\n\n#include &lt;Corrade/Containers/ArrayView.h&gt;\n#include &lt;Corrade/Containers/Reference.h&gt;\n#include &lt;Corrade/Utility/Assert.h&gt;\n\n#include &lt;Magnum/GL/AbstractShaderProgram.h&gt;\n#include &lt;Magnum/Math/Color.h&gt;\n#include &lt;Magnum/Math/Matrix4.h&gt;\n#include &lt;Magnum/Shaders/Generic.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                class ShadowMap : public Magnum::GL::AbstractShaderProgram {\n                public:\n                    using Position = Magnum::Shaders::Generic3D::Position;\n                    using TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\n\n                    enum class Flag : Magnum::UnsignedByte {\n                        DiffuseTexture = 1 &lt;&lt; 0, \n                    };\n\n                    using Flags = Magnum::Containers::EnumSet&lt;Flag&gt;;\n\n                    explicit ShadowMap(Flags flags = {});\n                    explicit ShadowMap(Magnum::NoCreateT) noexcept;\n\n                    Flags flags() const;\n\n                    ShadowMap&amp; set_transformation_matrix(const Magnum::Matrix4&amp; matrix);\n                    ShadowMap&amp; set_projection_matrix(const Magnum::Matrix4&amp; matrix);\n                    ShadowMap&amp; set_material(Material&amp; material);\n\n                private:\n                    Flags _flags;\n                    Magnum::Int _transformation_matrix_uniform{0}, _projection_matrix_uniform{1}, _diffuse_color_uniform{2};\n                };\n\n                CORRADE_ENUMSET_OPERATORS(ShadowMap::Flags)\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/shadow__map__color_8cpp/","title":"File shadow_map_color.cpp","text":"<p>FileList &gt; gs &gt; shadow_map_color.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"shadow_map_color.hpp\"</code></li> <li><code>#include \"create_compatibility_shader.hpp\"</code></li> <li><code>#include &lt;Magnum/GL/Texture.h&gt;</code></li> </ul>"},{"location":"api/shadow__map__color_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/shadow_map_color.cpp</code></p>"},{"location":"api/shadow__map__color_8cpp_source/","title":"File shadow_map_color.cpp","text":"<p>File List &gt; gs &gt; shadow_map_color.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"shadow_map_color.hpp\"\n#include \"create_compatibility_shader.hpp\"\n\n#include &lt;Magnum/GL/Texture.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                ShadowMapColor::ShadowMapColor(ShadowMapColor::Flags flags) : _flags(flags)\n                {\n                    Corrade::Utility::Resource rs_shaders(\"RobotDARTShaders\");\n\n                    const Magnum::GL::Version version = Magnum::GL::Version::GL320;\n\n                    Magnum::GL::Shader vert = Magnum::Shaders::Implementation::createCompatibilityShader(\n                        rs_shaders, version, Magnum::GL::Shader::Type::Vertex);\n                    Magnum::GL::Shader frag = Magnum::Shaders::Implementation::createCompatibilityShader(\n                        rs_shaders, version, Magnum::GL::Shader::Type::Fragment);\n\n                    std::string defines = \"#define POSITION_ATTRIBUTE_LOCATION \" + std::to_string(Position::Location) + \"\\n\";\n                    defines += \"#define TEXTURECOORDINATES_ATTRIBUTE_LOCATION \" + std::to_string(TextureCoordinates::Location) + \"\\n\";\n\n                    vert.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n                        .addSource(defines)\n                        .addSource(rs_shaders.get(\"ShadowMap.vert\"));\n                    frag.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n                        .addSource(rs_shaders.get(\"ShadowMapColor.frag\"));\n\n                    CORRADE_INTERNAL_ASSERT_OUTPUT(Magnum::GL::Shader::compile({vert, frag}));\n\n                    attachShaders({vert, frag});\n\n                    if (!Magnum::GL::Context::current().isExtensionSupported&lt;Magnum::GL::Extensions::ARB::explicit_attrib_location&gt;(version)) {\n                        bindAttributeLocation(Position::Location, \"position\");\n                        if (flags)\n                            bindAttributeLocation(TextureCoordinates::Location, \"textureCoords\");\n                    }\n\n                    CORRADE_INTERNAL_ASSERT_OUTPUT(link());\n\n                    if (!Magnum::GL::Context::current().isExtensionSupported&lt;Magnum::GL::Extensions::ARB::explicit_uniform_location&gt;(version)) {\n                        _transformation_matrix_uniform = uniformLocation(\"transformationMatrix\");\n                        _projection_matrix_uniform = uniformLocation(\"projectionMatrix\");\n                        _diffuse_color_uniform = uniformLocation(\"diffuseColor\");\n                    }\n\n                    if (!Magnum::GL::Context::current()\n                             .isExtensionSupported&lt;Magnum::GL::Extensions::ARB::shading_language_420pack&gt;(version)\n                        &amp;&amp; flags) {\n                        setUniform(uniformLocation(\"diffuseTexture\"), DiffuseTextureLayer);\n                    }\n                }\n\n                ShadowMapColor::ShadowMapColor(Magnum::NoCreateT) noexcept : Magnum::GL::AbstractShaderProgram{Magnum::NoCreate} {}\n\n                ShadowMapColor::Flags ShadowMapColor::flags() const { return _flags; }\n\n                ShadowMapColor&amp; ShadowMapColor::set_transformation_matrix(const Magnum::Matrix4&amp; matrix)\n                {\n                    setUniform(_transformation_matrix_uniform, matrix);\n                    return *this;\n                }\n\n                ShadowMapColor&amp; ShadowMapColor::set_projection_matrix(const Magnum::Matrix4&amp; matrix)\n                {\n                    setUniform(_projection_matrix_uniform, matrix);\n                    return *this;\n                }\n\n                ShadowMapColor&amp; ShadowMapColor::set_material(Material&amp; material)\n                {\n                    if (material.has_diffuse_texture() &amp;&amp; (_flags &amp; Flag::DiffuseTexture)) {\n                        (*material.diffuse_texture()).bind(DiffuseTextureLayer);\n                        setUniform(_diffuse_color_uniform, Magnum::Color4{1.0f});\n                    }\n                    else\n                        setUniform(_diffuse_color_uniform, material.diffuse_color());\n\n                    return *this;\n                }\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n</code></pre>"},{"location":"api/shadow__map__color_8hpp/","title":"File shadow_map_color.hpp","text":"<p>FileList &gt; gs &gt; shadow_map_color.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/gs/material.hpp&gt;</code></li> <li><code>#include &lt;Corrade/Containers/ArrayView.h&gt;</code></li> <li><code>#include &lt;Corrade/Containers/Reference.h&gt;</code></li> <li><code>#include &lt;Corrade/Utility/Assert.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/AbstractShaderProgram.h&gt;</code></li> <li><code>#include &lt;Magnum/Math/Color.h&gt;</code></li> <li><code>#include &lt;Magnum/Math/Matrix4.h&gt;</code></li> <li><code>#include &lt;Magnum/Shaders/Generic.h&gt;</code></li> </ul>"},{"location":"api/shadow__map__color_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace gs"},{"location":"api/shadow__map__color_8hpp/#classes","title":"Classes","text":"Type Name class ShadowMapColor <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/gs/shadow_map_color.hpp</code></p>"},{"location":"api/shadow__map__color_8hpp_source/","title":"File shadow_map_color.hpp","text":"<p>File List &gt; gs &gt; shadow_map_color.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_GS_SHADOW_MAP_COLOR_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_SHADOW_MAP_COLOR_HPP\n\n#include &lt;robot_dart/gui/magnum/gs/material.hpp&gt;\n\n#include &lt;Corrade/Containers/ArrayView.h&gt;\n#include &lt;Corrade/Containers/Reference.h&gt;\n#include &lt;Corrade/Utility/Assert.h&gt;\n\n#include &lt;Magnum/GL/AbstractShaderProgram.h&gt;\n#include &lt;Magnum/Math/Color.h&gt;\n#include &lt;Magnum/Math/Matrix4.h&gt;\n#include &lt;Magnum/Shaders/Generic.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace gs {\n                class ShadowMapColor : public Magnum::GL::AbstractShaderProgram {\n                public:\n                    using Position = Magnum::Shaders::Generic3D::Position;\n                    using TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\n\n                    enum class Flag : Magnum::UnsignedByte {\n                        DiffuseTexture = 1 &lt;&lt; 0, \n                    };\n\n                    using Flags = Magnum::Containers::EnumSet&lt;Flag&gt;;\n\n                    explicit ShadowMapColor(Flags flags = {});\n                    explicit ShadowMapColor(Magnum::NoCreateT) noexcept;\n\n                    Flags flags() const;\n\n                    ShadowMapColor&amp; set_transformation_matrix(const Magnum::Matrix4&amp; matrix);\n                    ShadowMapColor&amp; set_projection_matrix(const Magnum::Matrix4&amp; matrix);\n                    ShadowMapColor&amp; set_material(Material&amp; material);\n\n                private:\n                    Flags _flags;\n                    Magnum::Int _transformation_matrix_uniform{0}, _projection_matrix_uniform{1}, _diffuse_color_uniform{2};\n                };\n\n                CORRADE_ENUMSET_OPERATORS(ShadowMapColor::Flags)\n            } // namespace gs\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/dir_2c74a777547786aaf50e99ba400e19fa/","title":"Dir robot_dart/gui/magnum/sensor","text":"<p>FileList &gt; gui &gt; magnum &gt; sensor</p>"},{"location":"api/dir_2c74a777547786aaf50e99ba400e19fa/#files","title":"Files","text":"Type Name file camera.cpp file camera.hpp <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/sensor/</code></p>"},{"location":"api/sensor_2camera_8cpp/","title":"File camera.cpp","text":"<p>FileList &gt; gui &gt; magnum &gt; sensor &gt; camera.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"camera.hpp\"</code></li> <li><code>#include &lt;Corrade/Containers/ArrayViewStl.h&gt;</code></li> <li><code>#include &lt;Corrade/Containers/StridedArrayView.h&gt;</code></li> <li><code>#include &lt;Corrade/Utility/Algorithms.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/PixelFormat.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/RenderbufferFormat.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Renderer.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/TextureFormat.h&gt;</code></li> <li><code>#include &lt;Magnum/ImageView.h&gt;</code></li> <li><code>#include &lt;Magnum/PixelFormat.h&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/utils_headers_eigen.hpp&gt;</code></li> </ul>"},{"location":"api/sensor_2camera_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace sensor <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/sensor/camera.cpp</code></p>"},{"location":"api/sensor_2camera_8cpp_source/","title":"Macro Syntax Error","text":"<p>File: <code>api/sensor_2camera_8cpp_source.md</code></p> <p>Line 46 in Markdown file: unexpected '}' <pre><code>                    _framebuffer = Magnum::GL::Framebuffer({{}, {w, h}});\n</code></pre></p>"},{"location":"api/sensor_2camera_8hpp/","title":"File camera.hpp","text":"<p>FileList &gt; gui &gt; magnum &gt; sensor &gt; camera.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/base_application.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/gs/helper.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/sensor/sensor.hpp&gt;</code></li> <li><code>#include &lt;Magnum/GL/Framebuffer.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Renderbuffer.h&gt;</code></li> <li><code>#include &lt;Magnum/PixelFormat.h&gt;</code></li> </ul>"},{"location":"api/sensor_2camera_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum namespace sensor namespace sensor"},{"location":"api/sensor_2camera_8hpp/#classes","title":"Classes","text":"Type Name class Camera <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/sensor/camera.hpp</code></p>"},{"location":"api/sensor_2camera_8hpp_source/","title":"File camera.hpp","text":"<p>File List &gt; gui &gt; magnum &gt; sensor &gt; camera.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_SENSOR_CAMERA_HPP\n#define ROBOT_DART_GUI_MAGNUM_SENSOR_CAMERA_HPP\n\n#include &lt;robot_dart/gui/magnum/base_application.hpp&gt;\n#include &lt;robot_dart/gui/magnum/gs/helper.hpp&gt;\n#include &lt;robot_dart/sensor/sensor.hpp&gt;\n\n#include &lt;Magnum/GL/Framebuffer.h&gt;\n#include &lt;Magnum/GL/Renderbuffer.h&gt;\n#include &lt;Magnum/PixelFormat.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            namespace sensor {\n                class Camera : public robot_dart::sensor::Sensor {\n                public:\n                    Camera(BaseApplication* app, size_t width, size_t height, size_t freq = 30, bool draw_debug = false);\n                    ~Camera() {}\n\n                    void init() override;\n\n                    void calculate(double) override;\n\n                    std::string type() const override;\n\n                    void attach_to_body(dart::dynamics::BodyNode* body, const Eigen::Isometry3d&amp; tf = Eigen::Isometry3d::Identity()) override;\n\n                    void attach_to_joint(dart::dynamics::Joint*, const Eigen::Isometry3d&amp;) override\n                    {\n                        ROBOT_DART_WARNING(true, \"You cannot attach a camera to a joint!\");\n                    }\n\n                    gs::Camera&amp; camera() { return *_camera; }\n                    const gs::Camera&amp; camera() const { return *_camera; }\n\n                    Eigen::Matrix3d camera_intrinsic_matrix() const;\n                    Eigen::Matrix4d camera_extrinsic_matrix() const;\n\n                    bool drawing_debug() const { return _draw_debug; }\n                    void draw_debug(bool draw = true) { _draw_debug = draw; }\n\n                    void look_at(const Eigen::Vector3d&amp; camera_pos, const Eigen::Vector3d&amp; look_at = Eigen::Vector3d(0, 0, 0), const Eigen::Vector3d&amp; up = Eigen::Vector3d(0, 0, 1));\n\n                    // this will use the default FPS of the camera if fps == -1\n                    void record_video(const std::string&amp; video_fname)\n                    {\n                        _camera-&gt;record_video(video_fname, _frequency);\n                    }\n\n                    Magnum::Image2D* magnum_image()\n                    {\n                        if (_camera-&gt;image())\n                            return &amp;(*_camera-&gt;image());\n                        return nullptr;\n                    }\n\n                    Image image()\n                    {\n                        auto image = magnum_image();\n                        if (image)\n                            return gs::rgb_from_image(image);\n                        return Image();\n                    }\n\n                    Magnum::Image2D* magnum_depth_image()\n                    {\n                        if (_camera-&gt;depth_image())\n                            return &amp;(*_camera-&gt;depth_image());\n                        return nullptr;\n                    }\n\n                    // This is for visualization purposes\n                    GrayscaleImage depth_image();\n\n                    // Image filled with depth buffer values\n                    GrayscaleImage raw_depth_image();\n\n                    // \"Image\" filled with depth buffer values (this returns an array of doubles)\n                    DepthImage depth_array();\n\n                protected:\n                    Magnum::GL::Framebuffer _framebuffer{Magnum::NoCreate};\n                    Magnum::PixelFormat _format;\n                    Magnum::GL::Renderbuffer _color, _depth;\n\n                    BaseApplication* _magnum_app;\n                    size_t _width, _height;\n\n                    std::unique_ptr&lt;gs::Camera&gt; _camera;\n\n                    bool _draw_debug;\n                };\n            } // namespace sensor\n        } // namespace magnum\n    } // namespace gui\n\n    namespace sensor {\n        using gui::magnum::sensor::Camera;\n    }\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/types_8hpp/","title":"File types.hpp","text":"<p>FileList &gt; gui &gt; magnum &gt; types.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;Magnum/SceneGraph/Camera.h&gt;</code></li> <li><code>#include &lt;Magnum/SceneGraph/MatrixTransformation3D.h&gt;</code></li> <li><code>#include &lt;Magnum/SceneGraph/Scene.h&gt;</code></li> </ul>"},{"location":"api/types_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/types.hpp</code></p>"},{"location":"api/types_8hpp_source/","title":"File types.hpp","text":"<p>File List &gt; gui &gt; magnum &gt; types.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_TYPES_HPP\n#define ROBOT_DART_GUI_MAGNUM_TYPES_HPP\n\n#include &lt;Magnum/SceneGraph/Camera.h&gt;\n#include &lt;Magnum/SceneGraph/MatrixTransformation3D.h&gt;\n#include &lt;Magnum/SceneGraph/Scene.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            using Object3D = Magnum::SceneGraph::Object&lt;Magnum::SceneGraph::MatrixTransformation3D&gt;;\n            using Scene3D = Magnum::SceneGraph::Scene&lt;Magnum::SceneGraph::MatrixTransformation3D&gt;;\n            using Camera3D = Magnum::SceneGraph::Camera3D;\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/utils__headers__eigen_8hpp/","title":"File utils_headers_eigen.hpp","text":"<p>FileList &gt; gui &gt; magnum &gt; utils_headers_eigen.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;Magnum/EigenIntegration/GeometryIntegration.h&gt;</code></li> <li><code>#include &lt;Magnum/EigenIntegration/Integration.h&gt;</code></li> </ul> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/utils_headers_eigen.hpp</code></p>"},{"location":"api/utils__headers__eigen_8hpp_source/","title":"File utils_headers_eigen.hpp","text":"<p>File List &gt; gui &gt; magnum &gt; utils_headers_eigen.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_UTILS_HEADERS_EXTERNAL_GUI_HPP\n#define ROBOT_DART_GUI_MAGNUM_UTILS_HEADERS_EXTERNAL_GUI_HPP\n\n#pragma GCC system_header\n\n#include &lt;Magnum/EigenIntegration/GeometryIntegration.h&gt;\n#include &lt;Magnum/EigenIntegration/Integration.h&gt;\n\n#endif\n</code></pre>"},{"location":"api/windowless__gl__application_8cpp/","title":"File windowless_gl_application.cpp","text":"<p>FileList &gt; gui &gt; magnum &gt; windowless_gl_application.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"windowless_gl_application.hpp\"</code></li> <li><code>#include &lt;Magnum/GL/RenderbufferFormat.h&gt;</code></li> <li><code>#include &lt;Magnum/GL/Renderer.h&gt;</code></li> </ul>"},{"location":"api/windowless__gl__application_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/windowless_gl_application.cpp</code></p>"},{"location":"api/windowless__gl__application_8cpp_source/","title":"Macro Syntax Error","text":"<p>File: <code>api/windowless__gl__application_8cpp_source.md</code></p> <p>Line 42 in Markdown file: unexpected '}' <pre><code>                _framebuffer = Magnum::GL::Framebuffer({{}, {w, h}});\n</code></pre></p>"},{"location":"api/windowless__gl__application_8hpp/","title":"File windowless_gl_application.hpp","text":"<p>FileList &gt; gui &gt; magnum &gt; windowless_gl_application.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/base_application.hpp&gt;</code></li> <li><code>#include &lt;Magnum/GL/Renderbuffer.h&gt;</code></li> <li><code>#include &lt;Magnum/PixelFormat.h&gt;</code></li> </ul>"},{"location":"api/windowless__gl__application_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum"},{"location":"api/windowless__gl__application_8hpp/#classes","title":"Classes","text":"Type Name class WindowlessGLApplication <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/windowless_gl_application.hpp</code></p>"},{"location":"api/windowless__gl__application_8hpp_source/","title":"File windowless_gl_application.hpp","text":"<p>File List &gt; gui &gt; magnum &gt; windowless_gl_application.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_GLX_APPLICATION_HPP\n#define ROBOT_DART_GUI_MAGNUM_GLX_APPLICATION_HPP\n\n#include &lt;robot_dart/gui/magnum/base_application.hpp&gt;\n\n#include &lt;Magnum/GL/Renderbuffer.h&gt;\n#include &lt;Magnum/PixelFormat.h&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            class WindowlessGLApplication : public BaseApplication, public Magnum::Platform::WindowlessApplication {\n            public:\n                explicit WindowlessGLApplication(int argc, char** argv, RobotDARTSimu* simu, const GraphicsConfiguration&amp; configuration = GraphicsConfiguration());\n                ~WindowlessGLApplication();\n\n                void render() override;\n\n            protected:\n                RobotDARTSimu* _simu;\n                bool _draw_main_camera, _draw_debug;\n                Magnum::Color4 _bg_color;\n                Magnum::GL::Framebuffer _framebuffer{Magnum::NoCreate};\n                Magnum::PixelFormat _format;\n                Magnum::GL::Renderbuffer _color{Magnum::NoCreate}, _depth{Magnum::NoCreate};\n                // size_t _index = 0;\n\n                virtual int exec() override { return 0; }\n            };\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/windowless__graphics_8cpp/","title":"File windowless_graphics.cpp","text":"<p>FileList &gt; gui &gt; magnum &gt; windowless_graphics.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/windowless_graphics.hpp&gt;</code></li> </ul>"},{"location":"api/windowless__graphics_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/windowless_graphics.cpp</code></p>"},{"location":"api/windowless__graphics_8cpp_source/","title":"File windowless_graphics.cpp","text":"<p>File List &gt; gui &gt; magnum &gt; windowless_graphics.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include &lt;robot_dart/gui/magnum/windowless_graphics.hpp&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            void WindowlessGraphics::set_simu(RobotDARTSimu* simu)\n            {\n                BaseGraphics&lt;WindowlessGLApplication&gt;::set_simu(simu);\n                // we should not synchronize by default if we want windowless graphics (usually used only for sensors)\n                simu-&gt;scheduler().set_sync(false);\n                // disable summary text when windowless graphics activated\n                simu-&gt;enable_text_panel(false);\n                simu-&gt;enable_status_bar(false);\n            }\n\n            GraphicsConfiguration WindowlessGraphics::default_configuration()\n            {\n                GraphicsConfiguration config;\n                // by default we do not draw text in windowless mode\n                config.draw_debug = false;\n                config.draw_text = false;\n\n                return config;\n            }\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n</code></pre>"},{"location":"api/windowless__graphics_8hpp/","title":"File windowless_graphics.hpp","text":"<p>FileList &gt; gui &gt; magnum &gt; windowless_graphics.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/magnum/base_graphics.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/gui/magnum/windowless_gl_application.hpp&gt;</code></li> </ul>"},{"location":"api/windowless__graphics_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace gui namespace magnum"},{"location":"api/windowless__graphics_8hpp/#classes","title":"Classes","text":"Type Name class WindowlessGraphics <p>The documentation for this class was generated from the following file <code>robot_dart/gui/magnum/windowless_graphics.hpp</code></p>"},{"location":"api/windowless__graphics_8hpp_source/","title":"File windowless_graphics.hpp","text":"<p>File List &gt; gui &gt; magnum &gt; windowless_graphics.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_GUI_MAGNUM_WINDOWLESS_GRAPHICS_HPP\n#define ROBOT_DART_GUI_MAGNUM_WINDOWLESS_GRAPHICS_HPP\n\n#include &lt;robot_dart/gui/magnum/base_graphics.hpp&gt;\n#include &lt;robot_dart/gui/magnum/windowless_gl_application.hpp&gt;\n\nnamespace robot_dart {\n    namespace gui {\n        namespace magnum {\n            class WindowlessGraphics : public BaseGraphics&lt;WindowlessGLApplication&gt; {\n            public:\n                WindowlessGraphics(const GraphicsConfiguration&amp; configuration = default_configuration()) : BaseGraphics&lt;WindowlessGLApplication&gt;(configuration) {}\n                ~WindowlessGraphics() {}\n\n                void set_simu(RobotDARTSimu* simu) override;\n\n                static GraphicsConfiguration default_configuration();\n            };\n        } // namespace magnum\n    } // namespace gui\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/stb__image__write_8h/","title":"File stb_image_write.h","text":"<p>FileList &gt; gui &gt; stb_image_write.h</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;stdlib.h&gt;</code></li> </ul>"},{"location":"api/stb__image__write_8h/#public-types","title":"Public Types","text":"Type Name typedef void stbi_write_func"},{"location":"api/stb__image__write_8h/#public-attributes","title":"Public Attributes","text":"Type Name int stbi_write_force_png_filter int stbi_write_png_compression_level int stbi_write_tga_with_rle"},{"location":"api/stb__image__write_8h/#public-functions","title":"Public Functions","text":"Type Name STBIWDEF void stbi_flip_vertically_on_write (int flip_boolean)  STBIWDEF int stbi_write_bmp (char const * filename, int w, int h, int comp, const void * data)  STBIWDEF int stbi_write_bmp_to_func (stbi_write_func * func, void * context, int w, int h, int comp, const void * data)  STBIWDEF int stbi_write_hdr (char const * filename, int w, int h, int comp, const float * data)  STBIWDEF int stbi_write_hdr_to_func (stbi_write_func * func, void * context, int w, int h, int comp, const float * data)  STBIWDEF int stbi_write_jpg (char const * filename, int x, int y, int comp, const void * data, int quality)  STBIWDEF int stbi_write_jpg_to_func (stbi_write_func * func, void * context, int x, int y, int comp, const void * data, int quality)  STBIWDEF int stbi_write_png (char const * filename, int w, int h, int comp, const void * data, int stride_in_bytes)  STBIWDEF int stbi_write_png_to_func (stbi_write_func * func, void * context, int w, int h, int comp, const void * data, int stride_in_bytes)  STBIWDEF int stbi_write_tga (char const * filename, int w, int h, int comp, const void * data)  STBIWDEF int stbi_write_tga_to_func (stbi_write_func * func, void * context, int w, int h, int comp, const void * data)"},{"location":"api/stb__image__write_8h/#macros","title":"Macros","text":"Type Name define STBIWDEF  extern"},{"location":"api/stb__image__write_8h/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/stb__image__write_8h/#typedef-stbi_write_func","title":"typedef stbi_write_func","text":"<pre><code>typedef void stbi_write_func(void *context, void *data, int size);\n</code></pre>"},{"location":"api/stb__image__write_8h/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/stb__image__write_8h/#variable-stbi_write_force_png_filter","title":"variable stbi_write_force_png_filter","text":"<pre><code>int stbi_write_force_png_filter;\n</code></pre>"},{"location":"api/stb__image__write_8h/#variable-stbi_write_png_compression_level","title":"variable stbi_write_png_compression_level","text":"<pre><code>int stbi_write_png_compression_level;\n</code></pre>"},{"location":"api/stb__image__write_8h/#variable-stbi_write_tga_with_rle","title":"variable stbi_write_tga_with_rle","text":"<pre><code>int stbi_write_tga_with_rle;\n</code></pre>"},{"location":"api/stb__image__write_8h/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/stb__image__write_8h/#function-stbi_flip_vertically_on_write","title":"function stbi_flip_vertically_on_write","text":"<pre><code>STBIWDEF void stbi_flip_vertically_on_write (\n    int flip_boolean\n) \n</code></pre>"},{"location":"api/stb__image__write_8h/#function-stbi_write_bmp","title":"function stbi_write_bmp","text":"<pre><code>STBIWDEF int stbi_write_bmp (\n    char const * filename,\n    int w,\n    int h,\n    int comp,\n    const void * data\n) \n</code></pre>"},{"location":"api/stb__image__write_8h/#function-stbi_write_bmp_to_func","title":"function stbi_write_bmp_to_func","text":"<pre><code>STBIWDEF int stbi_write_bmp_to_func (\n    stbi_write_func * func,\n    void * context,\n    int w,\n    int h,\n    int comp,\n    const void * data\n) \n</code></pre>"},{"location":"api/stb__image__write_8h/#function-stbi_write_hdr","title":"function stbi_write_hdr","text":"<pre><code>STBIWDEF int stbi_write_hdr (\n    char const * filename,\n    int w,\n    int h,\n    int comp,\n    const float * data\n) \n</code></pre>"},{"location":"api/stb__image__write_8h/#function-stbi_write_hdr_to_func","title":"function stbi_write_hdr_to_func","text":"<pre><code>STBIWDEF int stbi_write_hdr_to_func (\n    stbi_write_func * func,\n    void * context,\n    int w,\n    int h,\n    int comp,\n    const float * data\n) \n</code></pre>"},{"location":"api/stb__image__write_8h/#function-stbi_write_jpg","title":"function stbi_write_jpg","text":"<pre><code>STBIWDEF int stbi_write_jpg (\n    char const * filename,\n    int x,\n    int y,\n    int comp,\n    const void * data,\n    int quality\n) \n</code></pre>"},{"location":"api/stb__image__write_8h/#function-stbi_write_jpg_to_func","title":"function stbi_write_jpg_to_func","text":"<pre><code>STBIWDEF int stbi_write_jpg_to_func (\n    stbi_write_func * func,\n    void * context,\n    int x,\n    int y,\n    int comp,\n    const void * data,\n    int quality\n) \n</code></pre>"},{"location":"api/stb__image__write_8h/#function-stbi_write_png","title":"function stbi_write_png","text":"<pre><code>STBIWDEF int stbi_write_png (\n    char const * filename,\n    int w,\n    int h,\n    int comp,\n    const void * data,\n    int stride_in_bytes\n) \n</code></pre>"},{"location":"api/stb__image__write_8h/#function-stbi_write_png_to_func","title":"function stbi_write_png_to_func","text":"<pre><code>STBIWDEF int stbi_write_png_to_func (\n    stbi_write_func * func,\n    void * context,\n    int w,\n    int h,\n    int comp,\n    const void * data,\n    int stride_in_bytes\n) \n</code></pre>"},{"location":"api/stb__image__write_8h/#function-stbi_write_tga","title":"function stbi_write_tga","text":"<pre><code>STBIWDEF int stbi_write_tga (\n    char const * filename,\n    int w,\n    int h,\n    int comp,\n    const void * data\n) \n</code></pre>"},{"location":"api/stb__image__write_8h/#function-stbi_write_tga_to_func","title":"function stbi_write_tga_to_func","text":"<pre><code>STBIWDEF int stbi_write_tga_to_func (\n    stbi_write_func * func,\n    void * context,\n    int w,\n    int h,\n    int comp,\n    const void * data\n) \n</code></pre>"},{"location":"api/stb__image__write_8h/#macro-definition-documentation","title":"Macro Definition Documentation","text":""},{"location":"api/stb__image__write_8h/#define-stbiwdef","title":"define STBIWDEF","text":"<pre><code>#define STBIWDEF extern\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/gui/stb_image_write.h</code></p>"},{"location":"api/stb__image__write_8h_source/","title":"File stb_image_write.h","text":"<p>File List &gt; gui &gt; stb_image_write.h</p> <p>Go to the documentation of this file</p> <pre><code>/* stb_image_write - v1.13 - public domain - http://nothings.org/stb\n   writes out PNG/BMP/TGA/JPEG/HDR images to C stdio - Sean Barrett 2010-2015\n                                     no warranty implied; use at your own risk\n\n   Before #including,\n\n       #define STB_IMAGE_WRITE_IMPLEMENTATION\n\n   in the file that you want to have the implementation.\n\n   Will probably not work correctly with strict-aliasing optimizations.\n\nABOUT:\n\n   This header file is a library for writing images to C stdio or a callback.\n\n   The PNG output is not optimal; it is 20-50% larger than the file\n   written by a decent optimizing implementation; though providing a custom\n   zlib compress function (see STBIW_ZLIB_COMPRESS) can mitigate that.\n   This library is designed for source code compactness and simplicity,\n   not optimal image file size or run-time performance.\n\nBUILDING:\n\n   You can #define STBIW_ASSERT(x) before the #include to avoid using assert.h.\n   You can #define STBIW_MALLOC(), STBIW_REALLOC(), and STBIW_FREE() to replace\n   malloc,realloc,free.\n   You can #define STBIW_MEMMOVE() to replace memmove()\n   You can #define STBIW_ZLIB_COMPRESS to use a custom zlib-style compress function\n   for PNG compression (instead of the builtin one), it must have the following signature:\n   unsigned char * my_compress(unsigned char *data, int data_len, int *out_len, int quality);\n   The returned data will be freed with STBIW_FREE() (free() by default),\n   so it must be heap allocated with STBIW_MALLOC() (malloc() by default),\n\nUNICODE:\n\n   If compiling for Windows and you wish to use Unicode filenames, compile\n   with\n       #define STBIW_WINDOWS_UTF8\n   and pass utf8-encoded filenames. Call stbiw_convert_wchar_to_utf8 to convert\n   Windows wchar_t filenames to utf8.\n\nUSAGE:\n\n   There are five functions, one for each image file format:\n\n     int stbi_write_png(char const *filename, int w, int h, int comp, const void *data, int stride_in_bytes);\n     int stbi_write_bmp(char const *filename, int w, int h, int comp, const void *data);\n     int stbi_write_tga(char const *filename, int w, int h, int comp, const void *data);\n     int stbi_write_jpg(char const *filename, int w, int h, int comp, const void *data, int quality);\n     int stbi_write_hdr(char const *filename, int w, int h, int comp, const float *data);\n\n     void stbi_flip_vertically_on_write(int flag); // flag is non-zero to flip data vertically\n\n   There are also five equivalent functions that use an arbitrary write function. You are\n   expected to open/close your file-equivalent before and after calling these:\n\n     int stbi_write_png_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void  *data, int stride_in_bytes);\n     int stbi_write_bmp_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void  *data);\n     int stbi_write_tga_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void  *data);\n     int stbi_write_hdr_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const float *data);\n     int stbi_write_jpg_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void *data, int quality);\n\n   where the callback is:\n      void stbi_write_func(void *context, void *data, int size);\n\n   You can configure it with these global variables:\n      int stbi_write_tga_with_rle;             // defaults to true; set to 0 to disable RLE\n      int stbi_write_png_compression_level;    // defaults to 8; set to higher for more compression\n      int stbi_write_force_png_filter;         // defaults to -1; set to 0..5 to force a filter mode\n\n\n   You can define STBI_WRITE_NO_STDIO to disable the file variant of these\n   functions, so the library will not use stdio.h at all. However, this will\n   also disable HDR writing, because it requires stdio for formatted output.\n\n   Each function returns 0 on failure and non-0 on success.\n\n   The functions create an image file defined by the parameters. The image\n   is a rectangle of pixels stored from left-to-right, top-to-bottom.\n   Each pixel contains 'comp' channels of data stored interleaved with 8-bits\n   per channel, in the following order: 1=Y, 2=YA, 3=RGB, 4=RGBA. (Y is\n   monochrome color.) The rectangle is 'w' pixels wide and 'h' pixels tall.\n   The *data pointer points to the first byte of the top-left-most pixel.\n   For PNG, \"stride_in_bytes\" is the distance in bytes from the first byte of\n   a row of pixels to the first byte of the next row of pixels.\n\n   PNG creates output files with the same number of components as the input.\n   The BMP format expands Y to RGB in the file format and does not\n   output alpha.\n\n   PNG supports writing rectangles of data even when the bytes storing rows of\n   data are not consecutive in memory (e.g. sub-rectangles of a larger image),\n   by supplying the stride between the beginning of adjacent rows. The other\n   formats do not. (Thus you cannot write a native-format BMP through the BMP\n   writer, both because it is in BGR order and because it may have padding\n   at the end of the line.)\n\n   PNG allows you to set the deflate compression level by setting the global\n   variable 'stbi_write_png_compression_level' (it defaults to 8).\n\n   HDR expects linear float data. Since the format is always 32-bit rgb(e)\n   data, alpha (if provided) is discarded, and for monochrome data it is\n   replicated across all three channels.\n\n   TGA supports RLE or non-RLE compressed data. To use non-RLE-compressed\n   data, set the global variable 'stbi_write_tga_with_rle' to 0.\n\n   JPEG does ignore alpha channels in input data; quality is between 1 and 100.\n   Higher quality looks better but results in a bigger image.\n   JPEG baseline (no JPEG progressive).\n\nCREDITS:\n\n\n   Sean Barrett           -    PNG/BMP/TGA \n   Baldur Karlsson        -    HDR\n   Jean-Sebastien Guay    -    TGA monochrome\n   Tim Kelsey             -    misc enhancements\n   Alan Hickman           -    TGA RLE\n   Emmanuel Julien        -    initial file IO callback implementation\n   Jon Olick              -    original jo_jpeg.cpp code\n   Daniel Gibson          -    integrate JPEG, allow external zlib\n   Aarni Koskela          -    allow choosing PNG filter\n\n   bugfixes:\n      github:Chribba\n      Guillaume Chereau\n      github:jry2\n      github:romigrou\n      Sergio Gonzalez\n      Jonas Karlsson\n      Filip Wasil\n      Thatcher Ulrich\n      github:poppolopoppo\n      Patrick Boettcher\n      github:xeekworx\n      Cap Petschulat\n      Simon Rodriguez\n      Ivan Tikhonov\n      github:ignotion\n      Adam Schackart\n\nLICENSE\n\n  See end of file for license information.\n\n*/\n\n#pragma GCC system_header\n\n#ifndef INCLUDE_STB_IMAGE_WRITE_H\n#define INCLUDE_STB_IMAGE_WRITE_H\n\n#include &lt;stdlib.h&gt;\n\n// if STB_IMAGE_WRITE_STATIC causes problems, try defining STBIWDEF to 'inline' or 'static inline'\n#ifndef STBIWDEF\n#ifdef STB_IMAGE_WRITE_STATIC\n#define STBIWDEF  static\n#else\n#ifdef __cplusplus\n#define STBIWDEF  extern \"C\"\n#else\n#define STBIWDEF  extern\n#endif\n#endif\n#endif\n\n#ifndef STB_IMAGE_WRITE_STATIC  // C++ forbids static forward declarations\nextern int stbi_write_tga_with_rle;\nextern int stbi_write_png_compression_level;\nextern int stbi_write_force_png_filter;\n#endif\n\n#ifndef STBI_WRITE_NO_STDIO\nSTBIWDEF int stbi_write_png(char const *filename, int w, int h, int comp, const void  *data, int stride_in_bytes);\nSTBIWDEF int stbi_write_bmp(char const *filename, int w, int h, int comp, const void  *data);\nSTBIWDEF int stbi_write_tga(char const *filename, int w, int h, int comp, const void  *data);\nSTBIWDEF int stbi_write_hdr(char const *filename, int w, int h, int comp, const float *data);\nSTBIWDEF int stbi_write_jpg(char const *filename, int x, int y, int comp, const void  *data, int quality);\n\n#ifdef STBI_WINDOWS_UTF8\nSTBIWDEF int stbiw_convert_wchar_to_utf8(char *buffer, size_t bufferlen, const wchar_t* input);\n#endif\n#endif\n\ntypedef void stbi_write_func(void *context, void *data, int size);\n\nSTBIWDEF int stbi_write_png_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void  *data, int stride_in_bytes);\nSTBIWDEF int stbi_write_bmp_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void  *data);\nSTBIWDEF int stbi_write_tga_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void  *data);\nSTBIWDEF int stbi_write_hdr_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const float *data);\nSTBIWDEF int stbi_write_jpg_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void  *data, int quality);\n\nSTBIWDEF void stbi_flip_vertically_on_write(int flip_boolean);\n\n#endif//INCLUDE_STB_IMAGE_WRITE_H\n\n#ifdef STB_IMAGE_WRITE_IMPLEMENTATION\n\n#ifdef _WIN32\n   #ifndef _CRT_SECURE_NO_WARNINGS\n   #define _CRT_SECURE_NO_WARNINGS\n   #endif\n   #ifndef _CRT_NONSTDC_NO_DEPRECATE\n   #define _CRT_NONSTDC_NO_DEPRECATE\n   #endif\n#endif\n\n#ifndef STBI_WRITE_NO_STDIO\n#include &lt;stdio.h&gt;\n#endif // STBI_WRITE_NO_STDIO\n\n#include &lt;stdarg.h&gt;\n#include &lt;stdlib.h&gt;\n#include &lt;string.h&gt;\n#include &lt;math.h&gt;\n\n#if defined(STBIW_MALLOC) &amp;&amp; defined(STBIW_FREE) &amp;&amp; (defined(STBIW_REALLOC) || defined(STBIW_REALLOC_SIZED))\n// ok\n#elif !defined(STBIW_MALLOC) &amp;&amp; !defined(STBIW_FREE) &amp;&amp; !defined(STBIW_REALLOC) &amp;&amp; !defined(STBIW_REALLOC_SIZED)\n// ok\n#else\n#error \"Must define all or none of STBIW_MALLOC, STBIW_FREE, and STBIW_REALLOC (or STBIW_REALLOC_SIZED).\"\n#endif\n\n#ifndef STBIW_MALLOC\n#define STBIW_MALLOC(sz)        malloc(sz)\n#define STBIW_REALLOC(p,newsz)  realloc(p,newsz)\n#define STBIW_FREE(p)           free(p)\n#endif\n\n#ifndef STBIW_REALLOC_SIZED\n#define STBIW_REALLOC_SIZED(p,oldsz,newsz) STBIW_REALLOC(p,newsz)\n#endif\n\n\n#ifndef STBIW_MEMMOVE\n#define STBIW_MEMMOVE(a,b,sz) memmove(a,b,sz)\n#endif\n\n\n#ifndef STBIW_ASSERT\n#include &lt;assert.h&gt;\n#define STBIW_ASSERT(x) assert(x)\n#endif\n\n#define STBIW_UCHAR(x) (unsigned char) ((x) &amp; 0xff)\n\n#ifdef STB_IMAGE_WRITE_STATIC\nstatic int stbi__flip_vertically_on_write=0;\nstatic int stbi_write_png_compression_level = 8;\nstatic int stbi_write_tga_with_rle = 1;\nstatic int stbi_write_force_png_filter = -1;\n#else\nint stbi_write_png_compression_level = 8;\nint stbi__flip_vertically_on_write=0;\nint stbi_write_tga_with_rle = 1;\nint stbi_write_force_png_filter = -1;\n#endif\n\nSTBIWDEF void stbi_flip_vertically_on_write(int flag)\n{\n   stbi__flip_vertically_on_write = flag;\n}\n\ntypedef struct\n{\n   stbi_write_func *func;\n   void *context;\n} stbi__write_context;\n\n// initialize a callback-based context\nstatic void stbi__start_write_callbacks(stbi__write_context *s, stbi_write_func *c, void *context)\n{\n   s-&gt;func    = c;\n   s-&gt;context = context;\n}\n\n#ifndef STBI_WRITE_NO_STDIO\n\nstatic void stbi__stdio_write(void *context, void *data, int size)\n{\n   fwrite(data,1,size,(FILE*) context);\n}\n\n#if defined(_MSC_VER) &amp;&amp; defined(STBI_WINDOWS_UTF8)\n#ifdef __cplusplus\n#define STBIW_EXTERN extern \"C\"\n#else\n#define STBIW_EXTERN extern\n#endif\nSTBIW_EXTERN __declspec(dllimport) int __stdcall MultiByteToWideChar(unsigned int cp, unsigned long flags, const char *str, int cbmb, wchar_t *widestr, int cchwide);\nSTBIW_EXTERN __declspec(dllimport) int __stdcall WideCharToMultiByte(unsigned int cp, unsigned long flags, const wchar_t *widestr, int cchwide, char *str, int cbmb, const char *defchar, int *used_default);\n\nSTBIWDEF int stbiw_convert_wchar_to_utf8(char *buffer, size_t bufferlen, const wchar_t* input)\n{\n    return WideCharToMultiByte(65001 /* UTF8 */, 0, input, -1, buffer, (int) bufferlen, NULL, NULL);\n}\n#endif\n\nstatic FILE *stbiw__fopen(char const *filename, char const *mode)\n{\n   FILE *f;\n#if defined(_MSC_VER) &amp;&amp; defined(STBI_WINDOWS_UTF8)\n   wchar_t wMode[64];\n   wchar_t wFilename[1024];\n    if (0 == MultiByteToWideChar(65001 /* UTF8 */, 0, filename, -1, wFilename, sizeof(wFilename)))\n      return 0;\n\n    if (0 == MultiByteToWideChar(65001 /* UTF8 */, 0, mode, -1, wMode, sizeof(wMode)))\n      return 0;\n\n#if _MSC_VER &gt;= 1400\n    if (0 != _wfopen_s(&amp;f, wFilename, wMode))\n        f = 0;\n#else\n   f = _wfopen(wFilename, wMode);\n#endif\n\n#elif defined(_MSC_VER) &amp;&amp; _MSC_VER &gt;= 1400\n   if (0 != fopen_s(&amp;f, filename, mode))\n      f=0;\n#else\n   f = fopen(filename, mode);\n#endif\n   return f;\n}\n\nstatic int stbi__start_write_file(stbi__write_context *s, const char *filename)\n{\n   FILE *f = stbiw__fopen(filename, \"wb\");\n   stbi__start_write_callbacks(s, stbi__stdio_write, (void *) f);\n   return f != NULL;\n}\n\nstatic void stbi__end_write_file(stbi__write_context *s)\n{\n   fclose((FILE *)s-&gt;context);\n}\n\n#endif // !STBI_WRITE_NO_STDIO\n\ntypedef unsigned int stbiw_uint32;\ntypedef int stb_image_write_test[sizeof(stbiw_uint32)==4 ? 1 : -1];\n\nstatic void stbiw__writefv(stbi__write_context *s, const char *fmt, va_list v)\n{\n   while (*fmt) {\n      switch (*fmt++) {\n         case ' ': break;\n         case '1': { unsigned char x = STBIW_UCHAR(va_arg(v, int));\n                     s-&gt;func(s-&gt;context,&amp;x,1);\n                     break; }\n         case '2': { int x = va_arg(v,int);\n                     unsigned char b[2];\n                     b[0] = STBIW_UCHAR(x);\n                     b[1] = STBIW_UCHAR(x&gt;&gt;8);\n                     s-&gt;func(s-&gt;context,b,2);\n                     break; }\n         case '4': { stbiw_uint32 x = va_arg(v,int);\n                     unsigned char b[4];\n                     b[0]=STBIW_UCHAR(x);\n                     b[1]=STBIW_UCHAR(x&gt;&gt;8);\n                     b[2]=STBIW_UCHAR(x&gt;&gt;16);\n                     b[3]=STBIW_UCHAR(x&gt;&gt;24);\n                     s-&gt;func(s-&gt;context,b,4);\n                     break; }\n         default:\n            STBIW_ASSERT(0);\n            return;\n      }\n   }\n}\n\nstatic void stbiw__writef(stbi__write_context *s, const char *fmt, ...)\n{\n   va_list v;\n   va_start(v, fmt);\n   stbiw__writefv(s, fmt, v);\n   va_end(v);\n}\n\nstatic void stbiw__putc(stbi__write_context *s, unsigned char c)\n{\n   s-&gt;func(s-&gt;context, &amp;c, 1);\n}\n\nstatic void stbiw__write3(stbi__write_context *s, unsigned char a, unsigned char b, unsigned char c)\n{\n   unsigned char arr[3];\n   arr[0] = a; arr[1] = b; arr[2] = c;\n   s-&gt;func(s-&gt;context, arr, 3);\n}\n\nstatic void stbiw__write_pixel(stbi__write_context *s, int rgb_dir, int comp, int write_alpha, int expand_mono, unsigned char *d)\n{\n   unsigned char bg[3] = { 255, 0, 255}, px[3];\n   int k;\n\n   if (write_alpha &lt; 0)\n      s-&gt;func(s-&gt;context, &amp;d[comp - 1], 1);\n\n   switch (comp) {\n      case 2: // 2 pixels = mono + alpha, alpha is written separately, so same as 1-channel case\n      case 1:\n         if (expand_mono)\n            stbiw__write3(s, d[0], d[0], d[0]); // monochrome bmp\n         else\n            s-&gt;func(s-&gt;context, d, 1);  // monochrome TGA\n         break;\n      case 4:\n         if (!write_alpha) {\n            // composite against pink background\n            for (k = 0; k &lt; 3; ++k)\n               px[k] = bg[k] + ((d[k] - bg[k]) * d[3]) / 255;\n            stbiw__write3(s, px[1 - rgb_dir], px[1], px[1 + rgb_dir]);\n            break;\n         }\n         /* FALLTHROUGH */\n      case 3:\n         stbiw__write3(s, d[1 - rgb_dir], d[1], d[1 + rgb_dir]);\n         break;\n   }\n   if (write_alpha &gt; 0)\n      s-&gt;func(s-&gt;context, &amp;d[comp - 1], 1);\n}\n\nstatic void stbiw__write_pixels(stbi__write_context *s, int rgb_dir, int vdir, int x, int y, int comp, void *data, int write_alpha, int scanline_pad, int expand_mono)\n{\n   stbiw_uint32 zero = 0;\n   int i,j, j_end;\n\n   if (y &lt;= 0)\n      return;\n\n   if (stbi__flip_vertically_on_write)\n      vdir *= -1;\n\n   if (vdir &lt; 0) {\n      j_end = -1; j = y-1;\n   } else {\n      j_end =  y; j = 0;\n   }\n\n   for (; j != j_end; j += vdir) {\n      for (i=0; i &lt; x; ++i) {\n         unsigned char *d = (unsigned char *) data + (j*x+i)*comp;\n         stbiw__write_pixel(s, rgb_dir, comp, write_alpha, expand_mono, d);\n      }\n      s-&gt;func(s-&gt;context, &amp;zero, scanline_pad);\n   }\n}\n\nstatic int stbiw__outfile(stbi__write_context *s, int rgb_dir, int vdir, int x, int y, int comp, int expand_mono, void *data, int alpha, int pad, const char *fmt, ...)\n{\n   if (y &lt; 0 || x &lt; 0) {\n      return 0;\n   } else {\n      va_list v;\n      va_start(v, fmt);\n      stbiw__writefv(s, fmt, v);\n      va_end(v);\n      stbiw__write_pixels(s,rgb_dir,vdir,x,y,comp,data,alpha,pad, expand_mono);\n      return 1;\n   }\n}\n\nstatic int stbi_write_bmp_core(stbi__write_context *s, int x, int y, int comp, const void *data)\n{\n   int pad = (-x*3) &amp; 3;\n   return stbiw__outfile(s,-1,-1,x,y,comp,1,(void *) data,0,pad,\n           \"11 4 22 4\" \"4 44 22 444444\",\n           'B', 'M', 14+40+(x*3+pad)*y, 0,0, 14+40,  // file header\n            40, x,y, 1,24, 0,0,0,0,0,0);             // bitmap header\n}\n\nSTBIWDEF int stbi_write_bmp_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void *data)\n{\n   stbi__write_context s;\n   stbi__start_write_callbacks(&amp;s, func, context);\n   return stbi_write_bmp_core(&amp;s, x, y, comp, data);\n}\n\n#ifndef STBI_WRITE_NO_STDIO\nSTBIWDEF int stbi_write_bmp(char const *filename, int x, int y, int comp, const void *data)\n{\n   stbi__write_context s;\n   if (stbi__start_write_file(&amp;s,filename)) {\n      int r = stbi_write_bmp_core(&amp;s, x, y, comp, data);\n      stbi__end_write_file(&amp;s);\n      return r;\n   } else\n      return 0;\n}\n#endif \n\nstatic int stbi_write_tga_core(stbi__write_context *s, int x, int y, int comp, void *data)\n{\n   int has_alpha = (comp == 2 || comp == 4);\n   int colorbytes = has_alpha ? comp-1 : comp;\n   int format = colorbytes &lt; 2 ? 3 : 2; // 3 color channels (RGB/RGBA) = 2, 1 color channel (Y/YA) = 3\n\n   if (y &lt; 0 || x &lt; 0)\n      return 0;\n\n   if (!stbi_write_tga_with_rle) {\n      return stbiw__outfile(s, -1, -1, x, y, comp, 0, (void *) data, has_alpha, 0,\n         \"111 221 2222 11\", 0, 0, format, 0, 0, 0, 0, 0, x, y, (colorbytes + has_alpha) * 8, has_alpha * 8);\n   } else {\n      int i,j,k;\n      int jend, jdir;\n\n      stbiw__writef(s, \"111 221 2222 11\", 0,0,format+8, 0,0,0, 0,0,x,y, (colorbytes + has_alpha) * 8, has_alpha * 8);\n\n      if (stbi__flip_vertically_on_write) {\n         j = 0;\n         jend = y;\n         jdir = 1;\n      } else {\n         j = y-1;\n         jend = -1;\n         jdir = -1;\n      }\n      for (; j != jend; j += jdir) {\n         unsigned char *row = (unsigned char *) data + j * x * comp;\n         int len;\n\n         for (i = 0; i &lt; x; i += len) {\n            unsigned char *begin = row + i * comp;\n            int diff = 1;\n            len = 1;\n\n            if (i &lt; x - 1) {\n               ++len;\n               diff = memcmp(begin, row + (i + 1) * comp, comp);\n               if (diff) {\n                  const unsigned char *prev = begin;\n                  for (k = i + 2; k &lt; x &amp;&amp; len &lt; 128; ++k) {\n                     if (memcmp(prev, row + k * comp, comp)) {\n                        prev += comp;\n                        ++len;\n                     } else {\n                        --len;\n                        break;\n                     }\n                  }\n               } else {\n                  for (k = i + 2; k &lt; x &amp;&amp; len &lt; 128; ++k) {\n                     if (!memcmp(begin, row + k * comp, comp)) {\n                        ++len;\n                     } else {\n                        break;\n                     }\n                  }\n               }\n            }\n\n            if (diff) {\n               unsigned char header = STBIW_UCHAR(len - 1);\n               s-&gt;func(s-&gt;context, &amp;header, 1);\n               for (k = 0; k &lt; len; ++k) {\n                  stbiw__write_pixel(s, -1, comp, has_alpha, 0, begin + k * comp);\n               }\n            } else {\n               unsigned char header = STBIW_UCHAR(len - 129);\n               s-&gt;func(s-&gt;context, &amp;header, 1);\n               stbiw__write_pixel(s, -1, comp, has_alpha, 0, begin);\n            }\n         }\n      }\n   }\n   return 1;\n}\n\nSTBIWDEF int stbi_write_tga_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void *data)\n{\n   stbi__write_context s;\n   stbi__start_write_callbacks(&amp;s, func, context);\n   return stbi_write_tga_core(&amp;s, x, y, comp, (void *) data);\n}\n\n#ifndef STBI_WRITE_NO_STDIO\nSTBIWDEF int stbi_write_tga(char const *filename, int x, int y, int comp, const void *data)\n{\n   stbi__write_context s;\n   if (stbi__start_write_file(&amp;s,filename)) {\n      int r = stbi_write_tga_core(&amp;s, x, y, comp, (void *) data);\n      stbi__end_write_file(&amp;s);\n      return r;\n   } else\n      return 0;\n}\n#endif\n\n// *************************************************************************************************\n// Radiance RGBE HDR writer\n// by Baldur Karlsson\n\n#define stbiw__max(a, b)  ((a) &gt; (b) ? (a) : (b))\n\nstatic void stbiw__linear_to_rgbe(unsigned char *rgbe, float *linear)\n{\n   int exponent;\n   float maxcomp = stbiw__max(linear[0], stbiw__max(linear[1], linear[2]));\n\n   if (maxcomp &lt; 1e-32f) {\n      rgbe[0] = rgbe[1] = rgbe[2] = rgbe[3] = 0;\n   } else {\n      float normalize = (float) frexp(maxcomp, &amp;exponent) * 256.0f/maxcomp;\n\n      rgbe[0] = (unsigned char)(linear[0] * normalize);\n      rgbe[1] = (unsigned char)(linear[1] * normalize);\n      rgbe[2] = (unsigned char)(linear[2] * normalize);\n      rgbe[3] = (unsigned char)(exponent + 128);\n   }\n}\n\nstatic void stbiw__write_run_data(stbi__write_context *s, int length, unsigned char databyte)\n{\n   unsigned char lengthbyte = STBIW_UCHAR(length+128);\n   STBIW_ASSERT(length+128 &lt;= 255);\n   s-&gt;func(s-&gt;context, &amp;lengthbyte, 1);\n   s-&gt;func(s-&gt;context, &amp;databyte, 1);\n}\n\nstatic void stbiw__write_dump_data(stbi__write_context *s, int length, unsigned char *data)\n{\n   unsigned char lengthbyte = STBIW_UCHAR(length);\n   STBIW_ASSERT(length &lt;= 128); // inconsistent with spec but consistent with official code\n   s-&gt;func(s-&gt;context, &amp;lengthbyte, 1);\n   s-&gt;func(s-&gt;context, data, length);\n}\n\nstatic void stbiw__write_hdr_scanline(stbi__write_context *s, int width, int ncomp, unsigned char *scratch, float *scanline)\n{\n   unsigned char scanlineheader[4] = { 2, 2, 0, 0 };\n   unsigned char rgbe[4];\n   float linear[3];\n   int x;\n\n   scanlineheader[2] = (width&amp;0xff00)&gt;&gt;8;\n   scanlineheader[3] = (width&amp;0x00ff);\n\n   /* skip RLE for images too small or large */\n   if (width &lt; 8 || width &gt;= 32768) {\n      for (x=0; x &lt; width; x++) {\n         switch (ncomp) {\n            case 4: /* fallthrough */\n            case 3: linear[2] = scanline[x*ncomp + 2];\n                    linear[1] = scanline[x*ncomp + 1];\n                    linear[0] = scanline[x*ncomp + 0];\n                    break;\n            default:\n                    linear[0] = linear[1] = linear[2] = scanline[x*ncomp + 0];\n                    break;\n         }\n         stbiw__linear_to_rgbe(rgbe, linear);\n         s-&gt;func(s-&gt;context, rgbe, 4);\n      }\n   } else {\n      int c,r;\n      /* encode into scratch buffer */\n      for (x=0; x &lt; width; x++) {\n         switch(ncomp) {\n            case 4: /* fallthrough */\n            case 3: linear[2] = scanline[x*ncomp + 2];\n                    linear[1] = scanline[x*ncomp + 1];\n                    linear[0] = scanline[x*ncomp + 0];\n                    break;\n            default:\n                    linear[0] = linear[1] = linear[2] = scanline[x*ncomp + 0];\n                    break;\n         }\n         stbiw__linear_to_rgbe(rgbe, linear);\n         scratch[x + width*0] = rgbe[0];\n         scratch[x + width*1] = rgbe[1];\n         scratch[x + width*2] = rgbe[2];\n         scratch[x + width*3] = rgbe[3];\n      }\n\n      s-&gt;func(s-&gt;context, scanlineheader, 4);\n\n      /* RLE each component separately */\n      for (c=0; c &lt; 4; c++) {\n         unsigned char *comp = &amp;scratch[width*c];\n\n         x = 0;\n         while (x &lt; width) {\n            // find first run\n            r = x;\n            while (r+2 &lt; width) {\n               if (comp[r] == comp[r+1] &amp;&amp; comp[r] == comp[r+2])\n                  break;\n               ++r;\n            }\n            if (r+2 &gt;= width)\n               r = width;\n            // dump up to first run\n            while (x &lt; r) {\n               int len = r-x;\n               if (len &gt; 128) len = 128;\n               stbiw__write_dump_data(s, len, &amp;comp[x]);\n               x += len;\n            }\n            // if there's a run, output it\n            if (r+2 &lt; width) { // same test as what we break out of in search loop, so only true if we break'd\n               // find next byte after run\n               while (r &lt; width &amp;&amp; comp[r] == comp[x])\n                  ++r;\n               // output run up to r\n               while (x &lt; r) {\n                  int len = r-x;\n                  if (len &gt; 127) len = 127;\n                  stbiw__write_run_data(s, len, comp[x]);\n                  x += len;\n               }\n            }\n         }\n      }\n   }\n}\n\nstatic int stbi_write_hdr_core(stbi__write_context *s, int x, int y, int comp, float *data)\n{\n   if (y &lt;= 0 || x &lt;= 0 || data == NULL)\n      return 0;\n   else {\n      // Each component is stored separately. Allocate scratch space for full output scanline.\n      unsigned char *scratch = (unsigned char *) STBIW_MALLOC(x*4);\n      int i, len;\n      char buffer[128];\n      char header[] = \"#?RADIANCE\\n# Written by stb_image_write.h\\nFORMAT=32-bit_rle_rgbe\\n\";\n      s-&gt;func(s-&gt;context, header, sizeof(header)-1);\n\n#ifdef __STDC_WANT_SECURE_LIB__\n      len = sprintf_s(buffer, sizeof(buffer), \"EXPOSURE=          1.0000000000000\\n\\n-Y %d +X %d\\n\", y, x);\n#else\n      len = sprintf(buffer, \"EXPOSURE=          1.0000000000000\\n\\n-Y %d +X %d\\n\", y, x);\n#endif\n      s-&gt;func(s-&gt;context, buffer, len);\n\n      for(i=0; i &lt; y; i++)\n         stbiw__write_hdr_scanline(s, x, comp, scratch, data + comp*x*(stbi__flip_vertically_on_write ? y-1-i : i));\n      STBIW_FREE(scratch);\n      return 1;\n   }\n}\n\nSTBIWDEF int stbi_write_hdr_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const float *data)\n{\n   stbi__write_context s;\n   stbi__start_write_callbacks(&amp;s, func, context);\n   return stbi_write_hdr_core(&amp;s, x, y, comp, (float *) data);\n}\n\n#ifndef STBI_WRITE_NO_STDIO\nSTBIWDEF int stbi_write_hdr(char const *filename, int x, int y, int comp, const float *data)\n{\n   stbi__write_context s;\n   if (stbi__start_write_file(&amp;s,filename)) {\n      int r = stbi_write_hdr_core(&amp;s, x, y, comp, (float *) data);\n      stbi__end_write_file(&amp;s);\n      return r;\n   } else\n      return 0;\n}\n#endif // STBI_WRITE_NO_STDIO\n\n\n//\n// PNG writer\n//\n\n#ifndef STBIW_ZLIB_COMPRESS\n// stretchy buffer; stbiw__sbpush() == vector&lt;&gt;::push_back() -- stbiw__sbcount() == vector&lt;&gt;::size()\n#define stbiw__sbraw(a) ((int *) (a) - 2)\n#define stbiw__sbm(a)   stbiw__sbraw(a)[0]\n#define stbiw__sbn(a)   stbiw__sbraw(a)[1]\n\n#define stbiw__sbneedgrow(a,n)  ((a)==0 || stbiw__sbn(a)+n &gt;= stbiw__sbm(a))\n#define stbiw__sbmaybegrow(a,n) (stbiw__sbneedgrow(a,(n)) ? stbiw__sbgrow(a,n) : 0)\n#define stbiw__sbgrow(a,n)  stbiw__sbgrowf((void **) &amp;(a), (n), sizeof(*(a)))\n\n#define stbiw__sbpush(a, v)      (stbiw__sbmaybegrow(a,1), (a)[stbiw__sbn(a)++] = (v))\n#define stbiw__sbcount(a)        ((a) ? stbiw__sbn(a) : 0)\n#define stbiw__sbfree(a)         ((a) ? STBIW_FREE(stbiw__sbraw(a)),0 : 0)\n\nstatic void *stbiw__sbgrowf(void **arr, int increment, int itemsize)\n{\n   int m = *arr ? 2*stbiw__sbm(*arr)+increment : increment+1;\n   void *p = STBIW_REALLOC_SIZED(*arr ? stbiw__sbraw(*arr) : 0, *arr ? (stbiw__sbm(*arr)*itemsize + sizeof(int)*2) : 0, itemsize * m + sizeof(int)*2);\n   STBIW_ASSERT(p);\n   if (p) {\n      if (!*arr) ((int *) p)[1] = 0;\n      *arr = (void *) ((int *) p + 2);\n      stbiw__sbm(*arr) = m;\n   }\n   return *arr;\n}\n\nstatic unsigned char *stbiw__zlib_flushf(unsigned char *data, unsigned int *bitbuffer, int *bitcount)\n{\n   while (*bitcount &gt;= 8) {\n      stbiw__sbpush(data, STBIW_UCHAR(*bitbuffer));\n      *bitbuffer &gt;&gt;= 8;\n      *bitcount -= 8;\n   }\n   return data;\n}\n\nstatic int stbiw__zlib_bitrev(int code, int codebits)\n{\n   int res=0;\n   while (codebits--) {\n      res = (res &lt;&lt; 1) | (code &amp; 1);\n      code &gt;&gt;= 1;\n   }\n   return res;\n}\n\nstatic unsigned int stbiw__zlib_countm(unsigned char *a, unsigned char *b, int limit)\n{\n   int i;\n   for (i=0; i &lt; limit &amp;&amp; i &lt; 258; ++i)\n      if (a[i] != b[i]) break;\n   return i;\n}\n\nstatic unsigned int stbiw__zhash(unsigned char *data)\n{\n   stbiw_uint32 hash = data[0] + (data[1] &lt;&lt; 8) + (data[2] &lt;&lt; 16);\n   hash ^= hash &lt;&lt; 3;\n   hash += hash &gt;&gt; 5;\n   hash ^= hash &lt;&lt; 4;\n   hash += hash &gt;&gt; 17;\n   hash ^= hash &lt;&lt; 25;\n   hash += hash &gt;&gt; 6;\n   return hash;\n}\n\n#define stbiw__zlib_flush() (out = stbiw__zlib_flushf(out, &amp;bitbuf, &amp;bitcount))\n#define stbiw__zlib_add(code,codebits) \\\n      (bitbuf |= (code) &lt;&lt; bitcount, bitcount += (codebits), stbiw__zlib_flush())\n#define stbiw__zlib_huffa(b,c)  stbiw__zlib_add(stbiw__zlib_bitrev(b,c),c)\n// default huffman tables\n#define stbiw__zlib_huff1(n)  stbiw__zlib_huffa(0x30 + (n), 8)\n#define stbiw__zlib_huff2(n)  stbiw__zlib_huffa(0x190 + (n)-144, 9)\n#define stbiw__zlib_huff3(n)  stbiw__zlib_huffa(0 + (n)-256,7)\n#define stbiw__zlib_huff4(n)  stbiw__zlib_huffa(0xc0 + (n)-280,8)\n#define stbiw__zlib_huff(n)  ((n) &lt;= 143 ? stbiw__zlib_huff1(n) : (n) &lt;= 255 ? stbiw__zlib_huff2(n) : (n) &lt;= 279 ? stbiw__zlib_huff3(n) : stbiw__zlib_huff4(n))\n#define stbiw__zlib_huffb(n) ((n) &lt;= 143 ? stbiw__zlib_huff1(n) : stbiw__zlib_huff2(n))\n\n#define stbiw__ZHASH   16384\n\n#endif // STBIW_ZLIB_COMPRESS\n\nSTBIWDEF unsigned char * stbi_zlib_compress(unsigned char *data, int data_len, int *out_len, int quality)\n{\n#ifdef STBIW_ZLIB_COMPRESS\n   // user provided a zlib compress implementation, use that\n   return STBIW_ZLIB_COMPRESS(data, data_len, out_len, quality);\n#else // use builtin\n   static unsigned short lengthc[] = { 3,4,5,6,7,8,9,10,11,13,15,17,19,23,27,31,35,43,51,59,67,83,99,115,131,163,195,227,258, 259 };\n   static unsigned char  lengtheb[]= { 0,0,0,0,0,0,0, 0, 1, 1, 1, 1, 2, 2, 2, 2, 3, 3, 3, 3, 4, 4, 4,  4,  5,  5,  5,  5,  0 };\n   static unsigned short distc[]   = { 1,2,3,4,5,7,9,13,17,25,33,49,65,97,129,193,257,385,513,769,1025,1537,2049,3073,4097,6145,8193,12289,16385,24577, 32768 };\n   static unsigned char  disteb[]  = { 0,0,0,0,1,1,2,2,3,3,4,4,5,5,6,6,7,7,8,8,9,9,10,10,11,11,12,12,13,13 };\n   unsigned int bitbuf=0;\n   int i,j, bitcount=0;\n   unsigned char *out = NULL;\n   unsigned char ***hash_table = (unsigned char***) STBIW_MALLOC(stbiw__ZHASH * sizeof(unsigned char**));\n   if (hash_table == NULL)\n      return NULL;\n   if (quality &lt; 5) quality = 5;\n\n   stbiw__sbpush(out, 0x78);   // DEFLATE 32K window\n   stbiw__sbpush(out, 0x5e);   // FLEVEL = 1\n   stbiw__zlib_add(1,1);  // BFINAL = 1\n   stbiw__zlib_add(1,2);  // BTYPE = 1 -- fixed huffman\n\n   for (i=0; i &lt; stbiw__ZHASH; ++i)\n      hash_table[i] = NULL;\n\n   i=0;\n   while (i &lt; data_len-3) {\n      // hash next 3 bytes of data to be compressed\n      int h = stbiw__zhash(data+i)&amp;(stbiw__ZHASH-1), best=3;\n      unsigned char *bestloc = 0;\n      unsigned char **hlist = hash_table[h];\n      int n = stbiw__sbcount(hlist);\n      for (j=0; j &lt; n; ++j) {\n         if (hlist[j]-data &gt; i-32768) { // if entry lies within window\n            int d = stbiw__zlib_countm(hlist[j], data+i, data_len-i);\n            if (d &gt;= best) { best=d; bestloc=hlist[j]; }\n         }\n      }\n      // when hash table entry is too long, delete half the entries\n      if (hash_table[h] &amp;&amp; stbiw__sbn(hash_table[h]) == 2*quality) {\n         STBIW_MEMMOVE(hash_table[h], hash_table[h]+quality, sizeof(hash_table[h][0])*quality);\n         stbiw__sbn(hash_table[h]) = quality;\n      }\n      stbiw__sbpush(hash_table[h],data+i);\n\n      if (bestloc) {\n         // \"lazy matching\" - check match at *next* byte, and if it's better, do cur byte as literal\n         h = stbiw__zhash(data+i+1)&amp;(stbiw__ZHASH-1);\n         hlist = hash_table[h];\n         n = stbiw__sbcount(hlist);\n         for (j=0; j &lt; n; ++j) {\n            if (hlist[j]-data &gt; i-32767) {\n               int e = stbiw__zlib_countm(hlist[j], data+i+1, data_len-i-1);\n               if (e &gt; best) { // if next match is better, bail on current match\n                  bestloc = NULL;\n                  break;\n               }\n            }\n         }\n      }\n\n      if (bestloc) {\n         int d = (int) (data+i - bestloc); // distance back\n         STBIW_ASSERT(d &lt;= 32767 &amp;&amp; best &lt;= 258);\n         for (j=0; best &gt; lengthc[j+1]-1; ++j);\n         stbiw__zlib_huff(j+257);\n         if (lengtheb[j]) stbiw__zlib_add(best - lengthc[j], lengtheb[j]);\n         for (j=0; d &gt; distc[j+1]-1; ++j);\n         stbiw__zlib_add(stbiw__zlib_bitrev(j,5),5);\n         if (disteb[j]) stbiw__zlib_add(d - distc[j], disteb[j]);\n         i += best;\n      } else {\n         stbiw__zlib_huffb(data[i]);\n         ++i;\n      }\n   }\n   // write out final bytes\n   for (;i &lt; data_len; ++i)\n      stbiw__zlib_huffb(data[i]);\n   stbiw__zlib_huff(256); // end of block\n   // pad with 0 bits to byte boundary\n   while (bitcount)\n      stbiw__zlib_add(0,1);\n\n   for (i=0; i &lt; stbiw__ZHASH; ++i)\n      (void) stbiw__sbfree(hash_table[i]);\n   STBIW_FREE(hash_table);\n\n   {\n      // compute adler32 on input\n      unsigned int s1=1, s2=0;\n      int blocklen = (int) (data_len % 5552);\n      j=0;\n      while (j &lt; data_len) {\n         for (i=0; i &lt; blocklen; ++i) { s1 += data[j+i]; s2 += s1; }\n         s1 %= 65521; s2 %= 65521;\n         j += blocklen;\n         blocklen = 5552;\n      }\n      stbiw__sbpush(out, STBIW_UCHAR(s2 &gt;&gt; 8));\n      stbiw__sbpush(out, STBIW_UCHAR(s2));\n      stbiw__sbpush(out, STBIW_UCHAR(s1 &gt;&gt; 8));\n      stbiw__sbpush(out, STBIW_UCHAR(s1));\n   }\n   *out_len = stbiw__sbn(out);\n   // make returned pointer freeable\n   STBIW_MEMMOVE(stbiw__sbraw(out), out, *out_len);\n   return (unsigned char *) stbiw__sbraw(out);\n#endif // STBIW_ZLIB_COMPRESS\n}\n\nstatic unsigned int stbiw__crc32(unsigned char *buffer, int len)\n{\n#ifdef STBIW_CRC32\n    return STBIW_CRC32(buffer, len);\n#else\n   static unsigned int crc_table[256] =\n   {\n      0x00000000, 0x77073096, 0xEE0E612C, 0x990951BA, 0x076DC419, 0x706AF48F, 0xE963A535, 0x9E6495A3,\n      0x0eDB8832, 0x79DCB8A4, 0xE0D5E91E, 0x97D2D988, 0x09B64C2B, 0x7EB17CBD, 0xE7B82D07, 0x90BF1D91,\n      0x1DB71064, 0x6AB020F2, 0xF3B97148, 0x84BE41DE, 0x1ADAD47D, 0x6DDDE4EB, 0xF4D4B551, 0x83D385C7,\n      0x136C9856, 0x646BA8C0, 0xFD62F97A, 0x8A65C9EC, 0x14015C4F, 0x63066CD9, 0xFA0F3D63, 0x8D080DF5,\n      0x3B6E20C8, 0x4C69105E, 0xD56041E4, 0xA2677172, 0x3C03E4D1, 0x4B04D447, 0xD20D85FD, 0xA50AB56B,\n      0x35B5A8FA, 0x42B2986C, 0xDBBBC9D6, 0xACBCF940, 0x32D86CE3, 0x45DF5C75, 0xDCD60DCF, 0xABD13D59,\n      0x26D930AC, 0x51DE003A, 0xC8D75180, 0xBFD06116, 0x21B4F4B5, 0x56B3C423, 0xCFBA9599, 0xB8BDA50F,\n      0x2802B89E, 0x5F058808, 0xC60CD9B2, 0xB10BE924, 0x2F6F7C87, 0x58684C11, 0xC1611DAB, 0xB6662D3D,\n      0x76DC4190, 0x01DB7106, 0x98D220BC, 0xEFD5102A, 0x71B18589, 0x06B6B51F, 0x9FBFE4A5, 0xE8B8D433,\n      0x7807C9A2, 0x0F00F934, 0x9609A88E, 0xE10E9818, 0x7F6A0DBB, 0x086D3D2D, 0x91646C97, 0xE6635C01,\n      0x6B6B51F4, 0x1C6C6162, 0x856530D8, 0xF262004E, 0x6C0695ED, 0x1B01A57B, 0x8208F4C1, 0xF50FC457,\n      0x65B0D9C6, 0x12B7E950, 0x8BBEB8EA, 0xFCB9887C, 0x62DD1DDF, 0x15DA2D49, 0x8CD37CF3, 0xFBD44C65,\n      0x4DB26158, 0x3AB551CE, 0xA3BC0074, 0xD4BB30E2, 0x4ADFA541, 0x3DD895D7, 0xA4D1C46D, 0xD3D6F4FB,\n      0x4369E96A, 0x346ED9FC, 0xAD678846, 0xDA60B8D0, 0x44042D73, 0x33031DE5, 0xAA0A4C5F, 0xDD0D7CC9,\n      0x5005713C, 0x270241AA, 0xBE0B1010, 0xC90C2086, 0x5768B525, 0x206F85B3, 0xB966D409, 0xCE61E49F,\n      0x5EDEF90E, 0x29D9C998, 0xB0D09822, 0xC7D7A8B4, 0x59B33D17, 0x2EB40D81, 0xB7BD5C3B, 0xC0BA6CAD,\n      0xEDB88320, 0x9ABFB3B6, 0x03B6E20C, 0x74B1D29A, 0xEAD54739, 0x9DD277AF, 0x04DB2615, 0x73DC1683,\n      0xE3630B12, 0x94643B84, 0x0D6D6A3E, 0x7A6A5AA8, 0xE40ECF0B, 0x9309FF9D, 0x0A00AE27, 0x7D079EB1,\n      0xF00F9344, 0x8708A3D2, 0x1E01F268, 0x6906C2FE, 0xF762575D, 0x806567CB, 0x196C3671, 0x6E6B06E7,\n      0xFED41B76, 0x89D32BE0, 0x10DA7A5A, 0x67DD4ACC, 0xF9B9DF6F, 0x8EBEEFF9, 0x17B7BE43, 0x60B08ED5,\n      0xD6D6A3E8, 0xA1D1937E, 0x38D8C2C4, 0x4FDFF252, 0xD1BB67F1, 0xA6BC5767, 0x3FB506DD, 0x48B2364B,\n      0xD80D2BDA, 0xAF0A1B4C, 0x36034AF6, 0x41047A60, 0xDF60EFC3, 0xA867DF55, 0x316E8EEF, 0x4669BE79,\n      0xCB61B38C, 0xBC66831A, 0x256FD2A0, 0x5268E236, 0xCC0C7795, 0xBB0B4703, 0x220216B9, 0x5505262F,\n      0xC5BA3BBE, 0xB2BD0B28, 0x2BB45A92, 0x5CB36A04, 0xC2D7FFA7, 0xB5D0CF31, 0x2CD99E8B, 0x5BDEAE1D,\n      0x9B64C2B0, 0xEC63F226, 0x756AA39C, 0x026D930A, 0x9C0906A9, 0xEB0E363F, 0x72076785, 0x05005713,\n      0x95BF4A82, 0xE2B87A14, 0x7BB12BAE, 0x0CB61B38, 0x92D28E9B, 0xE5D5BE0D, 0x7CDCEFB7, 0x0BDBDF21,\n      0x86D3D2D4, 0xF1D4E242, 0x68DDB3F8, 0x1FDA836E, 0x81BE16CD, 0xF6B9265B, 0x6FB077E1, 0x18B74777,\n      0x88085AE6, 0xFF0F6A70, 0x66063BCA, 0x11010B5C, 0x8F659EFF, 0xF862AE69, 0x616BFFD3, 0x166CCF45,\n      0xA00AE278, 0xD70DD2EE, 0x4E048354, 0x3903B3C2, 0xA7672661, 0xD06016F7, 0x4969474D, 0x3E6E77DB,\n      0xAED16A4A, 0xD9D65ADC, 0x40DF0B66, 0x37D83BF0, 0xA9BCAE53, 0xDEBB9EC5, 0x47B2CF7F, 0x30B5FFE9,\n      0xBDBDF21C, 0xCABAC28A, 0x53B39330, 0x24B4A3A6, 0xBAD03605, 0xCDD70693, 0x54DE5729, 0x23D967BF,\n      0xB3667A2E, 0xC4614AB8, 0x5D681B02, 0x2A6F2B94, 0xB40BBE37, 0xC30C8EA1, 0x5A05DF1B, 0x2D02EF8D\n   };\n\n   unsigned int crc = ~0u;\n   int i;\n   for (i=0; i &lt; len; ++i)\n      crc = (crc &gt;&gt; 8) ^ crc_table[buffer[i] ^ (crc &amp; 0xff)];\n   return ~crc;\n#endif\n}\n\n#define stbiw__wpng4(o,a,b,c,d) ((o)[0]=STBIW_UCHAR(a),(o)[1]=STBIW_UCHAR(b),(o)[2]=STBIW_UCHAR(c),(o)[3]=STBIW_UCHAR(d),(o)+=4)\n#define stbiw__wp32(data,v) stbiw__wpng4(data, (v)&gt;&gt;24,(v)&gt;&gt;16,(v)&gt;&gt;8,(v));\n#define stbiw__wptag(data,s) stbiw__wpng4(data, s[0],s[1],s[2],s[3])\n\nstatic void stbiw__wpcrc(unsigned char **data, int len)\n{\n   unsigned int crc = stbiw__crc32(*data - len - 4, len+4);\n   stbiw__wp32(*data, crc);\n}\n\nstatic unsigned char stbiw__paeth(int a, int b, int c)\n{\n   int p = a + b - c, pa = abs(p-a), pb = abs(p-b), pc = abs(p-c);\n   if (pa &lt;= pb &amp;&amp; pa &lt;= pc) return STBIW_UCHAR(a);\n   if (pb &lt;= pc) return STBIW_UCHAR(b);\n   return STBIW_UCHAR(c);\n}\n\n// @OPTIMIZE: provide an option that always forces left-predict or paeth predict\nstatic void stbiw__encode_png_line(unsigned char *pixels, int stride_bytes, int width, int height, int y, int n, int filter_type, signed char *line_buffer)\n{\n   static int mapping[] = { 0,1,2,3,4 };\n   static int firstmap[] = { 0,1,0,5,6 };\n   int *mymap = (y != 0) ? mapping : firstmap;\n   int i;\n   int type = mymap[filter_type];\n   unsigned char *z = pixels + stride_bytes * (stbi__flip_vertically_on_write ? height-1-y : y);\n   int signed_stride = stbi__flip_vertically_on_write ? -stride_bytes : stride_bytes;\n\n   if (type==0) {\n      memcpy(line_buffer, z, width*n);\n      return;\n   }\n\n   // first loop isn't optimized since it's just one pixel    \n   for (i = 0; i &lt; n; ++i) {\n      switch (type) {\n         case 1: line_buffer[i] = z[i]; break;\n         case 2: line_buffer[i] = z[i] - z[i-signed_stride]; break;\n         case 3: line_buffer[i] = z[i] - (z[i-signed_stride]&gt;&gt;1); break;\n         case 4: line_buffer[i] = (signed char) (z[i] - stbiw__paeth(0,z[i-signed_stride],0)); break;\n         case 5: line_buffer[i] = z[i]; break;\n         case 6: line_buffer[i] = z[i]; break;\n      }\n   }\n   switch (type) {\n      case 1: for (i=n; i &lt; width*n; ++i) line_buffer[i] = z[i] - z[i-n]; break;\n      case 2: for (i=n; i &lt; width*n; ++i) line_buffer[i] = z[i] - z[i-signed_stride]; break;\n      case 3: for (i=n; i &lt; width*n; ++i) line_buffer[i] = z[i] - ((z[i-n] + z[i-signed_stride])&gt;&gt;1); break;\n      case 4: for (i=n; i &lt; width*n; ++i) line_buffer[i] = z[i] - stbiw__paeth(z[i-n], z[i-signed_stride], z[i-signed_stride-n]); break;\n      case 5: for (i=n; i &lt; width*n; ++i) line_buffer[i] = z[i] - (z[i-n]&gt;&gt;1); break;\n      case 6: for (i=n; i &lt; width*n; ++i) line_buffer[i] = z[i] - stbiw__paeth(z[i-n], 0,0); break;\n   }\n}\n\nSTBIWDEF unsigned char *stbi_write_png_to_mem(const unsigned char *pixels, int stride_bytes, int x, int y, int n, int *out_len)\n{\n   int force_filter = stbi_write_force_png_filter;\n   int ctype[5] = { -1, 0, 4, 2, 6 };\n   unsigned char sig[8] = { 137,80,78,71,13,10,26,10 };\n   unsigned char *out,*o, *filt, *zlib;\n   signed char *line_buffer;\n   int j,zlen;\n\n   if (stride_bytes == 0)\n      stride_bytes = x * n;\n\n   if (force_filter &gt;= 5) {\n      force_filter = -1;\n   }\n\n   filt = (unsigned char *) STBIW_MALLOC((x*n+1) * y); if (!filt) return 0;\n   line_buffer = (signed char *) STBIW_MALLOC(x * n); if (!line_buffer) { STBIW_FREE(filt); return 0; }\n   for (j=0; j &lt; y; ++j) {\n      int filter_type;\n      if (force_filter &gt; -1) {\n         filter_type = force_filter;\n         stbiw__encode_png_line((unsigned char*)(pixels), stride_bytes, x, y, j, n, force_filter, line_buffer);\n      } else { // Estimate the best filter by running through all of them:\n         int best_filter = 0, best_filter_val = 0x7fffffff, est, i;\n         for (filter_type = 0; filter_type &lt; 5; filter_type++) {\n            stbiw__encode_png_line((unsigned char*)(pixels), stride_bytes, x, y, j, n, filter_type, line_buffer);\n\n            // Estimate the entropy of the line using this filter; the less, the better.\n            est = 0;\n            for (i = 0; i &lt; x*n; ++i) {\n               est += abs((signed char) line_buffer[i]);\n            }\n            if (est &lt; best_filter_val) {\n               best_filter_val = est;\n               best_filter = filter_type;\n            }\n         }\n         if (filter_type != best_filter) {  // If the last iteration already got us the best filter, don't redo it\n            stbiw__encode_png_line((unsigned char*)(pixels), stride_bytes, x, y, j, n, best_filter, line_buffer);\n            filter_type = best_filter;\n         }\n      }\n      // when we get here, filter_type contains the filter type, and line_buffer contains the data\n      filt[j*(x*n+1)] = (unsigned char) filter_type;\n      STBIW_MEMMOVE(filt+j*(x*n+1)+1, line_buffer, x*n);\n   }\n   STBIW_FREE(line_buffer);\n   zlib = stbi_zlib_compress(filt, y*( x*n+1), &amp;zlen, stbi_write_png_compression_level);\n   STBIW_FREE(filt);\n   if (!zlib) return 0;\n\n   // each tag requires 12 bytes of overhead\n   out = (unsigned char *) STBIW_MALLOC(8 + 12+13 + 12+zlen + 12);\n   if (!out) return 0;\n   *out_len = 8 + 12+13 + 12+zlen + 12;\n\n   o=out;\n   STBIW_MEMMOVE(o,sig,8); o+= 8;\n   stbiw__wp32(o, 13); // header length\n   stbiw__wptag(o, \"IHDR\");\n   stbiw__wp32(o, x);\n   stbiw__wp32(o, y);\n   *o++ = 8;\n   *o++ = STBIW_UCHAR(ctype[n]);\n   *o++ = 0;\n   *o++ = 0;\n   *o++ = 0;\n   stbiw__wpcrc(&amp;o,13);\n\n   stbiw__wp32(o, zlen);\n   stbiw__wptag(o, \"IDAT\");\n   STBIW_MEMMOVE(o, zlib, zlen);\n   o += zlen;\n   STBIW_FREE(zlib);\n   stbiw__wpcrc(&amp;o, zlen);\n\n   stbiw__wp32(o,0);\n   stbiw__wptag(o, \"IEND\");\n   stbiw__wpcrc(&amp;o,0);\n\n   STBIW_ASSERT(o == out + *out_len);\n\n   return out;\n}\n\n#ifndef STBI_WRITE_NO_STDIO\nSTBIWDEF int stbi_write_png(char const *filename, int x, int y, int comp, const void *data, int stride_bytes)\n{\n   FILE *f;\n   int len;\n   unsigned char *png = stbi_write_png_to_mem((const unsigned char *) data, stride_bytes, x, y, comp, &amp;len);\n   if (png == NULL) return 0;\n\n   f = stbiw__fopen(filename, \"wb\");\n   if (!f) { STBIW_FREE(png); return 0; }\n   fwrite(png, 1, len, f);\n   fclose(f);\n   STBIW_FREE(png);\n   return 1;\n}\n#endif\n\nSTBIWDEF int stbi_write_png_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void *data, int stride_bytes)\n{\n   int len;\n   unsigned char *png = stbi_write_png_to_mem((const unsigned char *) data, stride_bytes, x, y, comp, &amp;len);\n   if (png == NULL) return 0;\n   func(context, png, len);\n   STBIW_FREE(png);\n   return 1;\n}\n\n\n/* ***************************************************************************\n *\n * JPEG writer\n *\n * This is based on Jon Olick's jo_jpeg.cpp:\n * public domain Simple, Minimalistic JPEG writer - http://www.jonolick.com/code.html\n */\n\nstatic const unsigned char stbiw__jpg_ZigZag[] = { 0,1,5,6,14,15,27,28,2,4,7,13,16,26,29,42,3,8,12,17,25,30,41,43,9,11,18,\n      24,31,40,44,53,10,19,23,32,39,45,52,54,20,22,33,38,46,51,55,60,21,34,37,47,50,56,59,61,35,36,48,49,57,58,62,63 };\n\nstatic void stbiw__jpg_writeBits(stbi__write_context *s, int *bitBufP, int *bitCntP, const unsigned short *bs) {\n   int bitBuf = *bitBufP, bitCnt = *bitCntP;\n   bitCnt += bs[1];\n   bitBuf |= bs[0] &lt;&lt; (24 - bitCnt);\n   while(bitCnt &gt;= 8) {\n      unsigned char c = (bitBuf &gt;&gt; 16) &amp; 255;\n      stbiw__putc(s, c);\n      if(c == 255) {\n         stbiw__putc(s, 0);\n      }\n      bitBuf &lt;&lt;= 8;\n      bitCnt -= 8;\n   }\n   *bitBufP = bitBuf;\n   *bitCntP = bitCnt;\n}\n\nstatic void stbiw__jpg_DCT(float *d0p, float *d1p, float *d2p, float *d3p, float *d4p, float *d5p, float *d6p, float *d7p) {\n   float d0 = *d0p, d1 = *d1p, d2 = *d2p, d3 = *d3p, d4 = *d4p, d5 = *d5p, d6 = *d6p, d7 = *d7p;\n   float z1, z2, z3, z4, z5, z11, z13;\n\n   float tmp0 = d0 + d7;\n   float tmp7 = d0 - d7;\n   float tmp1 = d1 + d6;\n   float tmp6 = d1 - d6;\n   float tmp2 = d2 + d5;\n   float tmp5 = d2 - d5;\n   float tmp3 = d3 + d4;\n   float tmp4 = d3 - d4;\n\n   // Even part\n   float tmp10 = tmp0 + tmp3;   // phase 2\n   float tmp13 = tmp0 - tmp3;\n   float tmp11 = tmp1 + tmp2;\n   float tmp12 = tmp1 - tmp2;\n\n   d0 = tmp10 + tmp11;       // phase 3\n   d4 = tmp10 - tmp11;\n\n   z1 = (tmp12 + tmp13) * 0.707106781f; // c4\n   d2 = tmp13 + z1;       // phase 5\n   d6 = tmp13 - z1;\n\n   // Odd part\n   tmp10 = tmp4 + tmp5;       // phase 2\n   tmp11 = tmp5 + tmp6;\n   tmp12 = tmp6 + tmp7;\n\n   // The rotator is modified from fig 4-8 to avoid extra negations.\n   z5 = (tmp10 - tmp12) * 0.382683433f; // c6\n   z2 = tmp10 * 0.541196100f + z5; // c2-c6\n   z4 = tmp12 * 1.306562965f + z5; // c2+c6\n   z3 = tmp11 * 0.707106781f; // c4\n\n   z11 = tmp7 + z3;      // phase 5\n   z13 = tmp7 - z3;\n\n   *d5p = z13 + z2;         // phase 6\n   *d3p = z13 - z2;\n   *d1p = z11 + z4;\n   *d7p = z11 - z4;\n\n   *d0p = d0;  *d2p = d2;  *d4p = d4;  *d6p = d6;\n}\n\nstatic void stbiw__jpg_calcBits(int val, unsigned short bits[2]) {\n   int tmp1 = val &lt; 0 ? -val : val;\n   val = val &lt; 0 ? val-1 : val;\n   bits[1] = 1;\n   while(tmp1 &gt;&gt;= 1) {\n      ++bits[1];\n   }\n   bits[0] = val &amp; ((1&lt;&lt;bits[1])-1);\n}\n\nstatic int stbiw__jpg_processDU(stbi__write_context *s, int *bitBuf, int *bitCnt, float *CDU, float *fdtbl, int DC, const unsigned short HTDC[256][2], const unsigned short HTAC[256][2]) {\n   const unsigned short EOB[2] = { HTAC[0x00][0], HTAC[0x00][1] };\n   const unsigned short M16zeroes[2] = { HTAC[0xF0][0], HTAC[0xF0][1] };\n   int dataOff, i, diff, end0pos;\n   int DU[64];\n\n   // DCT rows\n   for(dataOff=0; dataOff&lt;64; dataOff+=8) {\n      stbiw__jpg_DCT(&amp;CDU[dataOff], &amp;CDU[dataOff+1], &amp;CDU[dataOff+2], &amp;CDU[dataOff+3], &amp;CDU[dataOff+4], &amp;CDU[dataOff+5], &amp;CDU[dataOff+6], &amp;CDU[dataOff+7]);\n   }\n   // DCT columns\n   for(dataOff=0; dataOff&lt;8; ++dataOff) {\n      stbiw__jpg_DCT(&amp;CDU[dataOff], &amp;CDU[dataOff+8], &amp;CDU[dataOff+16], &amp;CDU[dataOff+24], &amp;CDU[dataOff+32], &amp;CDU[dataOff+40], &amp;CDU[dataOff+48], &amp;CDU[dataOff+56]);\n   }\n   // Quantize/descale/zigzag the coefficients\n   for(i=0; i&lt;64; ++i) {\n      float v = CDU[i]*fdtbl[i];\n      // DU[stbiw__jpg_ZigZag[i]] = (int)(v &lt; 0 ? ceilf(v - 0.5f) : floorf(v + 0.5f));\n      // ceilf() and floorf() are C99, not C89, but I /think/ they're not needed here anyway?\n      DU[stbiw__jpg_ZigZag[i]] = (int)(v &lt; 0 ? v - 0.5f : v + 0.5f);\n   }\n\n   // Encode DC\n   diff = DU[0] - DC;\n   if (diff == 0) {\n      stbiw__jpg_writeBits(s, bitBuf, bitCnt, HTDC[0]);\n   } else {\n      unsigned short bits[2];\n      stbiw__jpg_calcBits(diff, bits);\n      stbiw__jpg_writeBits(s, bitBuf, bitCnt, HTDC[bits[1]]);\n      stbiw__jpg_writeBits(s, bitBuf, bitCnt, bits);\n   }\n   // Encode ACs\n   end0pos = 63;\n   for(; (end0pos&gt;0)&amp;&amp;(DU[end0pos]==0); --end0pos) {\n   }\n   // end0pos = first element in reverse order !=0\n   if(end0pos == 0) {\n      stbiw__jpg_writeBits(s, bitBuf, bitCnt, EOB);\n      return DU[0];\n   }\n   for(i = 1; i &lt;= end0pos; ++i) {\n      int startpos = i;\n      int nrzeroes;\n      unsigned short bits[2];\n      for (; DU[i]==0 &amp;&amp; i&lt;=end0pos; ++i) {\n      }\n      nrzeroes = i-startpos;\n      if ( nrzeroes &gt;= 16 ) {\n         int lng = nrzeroes&gt;&gt;4;\n         int nrmarker;\n         for (nrmarker=1; nrmarker &lt;= lng; ++nrmarker)\n            stbiw__jpg_writeBits(s, bitBuf, bitCnt, M16zeroes);\n         nrzeroes &amp;= 15;\n      }\n      stbiw__jpg_calcBits(DU[i], bits);\n      stbiw__jpg_writeBits(s, bitBuf, bitCnt, HTAC[(nrzeroes&lt;&lt;4)+bits[1]]);\n      stbiw__jpg_writeBits(s, bitBuf, bitCnt, bits);\n   }\n   if(end0pos != 63) {\n      stbiw__jpg_writeBits(s, bitBuf, bitCnt, EOB);\n   }\n   return DU[0];\n}\n\nstatic int stbi_write_jpg_core(stbi__write_context *s, int width, int height, int comp, const void* data, int quality) {\n   // Constants that don't pollute global namespace\n   static const unsigned char std_dc_luminance_nrcodes[] = {0,0,1,5,1,1,1,1,1,1,0,0,0,0,0,0,0};\n   static const unsigned char std_dc_luminance_values[] = {0,1,2,3,4,5,6,7,8,9,10,11};\n   static const unsigned char std_ac_luminance_nrcodes[] = {0,0,2,1,3,3,2,4,3,5,5,4,4,0,0,1,0x7d};\n   static const unsigned char std_ac_luminance_values[] = {\n      0x01,0x02,0x03,0x00,0x04,0x11,0x05,0x12,0x21,0x31,0x41,0x06,0x13,0x51,0x61,0x07,0x22,0x71,0x14,0x32,0x81,0x91,0xa1,0x08,\n      0x23,0x42,0xb1,0xc1,0x15,0x52,0xd1,0xf0,0x24,0x33,0x62,0x72,0x82,0x09,0x0a,0x16,0x17,0x18,0x19,0x1a,0x25,0x26,0x27,0x28,\n      0x29,0x2a,0x34,0x35,0x36,0x37,0x38,0x39,0x3a,0x43,0x44,0x45,0x46,0x47,0x48,0x49,0x4a,0x53,0x54,0x55,0x56,0x57,0x58,0x59,\n      0x5a,0x63,0x64,0x65,0x66,0x67,0x68,0x69,0x6a,0x73,0x74,0x75,0x76,0x77,0x78,0x79,0x7a,0x83,0x84,0x85,0x86,0x87,0x88,0x89,\n      0x8a,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9a,0xa2,0xa3,0xa4,0xa5,0xa6,0xa7,0xa8,0xa9,0xaa,0xb2,0xb3,0xb4,0xb5,0xb6,\n      0xb7,0xb8,0xb9,0xba,0xc2,0xc3,0xc4,0xc5,0xc6,0xc7,0xc8,0xc9,0xca,0xd2,0xd3,0xd4,0xd5,0xd6,0xd7,0xd8,0xd9,0xda,0xe1,0xe2,\n      0xe3,0xe4,0xe5,0xe6,0xe7,0xe8,0xe9,0xea,0xf1,0xf2,0xf3,0xf4,0xf5,0xf6,0xf7,0xf8,0xf9,0xfa\n   };\n   static const unsigned char std_dc_chrominance_nrcodes[] = {0,0,3,1,1,1,1,1,1,1,1,1,0,0,0,0,0};\n   static const unsigned char std_dc_chrominance_values[] = {0,1,2,3,4,5,6,7,8,9,10,11};\n   static const unsigned char std_ac_chrominance_nrcodes[] = {0,0,2,1,2,4,4,3,4,7,5,4,4,0,1,2,0x77};\n   static const unsigned char std_ac_chrominance_values[] = {\n      0x00,0x01,0x02,0x03,0x11,0x04,0x05,0x21,0x31,0x06,0x12,0x41,0x51,0x07,0x61,0x71,0x13,0x22,0x32,0x81,0x08,0x14,0x42,0x91,\n      0xa1,0xb1,0xc1,0x09,0x23,0x33,0x52,0xf0,0x15,0x62,0x72,0xd1,0x0a,0x16,0x24,0x34,0xe1,0x25,0xf1,0x17,0x18,0x19,0x1a,0x26,\n      0x27,0x28,0x29,0x2a,0x35,0x36,0x37,0x38,0x39,0x3a,0x43,0x44,0x45,0x46,0x47,0x48,0x49,0x4a,0x53,0x54,0x55,0x56,0x57,0x58,\n      0x59,0x5a,0x63,0x64,0x65,0x66,0x67,0x68,0x69,0x6a,0x73,0x74,0x75,0x76,0x77,0x78,0x79,0x7a,0x82,0x83,0x84,0x85,0x86,0x87,\n      0x88,0x89,0x8a,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9a,0xa2,0xa3,0xa4,0xa5,0xa6,0xa7,0xa8,0xa9,0xaa,0xb2,0xb3,0xb4,\n      0xb5,0xb6,0xb7,0xb8,0xb9,0xba,0xc2,0xc3,0xc4,0xc5,0xc6,0xc7,0xc8,0xc9,0xca,0xd2,0xd3,0xd4,0xd5,0xd6,0xd7,0xd8,0xd9,0xda,\n      0xe2,0xe3,0xe4,0xe5,0xe6,0xe7,0xe8,0xe9,0xea,0xf2,0xf3,0xf4,0xf5,0xf6,0xf7,0xf8,0xf9,0xfa\n   };\n   // Huffman tables\n   static const unsigned short YDC_HT[256][2] = { {0,2},{2,3},{3,3},{4,3},{5,3},{6,3},{14,4},{30,5},{62,6},{126,7},{254,8},{510,9}};\n   static const unsigned short UVDC_HT[256][2] = { {0,2},{1,2},{2,2},{6,3},{14,4},{30,5},{62,6},{126,7},{254,8},{510,9},{1022,10},{2046,11}};\n   static const unsigned short YAC_HT[256][2] = {\n      {10,4},{0,2},{1,2},{4,3},{11,4},{26,5},{120,7},{248,8},{1014,10},{65410,16},{65411,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {12,4},{27,5},{121,7},{502,9},{2038,11},{65412,16},{65413,16},{65414,16},{65415,16},{65416,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {28,5},{249,8},{1015,10},{4084,12},{65417,16},{65418,16},{65419,16},{65420,16},{65421,16},{65422,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {58,6},{503,9},{4085,12},{65423,16},{65424,16},{65425,16},{65426,16},{65427,16},{65428,16},{65429,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {59,6},{1016,10},{65430,16},{65431,16},{65432,16},{65433,16},{65434,16},{65435,16},{65436,16},{65437,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {122,7},{2039,11},{65438,16},{65439,16},{65440,16},{65441,16},{65442,16},{65443,16},{65444,16},{65445,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {123,7},{4086,12},{65446,16},{65447,16},{65448,16},{65449,16},{65450,16},{65451,16},{65452,16},{65453,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {250,8},{4087,12},{65454,16},{65455,16},{65456,16},{65457,16},{65458,16},{65459,16},{65460,16},{65461,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {504,9},{32704,15},{65462,16},{65463,16},{65464,16},{65465,16},{65466,16},{65467,16},{65468,16},{65469,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {505,9},{65470,16},{65471,16},{65472,16},{65473,16},{65474,16},{65475,16},{65476,16},{65477,16},{65478,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {506,9},{65479,16},{65480,16},{65481,16},{65482,16},{65483,16},{65484,16},{65485,16},{65486,16},{65487,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {1017,10},{65488,16},{65489,16},{65490,16},{65491,16},{65492,16},{65493,16},{65494,16},{65495,16},{65496,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {1018,10},{65497,16},{65498,16},{65499,16},{65500,16},{65501,16},{65502,16},{65503,16},{65504,16},{65505,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {2040,11},{65506,16},{65507,16},{65508,16},{65509,16},{65510,16},{65511,16},{65512,16},{65513,16},{65514,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {65515,16},{65516,16},{65517,16},{65518,16},{65519,16},{65520,16},{65521,16},{65522,16},{65523,16},{65524,16},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {2041,11},{65525,16},{65526,16},{65527,16},{65528,16},{65529,16},{65530,16},{65531,16},{65532,16},{65533,16},{65534,16},{0,0},{0,0},{0,0},{0,0},{0,0}\n   };\n   static const unsigned short UVAC_HT[256][2] = {\n      {0,2},{1,2},{4,3},{10,4},{24,5},{25,5},{56,6},{120,7},{500,9},{1014,10},{4084,12},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {11,4},{57,6},{246,8},{501,9},{2038,11},{4085,12},{65416,16},{65417,16},{65418,16},{65419,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {26,5},{247,8},{1015,10},{4086,12},{32706,15},{65420,16},{65421,16},{65422,16},{65423,16},{65424,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {27,5},{248,8},{1016,10},{4087,12},{65425,16},{65426,16},{65427,16},{65428,16},{65429,16},{65430,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {58,6},{502,9},{65431,16},{65432,16},{65433,16},{65434,16},{65435,16},{65436,16},{65437,16},{65438,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {59,6},{1017,10},{65439,16},{65440,16},{65441,16},{65442,16},{65443,16},{65444,16},{65445,16},{65446,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {121,7},{2039,11},{65447,16},{65448,16},{65449,16},{65450,16},{65451,16},{65452,16},{65453,16},{65454,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {122,7},{2040,11},{65455,16},{65456,16},{65457,16},{65458,16},{65459,16},{65460,16},{65461,16},{65462,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {249,8},{65463,16},{65464,16},{65465,16},{65466,16},{65467,16},{65468,16},{65469,16},{65470,16},{65471,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {503,9},{65472,16},{65473,16},{65474,16},{65475,16},{65476,16},{65477,16},{65478,16},{65479,16},{65480,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {504,9},{65481,16},{65482,16},{65483,16},{65484,16},{65485,16},{65486,16},{65487,16},{65488,16},{65489,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {505,9},{65490,16},{65491,16},{65492,16},{65493,16},{65494,16},{65495,16},{65496,16},{65497,16},{65498,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {506,9},{65499,16},{65500,16},{65501,16},{65502,16},{65503,16},{65504,16},{65505,16},{65506,16},{65507,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {2041,11},{65508,16},{65509,16},{65510,16},{65511,16},{65512,16},{65513,16},{65514,16},{65515,16},{65516,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {16352,14},{65517,16},{65518,16},{65519,16},{65520,16},{65521,16},{65522,16},{65523,16},{65524,16},{65525,16},{0,0},{0,0},{0,0},{0,0},{0,0},\n      {1018,10},{32707,15},{65526,16},{65527,16},{65528,16},{65529,16},{65530,16},{65531,16},{65532,16},{65533,16},{65534,16},{0,0},{0,0},{0,0},{0,0},{0,0}\n   };\n   static const int YQT[] = {16,11,10,16,24,40,51,61,12,12,14,19,26,58,60,55,14,13,16,24,40,57,69,56,14,17,22,29,51,87,80,62,18,22,\n                             37,56,68,109,103,77,24,35,55,64,81,104,113,92,49,64,78,87,103,121,120,101,72,92,95,98,112,100,103,99};\n   static const int UVQT[] = {17,18,24,47,99,99,99,99,18,21,26,66,99,99,99,99,24,26,56,99,99,99,99,99,47,66,99,99,99,99,99,99,\n                              99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99};\n   static const float aasf[] = { 1.0f * 2.828427125f, 1.387039845f * 2.828427125f, 1.306562965f * 2.828427125f, 1.175875602f * 2.828427125f, \n                                 1.0f * 2.828427125f, 0.785694958f * 2.828427125f, 0.541196100f * 2.828427125f, 0.275899379f * 2.828427125f };\n\n   int row, col, i, k;\n   float fdtbl_Y[64], fdtbl_UV[64];\n   unsigned char YTable[64], UVTable[64];\n\n   if(!data || !width || !height || comp &gt; 4 || comp &lt; 1) {\n      return 0;\n   }\n\n   quality = quality ? quality : 90;\n   quality = quality &lt; 1 ? 1 : quality &gt; 100 ? 100 : quality;\n   quality = quality &lt; 50 ? 5000 / quality : 200 - quality * 2;\n\n   for(i = 0; i &lt; 64; ++i) {\n      int uvti, yti = (YQT[i]*quality+50)/100;\n      YTable[stbiw__jpg_ZigZag[i]] = (unsigned char) (yti &lt; 1 ? 1 : yti &gt; 255 ? 255 : yti);\n      uvti = (UVQT[i]*quality+50)/100;\n      UVTable[stbiw__jpg_ZigZag[i]] = (unsigned char) (uvti &lt; 1 ? 1 : uvti &gt; 255 ? 255 : uvti);\n   }\n\n   for(row = 0, k = 0; row &lt; 8; ++row) {\n      for(col = 0; col &lt; 8; ++col, ++k) {\n         fdtbl_Y[k]  = 1 / (YTable [stbiw__jpg_ZigZag[k]] * aasf[row] * aasf[col]);\n         fdtbl_UV[k] = 1 / (UVTable[stbiw__jpg_ZigZag[k]] * aasf[row] * aasf[col]);\n      }\n   }\n\n   // Write Headers\n   {\n      static const unsigned char head0[] = { 0xFF,0xD8,0xFF,0xE0,0,0x10,'J','F','I','F',0,1,1,0,0,1,0,1,0,0,0xFF,0xDB,0,0x84,0 };\n      static const unsigned char head2[] = { 0xFF,0xDA,0,0xC,3,1,0,2,0x11,3,0x11,0,0x3F,0 };\n      const unsigned char head1[] = { 0xFF,0xC0,0,0x11,8,(unsigned char)(height&gt;&gt;8),STBIW_UCHAR(height),(unsigned char)(width&gt;&gt;8),STBIW_UCHAR(width),\n                                      3,1,0x11,0,2,0x11,1,3,0x11,1,0xFF,0xC4,0x01,0xA2,0 };\n      s-&gt;func(s-&gt;context, (void*)head0, sizeof(head0));\n      s-&gt;func(s-&gt;context, (void*)YTable, sizeof(YTable));\n      stbiw__putc(s, 1);\n      s-&gt;func(s-&gt;context, UVTable, sizeof(UVTable));\n      s-&gt;func(s-&gt;context, (void*)head1, sizeof(head1));\n      s-&gt;func(s-&gt;context, (void*)(std_dc_luminance_nrcodes+1), sizeof(std_dc_luminance_nrcodes)-1);\n      s-&gt;func(s-&gt;context, (void*)std_dc_luminance_values, sizeof(std_dc_luminance_values));\n      stbiw__putc(s, 0x10); // HTYACinfo\n      s-&gt;func(s-&gt;context, (void*)(std_ac_luminance_nrcodes+1), sizeof(std_ac_luminance_nrcodes)-1);\n      s-&gt;func(s-&gt;context, (void*)std_ac_luminance_values, sizeof(std_ac_luminance_values));\n      stbiw__putc(s, 1); // HTUDCinfo\n      s-&gt;func(s-&gt;context, (void*)(std_dc_chrominance_nrcodes+1), sizeof(std_dc_chrominance_nrcodes)-1);\n      s-&gt;func(s-&gt;context, (void*)std_dc_chrominance_values, sizeof(std_dc_chrominance_values));\n      stbiw__putc(s, 0x11); // HTUACinfo\n      s-&gt;func(s-&gt;context, (void*)(std_ac_chrominance_nrcodes+1), sizeof(std_ac_chrominance_nrcodes)-1);\n      s-&gt;func(s-&gt;context, (void*)std_ac_chrominance_values, sizeof(std_ac_chrominance_values));\n      s-&gt;func(s-&gt;context, (void*)head2, sizeof(head2));\n   }\n\n   // Encode 8x8 macroblocks\n   {\n      static const unsigned short fillBits[] = {0x7F, 7};\n      const unsigned char *imageData = (const unsigned char *)data;\n      int DCY=0, DCU=0, DCV=0;\n      int bitBuf=0, bitCnt=0;\n      // comp == 2 is grey+alpha (alpha is ignored)\n      int ofsG = comp &gt; 2 ? 1 : 0, ofsB = comp &gt; 2 ? 2 : 0;\n      int x, y, pos;\n      for(y = 0; y &lt; height; y += 8) {\n         for(x = 0; x &lt; width; x += 8) {\n            float YDU[64], UDU[64], VDU[64];\n            for(row = y, pos = 0; row &lt; y+8; ++row) {\n               // row &gt;= height =&gt; use last input row\n               int clamped_row = (row &lt; height) ? row : height - 1;\n               int base_p = (stbi__flip_vertically_on_write ? (height-1-clamped_row) : clamped_row)*width*comp;\n               for(col = x; col &lt; x+8; ++col, ++pos) {\n                  float r, g, b;\n                  // if col &gt;= width =&gt; use pixel from last input column\n                  int p = base_p + ((col &lt; width) ? col : (width-1))*comp;\n\n                  r = imageData[p+0];\n                  g = imageData[p+ofsG];\n                  b = imageData[p+ofsB];\n                  YDU[pos]=+0.29900f*r+0.58700f*g+0.11400f*b-128;\n                  UDU[pos]=-0.16874f*r-0.33126f*g+0.50000f*b;\n                  VDU[pos]=+0.50000f*r-0.41869f*g-0.08131f*b;\n               }\n            }\n\n            DCY = stbiw__jpg_processDU(s, &amp;bitBuf, &amp;bitCnt, YDU, fdtbl_Y, DCY, YDC_HT, YAC_HT);\n            DCU = stbiw__jpg_processDU(s, &amp;bitBuf, &amp;bitCnt, UDU, fdtbl_UV, DCU, UVDC_HT, UVAC_HT);\n            DCV = stbiw__jpg_processDU(s, &amp;bitBuf, &amp;bitCnt, VDU, fdtbl_UV, DCV, UVDC_HT, UVAC_HT);\n         }\n      }\n\n      // Do the bit alignment of the EOI marker\n      stbiw__jpg_writeBits(s, &amp;bitBuf, &amp;bitCnt, fillBits);\n   }\n\n   // EOI\n   stbiw__putc(s, 0xFF);\n   stbiw__putc(s, 0xD9);\n\n   return 1;\n}\n\nSTBIWDEF int stbi_write_jpg_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void *data, int quality)\n{\n   stbi__write_context s;\n   stbi__start_write_callbacks(&amp;s, func, context);\n   return stbi_write_jpg_core(&amp;s, x, y, comp, (void *) data, quality);\n}\n\n\n#ifndef STBI_WRITE_NO_STDIO\nSTBIWDEF int stbi_write_jpg(char const *filename, int x, int y, int comp, const void *data, int quality)\n{\n   stbi__write_context s;\n   if (stbi__start_write_file(&amp;s,filename)) {\n      int r = stbi_write_jpg_core(&amp;s, x, y, comp, data, quality);\n      stbi__end_write_file(&amp;s);\n      return r;\n   } else\n      return 0;\n}\n#endif\n\n#endif // STB_IMAGE_WRITE_IMPLEMENTATION\n\n/* Revision history\n      1.11  (2019-08-11)\n\n      1.10  (2019-02-07)\n             support utf8 filenames in Windows; fix warnings and platform ifdefs \n      1.09  (2018-02-11)\n             fix typo in zlib quality API, improve STB_I_W_STATIC in C++\n      1.08  (2018-01-29)\n             add stbi__flip_vertically_on_write, external zlib, zlib quality, choose PNG filter\n      1.07  (2017-07-24)\n             doc fix\n      1.06 (2017-07-23)\n             writing JPEG (using Jon Olick's code)\n      1.05   ???\n      1.04 (2017-03-03)\n             monochrome BMP expansion\n      1.03   ???\n      1.02 (2016-04-02)\n             avoid allocating large structures on the stack\n      1.01 (2016-01-16)\n             STBIW_REALLOC_SIZED: support allocators with no realloc support\n             avoid race-condition in crc initialization\n             minor compile issues\n      1.00 (2015-09-14)\n             installable file IO function\n      0.99 (2015-09-13)\n             warning fixes; TGA rle support\n      0.98 (2015-04-08)\n             added STBIW_MALLOC, STBIW_ASSERT etc\n      0.97 (2015-01-18)\n             fixed HDR asserts, rewrote HDR rle logic\n      0.96 (2015-01-17)\n             add HDR output\n             fix monochrome BMP\n      0.95 (2014-08-17)\n               add monochrome TGA output\n      0.94 (2014-05-31)\n             rename private functions to avoid conflicts with stb_image.h\n      0.93 (2014-05-27)\n             warning fixes\n      0.92 (2010-08-01)\n             casts to unsigned char to fix warnings\n      0.91 (2010-07-17)\n             first public release\n      0.90   first internal release\n*/\n\n/*\n------------------------------------------------------------------------------\nThis software is available under 2 licenses -- choose whichever you prefer.\n------------------------------------------------------------------------------\nALTERNATIVE A - MIT License\nCopyright (c) 2017 Sean Barrett\nPermission is hereby granted, free of charge, to any person obtaining a copy of \nthis software and associated documentation files (the \"Software\"), to deal in \nthe Software without restriction, including without limitation the rights to \nuse, copy, modify, merge, publish, distribute, sublicense, and/or sell copies \nof the Software, and to permit persons to whom the Software is furnished to do \nso, subject to the following conditions:\nThe above copyright notice and this permission notice shall be included in all \ncopies or substantial portions of the Software.\nTHE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR \nIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, \nFITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE \nAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER \nLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, \nOUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE \nSOFTWARE.\n------------------------------------------------------------------------------\nALTERNATIVE B - Public Domain (www.unlicense.org)\nThis is free and unencumbered software released into the public domain.\nAnyone is free to copy, modify, publish, use, compile, sell, or distribute this \nsoftware, either in source code form or as a compiled binary, for any purpose, \ncommercial or non-commercial, and by any means.\nIn jurisdictions that recognize copyright laws, the author or authors of this \nsoftware dedicate any and all copyright interest in the software to the public \ndomain. We make this dedication for the benefit of the public at large and to \nthe detriment of our heirs and successors. We intend this dedication to be an \novert act of relinquishment in perpetuity of all present and future rights to \nthis software under copyright law.\nTHE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR \nIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, \nFITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE \nAUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN \nACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION \nWITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.\n------------------------------------------------------------------------------\n*/\n</code></pre>"},{"location":"api/dir_087fbdcd93b501a5d3f98df93e9f8cc4/","title":"Dir robot_dart/robots","text":"<p>FileList &gt; robot_dart &gt; robots</p>"},{"location":"api/dir_087fbdcd93b501a5d3f98df93e9f8cc4/#files","title":"Files","text":"Type Name file a1.cpp file a1.hpp file arm.hpp file franka.cpp file franka.hpp file hexapod.hpp file icub.cpp file icub.hpp file iiwa.cpp file iiwa.hpp file pendulum.hpp file talos.cpp file talos.hpp file tiago.cpp file tiago.hpp file ur3e.cpp file ur3e.hpp file vx300.hpp <p>The documentation for this class was generated from the following file <code>robot_dart/robots/</code></p>"},{"location":"api/a1_8cpp/","title":"File a1.cpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; a1.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robots/a1.hpp\"</code></li> <li><code>#include \"robot_dart/robot_dart_simu.hpp\"</code></li> </ul>"},{"location":"api/a1_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots <p>The documentation for this class was generated from the following file <code>robot_dart/robots/a1.cpp</code></p>"},{"location":"api/a1_8cpp_source/","title":"File a1.cpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; a1.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"robot_dart/robots/a1.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        A1::A1(size_t frequency, const std::string&amp; urdf, const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages)\n            : Robot(urdf, packages),\n              _imu(std::make_shared&lt;sensor::IMU&gt;(sensor::IMUConfig(body_node(\"imu_link\"), frequency)))\n        {\n            set_color_mode(\"material\");\n            set_self_collision(true);\n            set_position_enforced(true);\n\n            // put above ground\n            set_base_pose(robot_dart::make_vector({0., 0., 0., 0., 0., 0.5}));\n\n            // standing pose\n            auto names = dof_names(true, true, true);\n            names = std::vector&lt;std::string&gt;(names.begin() + 6, names.end());\n            set_positions(robot_dart::make_vector({0.0, 0.67, -1.3, -0.0, 0.67, -1.3, 0.0, 0.67, -1.3, -0.0, 0.67, -1.3}), names);\n        }\n\n        void A1::reset()\n        {\n            Robot::reset();\n\n            // put above ground\n            set_base_pose(robot_dart::make_vector({0., 0., 0., 0., 0., 0.5}));\n\n            // standing pose\n            auto names = dof_names(true, true, true);\n            names = std::vector&lt;std::string&gt;(names.begin() + 6, names.end());\n            set_positions(robot_dart::make_vector({0.0, 0.67, -1.3, -0.0, 0.67, -1.3, 0.0, 0.67, -1.3, -0.0, 0.67, -1.3}), names);\n        }\n    } // namespace robots\n} // namespace robot_dart\n</code></pre>"},{"location":"api/a1_8hpp/","title":"File a1.hpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; a1.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robot.hpp\"</code></li> <li><code>#include \"robot_dart/sensor/imu.hpp\"</code></li> </ul>"},{"location":"api/a1_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots"},{"location":"api/a1_8hpp/#classes","title":"Classes","text":"Type Name class A1 <p>The documentation for this class was generated from the following file <code>robot_dart/robots/a1.hpp</code></p>"},{"location":"api/a1_8hpp_source/","title":"File a1.hpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; a1.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_ROBOTS_A1_HPP\n#define ROBOT_DART_ROBOTS_A1_HPP\n\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/sensor/imu.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        class A1 : public Robot {\n        public:\n            A1(size_t frequency = 1000, const std::string&amp; urdf = \"unitree_a1/a1.urdf\", const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages = ('a1_description', 'unitree_a1/a1_description'));\n\n            void reset() override;\n\n            const sensor::IMU&amp; imu() const { return *_imu; }\n\n        protected:\n            std::shared_ptr&lt;sensor::IMU&gt; _imu;\n        };\n    } // namespace robots\n} // namespace robot_dart\n#endif\n</code></pre>"},{"location":"api/arm_8hpp/","title":"File arm.hpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; arm.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robot.hpp\"</code></li> </ul>"},{"location":"api/arm_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots"},{"location":"api/arm_8hpp/#classes","title":"Classes","text":"Type Name class Arm <p>The documentation for this class was generated from the following file <code>robot_dart/robots/arm.hpp</code></p>"},{"location":"api/arm_8hpp_source/","title":"File arm.hpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; arm.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_ROBOTS_ARM_HPP\n#define ROBOT_DART_ROBOTS_ARM_HPP\n\n#include \"robot_dart/robot.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        class Arm : public Robot {\n        public:\n            Arm(const std::string&amp; urdf = \"arm.urdf\") : Robot(urdf)\n            {\n                fix_to_world();\n                set_position_enforced(true);\n            }\n        };\n    } // namespace robots\n} // namespace robot_dart\n#endif\n</code></pre>"},{"location":"api/franka_8cpp/","title":"File franka.cpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; franka.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robots/franka.hpp\"</code></li> <li><code>#include \"robot_dart/robot_dart_simu.hpp\"</code></li> </ul>"},{"location":"api/franka_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots <p>The documentation for this class was generated from the following file <code>robot_dart/robots/franka.cpp</code></p>"},{"location":"api/franka_8cpp_source/","title":"File franka.cpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; franka.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"robot_dart/robots/franka.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        Franka::Franka(size_t frequency, const std::string&amp; urdf, const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages)\n            : Robot(urdf, packages),\n              _ft_wrist(std::make_shared&lt;sensor::ForceTorque&gt;(joint(\"panda_link7\"), frequency))\n        {\n            fix_to_world();\n            set_position_enforced(true);\n            set_color_mode(\"material\");\n        }\n\n        void Franka::_post_addition(RobotDARTSimu* simu)\n        {\n            // We do not want to add sensors if we are a ghost robot\n            if (ghost())\n                return;\n            simu-&gt;add_sensor(_ft_wrist);\n        }\n\n        void Franka::_post_removal(RobotDARTSimu* simu)\n        {\n            simu-&gt;remove_sensor(_ft_wrist);\n        }\n    } // namespace robots\n} // namespace robot_dart\n</code></pre>"},{"location":"api/franka_8hpp/","title":"File franka.hpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; franka.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robot.hpp\"</code></li> <li><code>#include \"robot_dart/sensor/force_torque.hpp\"</code></li> </ul>"},{"location":"api/franka_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots"},{"location":"api/franka_8hpp/#classes","title":"Classes","text":"Type Name class Franka <p>The documentation for this class was generated from the following file <code>robot_dart/robots/franka.hpp</code></p>"},{"location":"api/franka_8hpp_source/","title":"File franka.hpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; franka.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_ROBOTS_FRANKA_HPP\n#define ROBOT_DART_ROBOTS_FRANKA_HPP\n\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/sensor/force_torque.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        class Franka : public Robot {\n        public:\n            Franka(size_t frequency = 1000, const std::string&amp; urdf = \"franka/franka.urdf\", const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages = ('franka_description', 'franka/franka_description'));\n\n            const sensor::ForceTorque&amp; ft_wrist() const { return *_ft_wrist; }\n\n        protected:\n            std::shared_ptr&lt;sensor::ForceTorque&gt; _ft_wrist;\n            void _post_addition(RobotDARTSimu* simu) override;\n            void _post_removal(RobotDARTSimu* simu) override;\n        };\n    } // namespace robots\n} // namespace robot_dart\n#endif\n</code></pre>"},{"location":"api/hexapod_8hpp/","title":"File hexapod.hpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; hexapod.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robot.hpp\"</code></li> </ul>"},{"location":"api/hexapod_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots"},{"location":"api/hexapod_8hpp/#classes","title":"Classes","text":"Type Name class Hexapod <p>The documentation for this class was generated from the following file <code>robot_dart/robots/hexapod.hpp</code></p>"},{"location":"api/hexapod_8hpp_source/","title":"File hexapod.hpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; hexapod.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_ROBOTS_HEXAPOD_HPP\n#define ROBOT_DART_ROBOTS_HEXAPOD_HPP\n\n#include \"robot_dart/robot.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        class Hexapod : public Robot {\n        public:\n            Hexapod(const std::string&amp; urdf = \"pexod.urdf\") : Robot(urdf)\n            {\n                set_position_enforced(true);\n                skeleton()-&gt;enableSelfCollisionCheck();\n                set_base_pose(robot_dart::make_vector({0., 0., 0., 0., 0., 0.2}));\n            }\n\n            void reset() override\n            {\n                Robot::reset();\n                set_base_pose(robot_dart::make_vector({0., 0., 0., 0., 0., 0.2}));\n            }\n        };\n    } // namespace robots\n} // namespace robot_dart\n#endif\n</code></pre>"},{"location":"api/icub_8cpp/","title":"File icub.cpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; icub.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robots/icub.hpp\"</code></li> <li><code>#include \"robot_dart/robot_dart_simu.hpp\"</code></li> </ul>"},{"location":"api/icub_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots <p>The documentation for this class was generated from the following file <code>robot_dart/robots/icub.cpp</code></p>"},{"location":"api/icub_8cpp_source/","title":"File icub.cpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; icub.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"robot_dart/robots/icub.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        ICub::ICub(size_t frequency, const std::string&amp; urdf, const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages)\n            : Robot(urdf, packages),\n              _imu(std::make_shared&lt;sensor::IMU&gt;(sensor::IMUConfig(body_node(\"head\"), frequency))),\n              _ft_foot_left(std::make_shared&lt;sensor::ForceTorque&gt;(joint(\"l_ankle_roll\"), frequency)),\n              _ft_foot_right(std::make_shared&lt;sensor::ForceTorque&gt;(joint(\"r_ankle_roll\"), frequency))\n        {\n            set_color_mode(\"material\");\n\n            set_position_enforced(true);\n\n            // position iCub\n            set_base_pose(robot_dart::make_vector({0., 0., M_PI / 2., 0., 0., 0.46}));\n        }\n\n        void ICub::reset()\n        {\n            Robot::reset();\n\n            // position iCub\n            set_base_pose(robot_dart::make_vector({0., 0., M_PI / 2., 0., 0., 0.46}));\n        }\n\n        void ICub::_post_addition(RobotDARTSimu* simu)\n        {\n            // We do not want to add sensors if we are a ghost robot\n            if (ghost())\n                return;\n            simu-&gt;add_sensor(_imu);\n            simu-&gt;add_sensor(_ft_foot_left);\n            simu-&gt;add_sensor(_ft_foot_right);\n        }\n\n        void ICub::_post_removal(RobotDARTSimu* simu)\n        {\n            simu-&gt;remove_sensor(_imu);\n            simu-&gt;remove_sensor(_ft_foot_left);\n            simu-&gt;remove_sensor(_ft_foot_right);\n        }\n    } // namespace robots\n} // namespace robot_dart\n</code></pre>"},{"location":"api/icub_8hpp/","title":"File icub.hpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; icub.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robot.hpp\"</code></li> <li><code>#include \"robot_dart/sensor/force_torque.hpp\"</code></li> <li><code>#include \"robot_dart/sensor/imu.hpp\"</code></li> </ul>"},{"location":"api/icub_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots"},{"location":"api/icub_8hpp/#classes","title":"Classes","text":"Type Name class ICub <p>The documentation for this class was generated from the following file <code>robot_dart/robots/icub.hpp</code></p>"},{"location":"api/icub_8hpp_source/","title":"File icub.hpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; icub.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_ROBOTS_ICUB_HPP\n#define ROBOT_DART_ROBOTS_ICUB_HPP\n\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/sensor/force_torque.hpp\"\n#include \"robot_dart/sensor/imu.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        class ICub : public Robot {\n        public:\n            ICub(size_t frequency = 1000, const std::string&amp; urdf = \"icub/icub.urdf\", const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages = ('icub_description', 'icub/icub_description'));\n\n            void reset() override;\n\n            const sensor::IMU&amp; imu() const { return *_imu; }\n            const sensor::ForceTorque&amp; ft_foot_left() const { return *_ft_foot_left; }\n            const sensor::ForceTorque&amp; ft_foot_right() const { return *_ft_foot_right; }\n\n        protected:\n            std::shared_ptr&lt;sensor::IMU&gt; _imu;\n            std::shared_ptr&lt;sensor::ForceTorque&gt; _ft_foot_left;\n            std::shared_ptr&lt;sensor::ForceTorque&gt; _ft_foot_right;\n\n            void _post_addition(RobotDARTSimu* simu) override;\n            void _post_removal(RobotDARTSimu* simu) override;\n        };\n    } // namespace robots\n} // namespace robot_dart\n#endif\n</code></pre>"},{"location":"api/iiwa_8cpp/","title":"File iiwa.cpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; iiwa.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robots/iiwa.hpp\"</code></li> <li><code>#include \"robot_dart/robot_dart_simu.hpp\"</code></li> </ul>"},{"location":"api/iiwa_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots <p>The documentation for this class was generated from the following file <code>robot_dart/robots/iiwa.cpp</code></p>"},{"location":"api/iiwa_8cpp_source/","title":"File iiwa.cpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; iiwa.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"robot_dart/robots/iiwa.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        Iiwa::Iiwa(size_t frequency, const std::string&amp; urdf, const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages)\n            : Robot(urdf, packages),\n              _ft_wrist(std::make_shared&lt;sensor::ForceTorque&gt;(joint(\"iiwa_joint_ee\"), frequency))\n        {\n            fix_to_world();\n            set_position_enforced(true);\n        }\n\n        void Iiwa::_post_addition(RobotDARTSimu* simu)\n        {\n            // We do not want to add sensors if we are a ghost robot\n            if (ghost())\n                return;\n            simu-&gt;add_sensor(_ft_wrist);\n        }\n\n        void Iiwa::_post_removal(RobotDARTSimu* simu)\n        {\n            simu-&gt;remove_sensor(_ft_wrist);\n        }\n    } // namespace robots\n} // namespace robot_dart\n</code></pre>"},{"location":"api/iiwa_8hpp/","title":"File iiwa.hpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; iiwa.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robot.hpp\"</code></li> <li><code>#include \"robot_dart/sensor/force_torque.hpp\"</code></li> </ul>"},{"location":"api/iiwa_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots"},{"location":"api/iiwa_8hpp/#classes","title":"Classes","text":"Type Name class Iiwa <p>The documentation for this class was generated from the following file <code>robot_dart/robots/iiwa.hpp</code></p>"},{"location":"api/iiwa_8hpp_source/","title":"File iiwa.hpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; iiwa.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_ROBOTS_IIWA_HPP\n#define ROBOT_DART_ROBOTS_IIWA_HPP\n\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/sensor/force_torque.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        class Iiwa : public Robot {\n        public:\n            Iiwa(size_t frequency = 1000, const std::string&amp; urdf = \"iiwa/iiwa.urdf\", const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages = ('iiwa_description', 'iiwa/iiwa_description'));\n\n            const sensor::ForceTorque&amp; ft_wrist() const { return *_ft_wrist; }\n\n        protected:\n            std::shared_ptr&lt;sensor::ForceTorque&gt; _ft_wrist;\n            void _post_addition(RobotDARTSimu* simu) override;\n            void _post_removal(RobotDARTSimu* simu) override;\n        };\n    } // namespace robots\n} // namespace robot_dart\n#endif\n</code></pre>"},{"location":"api/pendulum_8hpp/","title":"File pendulum.hpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; pendulum.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robot.hpp\"</code></li> </ul>"},{"location":"api/pendulum_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots"},{"location":"api/pendulum_8hpp/#classes","title":"Classes","text":"Type Name class Pendulum <p>The documentation for this class was generated from the following file <code>robot_dart/robots/pendulum.hpp</code></p>"},{"location":"api/pendulum_8hpp_source/","title":"File pendulum.hpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; pendulum.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_ROBOTS_PENDULUM_HPP\n#define ROBOT_DART_ROBOTS_PENDULUM_HPP\n\n#include \"robot_dart/robot.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        class Pendulum : public Robot {\n        public:\n            Pendulum(const std::string&amp; urdf = \"pendulum.urdf\") : Robot(urdf)\n            {\n                fix_to_world();\n                set_position_enforced(true);\n                set_positions(robot_dart::make_vector({M_PI}));\n            }\n        };\n    } // namespace robots\n} // namespace robot_dart\n#endif\n</code></pre>"},{"location":"api/talos_8cpp/","title":"File talos.cpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; talos.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robots/talos.hpp\"</code></li> <li><code>#include \"robot_dart/robot_dart_simu.hpp\"</code></li> </ul>"},{"location":"api/talos_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots <p>The documentation for this class was generated from the following file <code>robot_dart/robots/talos.cpp</code></p>"},{"location":"api/talos_8cpp_source/","title":"File talos.cpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; talos.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"robot_dart/robots/talos.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        Talos::Talos(size_t frequency, const std::string&amp; urdf, const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages)\n            : Robot(urdf, packages),\n              _imu(std::make_shared&lt;sensor::IMU&gt;(sensor::IMUConfig(body_node(\"imu_link\"), frequency))),\n              _ft_foot_left(std::make_shared&lt;sensor::ForceTorque&gt;(joint(\"leg_left_6_joint\"), frequency, \"parent_to_child\")),\n              _ft_foot_right(std::make_shared&lt;sensor::ForceTorque&gt;(joint(\"leg_right_6_joint\"), frequency, \"parent_to_child\")),\n              _ft_wrist_left(std::make_shared&lt;sensor::ForceTorque&gt;(joint(\"wrist_left_ft_joint\"), frequency, \"parent_to_child\")),\n              _ft_wrist_right(std::make_shared&lt;sensor::ForceTorque&gt;(joint(\"wrist_right_ft_joint\"), frequency, \"parent_to_child\")),\n              _frequency(frequency)\n        {\n            // use position/torque limits\n            set_position_enforced(true);\n\n            // position Talos\n            set_base_pose(robot_dart::make_vector({0., 0., M_PI / 2., 0., 0., 1.1}));\n        }\n\n        void Talos::reset()\n        {\n            Robot::reset();\n\n            // position Talos\n            set_base_pose(robot_dart::make_vector({0., 0., M_PI / 2., 0., 0., 1.1}));\n        }\n\n        void Talos::_post_addition(RobotDARTSimu* simu)\n        {\n            // We do not want to add sensors if we are a ghost robot\n            if (ghost())\n                return;\n            simu-&gt;add_sensor(_imu);\n\n            simu-&gt;add_sensor(_ft_foot_left);\n            simu-&gt;add_sensor(_ft_foot_right);\n            simu-&gt;add_sensor(_ft_wrist_left);\n            simu-&gt;add_sensor(_ft_wrist_right);\n\n            // torques sensors\n            std::vector&lt;std::string&gt; joints = {\n                // torso\n                \"torso_1_joint\",\n                \"torso_2_joint\",\n                // arm_left\n                \"arm_left_1_joint\", \"arm_left_2_joint\",\n                \"arm_left_3_joint\", \"arm_left_4_joint\",\n                // arm_right\n                \"arm_right_1_joint\", \"arm_right_2_joint\",\n                \"arm_right_3_joint\", \"arm_right_4_joint\",\n                // leg_left\n                \"leg_left_1_joint\", \"leg_left_2_joint\", \"leg_left_3_joint\",\n                \"leg_left_4_joint\", \"leg_left_5_joint\", \"leg_left_6_joint\",\n                // leg_right\n                \"leg_right_1_joint\", \"leg_right_2_joint\", \"leg_right_3_joint\",\n                \"leg_right_4_joint\", \"leg_right_5_joint\", \"leg_right_6_joint\"\n\n            };\n            for (auto&amp; s : joints) {\n                auto t = std::make_shared&lt;sensor::Torque&gt;(joint(s), _frequency);\n                _torques[s] = t;\n                simu-&gt;add_sensor(t);\n            }\n        }\n\n        void Talos::_post_removal(RobotDARTSimu* simu)\n        {\n            simu-&gt;remove_sensor(_imu);\n\n            simu-&gt;remove_sensor(_ft_foot_left);\n            simu-&gt;remove_sensor(_ft_foot_right);\n            simu-&gt;remove_sensor(_ft_wrist_left);\n            simu-&gt;remove_sensor(_ft_wrist_right);\n\n            for (auto&amp; t : _torques) {\n                simu-&gt;remove_sensor(t.second);\n            }\n        }\n\n        void TalosFastCollision::_post_addition(RobotDARTSimu* simu)\n        {\n            Talos::_post_addition(simu);\n            auto vec = TalosFastCollision::collision_vec();\n            for (auto&amp; t : vec) {\n                simu-&gt;set_collision_masks(simu-&gt;robots().size() - 1, std::get&lt;0&gt;(t), std::get&lt;1&gt;(t), std::get&lt;2&gt;(t));\n            }\n        }\n\n        std::vector&lt;std::tuple&lt;std::string, uint32_t, uint32_t&gt;&gt; TalosFastCollision::collision_vec()\n        {\n            std::vector&lt;std::tuple&lt;std::string, uint32_t, uint32_t&gt;&gt; vec;\n            vec.push_back(std::make_tuple(\"leg_right_6_link\", 0x1, 0x1 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n            vec.push_back(std::make_tuple(\"leg_right_4_link\", 0x2, 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n            vec.push_back(std::make_tuple(\"leg_left_6_link\", 0x4, 0x1 | 0x2 | 0x4 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n            vec.push_back(std::make_tuple(\"leg_left_4_link\", 0x8, 0x1 | 0x2 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n            vec.push_back(std::make_tuple(\"leg_left_1_link\", 0x10, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x40 | 0x80 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n            vec.push_back(std::make_tuple(\"leg_left_3_link\", 0x20, 0x1 | 0x2 | 0x4 | 0x8 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n            vec.push_back(std::make_tuple(\"leg_right_1_link\", 0x40, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n            vec.push_back(std::make_tuple(\"leg_right_3_link\", 0x80, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x80 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n            vec.push_back(std::make_tuple(\"arm_left_7_link\", 0x100, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n            vec.push_back(std::make_tuple(\"arm_left_5_link\", 0x200, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n            vec.push_back(std::make_tuple(\"arm_right_7_link\", 0x400, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x400 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n            vec.push_back(std::make_tuple(\"arm_right_5_link\", 0x800, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n            vec.push_back(std::make_tuple(\"torso_2_link\", 0x1000, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x800 | 0x1000 | 0x4000 | 0x8000));\n            vec.push_back(std::make_tuple(\"base_link\", 0x2000, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x800 | 0x2000 | 0x10000));\n            vec.push_back(std::make_tuple(\"leg_right_2_link\", 0x4000, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x800 | 0x1000 | 0x4000 | 0x8000 | 0x10000));\n            vec.push_back(std::make_tuple(\"leg_left_2_link\", 0x8000, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x800 | 0x1000 | 0x4000 | 0x8000 | 0x10000));\n            vec.push_back(std::make_tuple(\"head_2_link\", 0x10000, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x800 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n            return vec;\n        }\n    } // namespace robots\n} // namespace robot_dart\n</code></pre>"},{"location":"api/talos_8hpp/","title":"File talos.hpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; talos.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robot.hpp\"</code></li> <li><code>#include \"robot_dart/sensor/force_torque.hpp\"</code></li> <li><code>#include \"robot_dart/sensor/imu.hpp\"</code></li> <li><code>#include \"robot_dart/sensor/torque.hpp\"</code></li> </ul>"},{"location":"api/talos_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots"},{"location":"api/talos_8hpp/#classes","title":"Classes","text":"Type Name class Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __ class TalosFastCollision class TalosLight <p>The documentation for this class was generated from the following file <code>robot_dart/robots/talos.hpp</code></p>"},{"location":"api/talos_8hpp_source/","title":"File talos.hpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; talos.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_ROBOTS_TALOS_HPP\n#define ROBOT_DART_ROBOTS_TALOS_HPP\n\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/sensor/force_torque.hpp\"\n#include \"robot_dart/sensor/imu.hpp\"\n#include \"robot_dart/sensor/torque.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        class Talos : public Robot {\n        public:\n            Talos(size_t frequency = 1000, const std::string&amp; urdf = \"talos/talos.urdf\", const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages = ('talos_description', 'talos/talos_description'));\n\n            void reset() override;\n\n            const sensor::IMU&amp; imu() const { return *_imu; }\n            const sensor::ForceTorque&amp; ft_foot_left() const { return *_ft_foot_left; }\n            const sensor::ForceTorque&amp; ft_foot_right() const { return *_ft_foot_right; }\n            const sensor::ForceTorque&amp; ft_wrist_left() const { return *_ft_wrist_left; }\n            const sensor::ForceTorque&amp; ft_wrist_right() const { return *_ft_wrist_right; }\n\n            using torque_map_t = std::unordered_map&lt;std::string, std::shared_ptr&lt;sensor::Torque&gt;&gt;;\n            const torque_map_t&amp; torques() const { return _torques; }\n\n        protected:\n            std::shared_ptr&lt;sensor::IMU&gt; _imu;\n            std::shared_ptr&lt;sensor::ForceTorque&gt; _ft_foot_left;\n            std::shared_ptr&lt;sensor::ForceTorque&gt; _ft_foot_right;\n            std::shared_ptr&lt;sensor::ForceTorque&gt; _ft_wrist_left;\n            std::shared_ptr&lt;sensor::ForceTorque&gt; _ft_wrist_right;\n            torque_map_t _torques;\n            size_t _frequency;\n\n            void _post_addition(RobotDARTSimu* simu) override;\n            void _post_removal(RobotDARTSimu* simu) override;\n        };\n\n        class TalosLight : public Talos {\n        public:\n            TalosLight(size_t frequency = 1000, const std::string&amp; urdf = \"talos/talos_fast.urdf\", const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages = ('talos_description', 'talos/talos_description')) : Talos(frequency, urdf, packages) {}\n        };\n\n        // for talos_fast_collision.urdf or talos_box.urdf which have simple box collision shapes\n        class TalosFastCollision : public Talos {\n        public:\n            TalosFastCollision(size_t frequency = 1000, const std::string&amp; urdf = \"talos/talos_fast_collision.urdf\", const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages = ('talos_description', 'talos/talos_description')) : Talos(frequency, urdf, packages) { set_self_collision(); }\n            static std::vector&lt;std::tuple&lt;std::string, uint32_t, uint32_t&gt;&gt; collision_vec();\n\n        protected:\n            void _post_addition(RobotDARTSimu* simu) override;\n        };\n    } // namespace robots\n} // namespace robot_dart\n#endif\n</code></pre>"},{"location":"api/tiago_8cpp/","title":"File tiago.cpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; tiago.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robots/tiago.hpp\"</code></li> <li><code>#include \"robot_dart/robot_dart_simu.hpp\"</code></li> </ul>"},{"location":"api/tiago_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots <p>The documentation for this class was generated from the following file <code>robot_dart/robots/tiago.cpp</code></p>"},{"location":"api/tiago_8cpp_source/","title":"File tiago.cpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; tiago.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"robot_dart/robots/tiago.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        Tiago::Tiago(size_t frequency, const std::string&amp; urdf, const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages)\n            : Robot(urdf, packages),\n              _ft_wrist(std::make_shared&lt;sensor::ForceTorque&gt;(joint(\"gripper_tool_joint\"), frequency))\n        {\n            set_position_enforced(true);\n            // We use servo actuators, but not for the caster joints\n            set_actuator_types(\"servo\");\n\n            // position Tiago\n            set_base_pose(robot_dart::make_vector({0., 0., M_PI / 2., 0., 0., 0.}));\n        }\n\n        void Tiago::reset()\n        {\n            Robot::reset();\n\n            // position Tiago\n            set_base_pose(robot_dart::make_vector({0., 0., M_PI / 2., 0., 0., 0.}));\n        }\n\n        void Tiago::set_actuator_types(const std::string&amp; type, const std::vector&lt;std::string&gt;&amp; joint_names, bool override_mimic, bool override_base, bool override_caster)\n        {\n            auto jt = joint_names;\n            if (!override_caster) {\n                if (joint_names.size() == 0)\n                    jt = Robot::joint_names();\n                for (const auto&amp; jnt : caster_joints()) {\n                    auto it = std::find(jt.begin(), jt.end(), jnt);\n                    if (it != jt.end()) {\n                        jt.erase(it);\n                    }\n                }\n            }\n            Robot::set_actuator_types(type, jt, override_mimic, override_base);\n        }\n\n        void Tiago::set_actuator_type(const std::string&amp; type, const std::string&amp; joint_name, bool override_mimic, bool override_base, bool override_caster)\n        {\n            set_actuator_types(type, {joint_name}, override_mimic, override_base, override_caster);\n        }\n\n        void Tiago::_post_addition(RobotDARTSimu* simu)\n        {\n            // We do not want to add sensors if we are a ghost robot\n            if (ghost())\n                return;\n            simu-&gt;add_sensor(_ft_wrist);\n        }\n\n        void Tiago::_post_removal(RobotDARTSimu* simu)\n        {\n            simu-&gt;remove_sensor(_ft_wrist);\n        }\n\n    } // namespace robots\n} // namespace robot_dart\n</code></pre>"},{"location":"api/tiago_8hpp/","title":"File tiago.hpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; tiago.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robot.hpp\"</code></li> <li><code>#include \"robot_dart/sensor/force_torque.hpp\"</code></li> </ul>"},{"location":"api/tiago_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots"},{"location":"api/tiago_8hpp/#classes","title":"Classes","text":"Type Name class Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __ <p>The documentation for this class was generated from the following file <code>robot_dart/robots/tiago.hpp</code></p>"},{"location":"api/tiago_8hpp_source/","title":"File tiago.hpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; tiago.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_ROBOTS_TIAGO_HPP\n#define ROBOT_DART_ROBOTS_TIAGO_HPP\n\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/sensor/force_torque.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        class Tiago : public Robot {\n        public:\n            Tiago(size_t frequency = 1000, const std::string&amp; urdf = \"tiago/tiago_steel.urdf\", const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages = ('tiago_description', 'tiago/tiago_description'));\n\n            void reset() override;\n\n            const sensor::ForceTorque&amp; ft_wrist() const { return *_ft_wrist; }\n\n            std::vector&lt;std::string&gt; caster_joints() const { return {\"caster_back_left_2_joint\", \"caster_back_left_1_joint\", \"caster_back_right_2_joint\", \"caster_back_right_1_joint\", \"caster_front_left_2_joint\", \"caster_front_left_1_joint\", \"caster_front_right_2_joint\", \"caster_front_right_1_joint\"}; }\n\n            void set_actuator_types(const std::string&amp; type, const std::vector&lt;std::string&gt;&amp; joint_names = {}, bool override_mimic = false, bool override_base = false, bool override_caster = false);\n            void set_actuator_type(const std::string&amp; type, const std::string&amp; joint_name, bool override_mimic = false, bool override_base = false, bool override_caster = false);\n\n        protected:\n            std::shared_ptr&lt;sensor::ForceTorque&gt; _ft_wrist;\n            void _post_addition(RobotDARTSimu* simu) override;\n            void _post_removal(RobotDARTSimu* simu) override;\n        };\n    } // namespace robots\n} // namespace robot_dart\n#endif\n</code></pre>"},{"location":"api/ur3e_8cpp/","title":"File ur3e.cpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; ur3e.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robots/ur3e.hpp\"</code></li> <li><code>#include \"robot_dart/robot_dart_simu.hpp\"</code></li> </ul>"},{"location":"api/ur3e_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots <p>The documentation for this class was generated from the following file <code>robot_dart/robots/ur3e.cpp</code></p>"},{"location":"api/ur3e_8cpp_source/","title":"File ur3e.cpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; ur3e.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"robot_dart/robots/ur3e.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        Ur3e::Ur3e(size_t frequency, const std::string&amp; urdf, const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages)\n            : Robot(urdf, packages),\n              _ft_wrist(std::make_shared&lt;sensor::ForceTorque&gt;(joint(\"wrist_3-flange\"), frequency))\n        {\n            fix_to_world();\n            set_position_enforced(true);\n            set_color_mode(\"material\");\n        }\n\n        void Ur3e::_post_addition(RobotDARTSimu* simu)\n        {\n            // We do not want to add sensors if we are a ghost robot\n            if (ghost())\n                return;\n            simu-&gt;add_sensor(_ft_wrist);\n        }\n\n        void Ur3e::_post_removal(RobotDARTSimu* simu)\n        {\n            simu-&gt;remove_sensor(_ft_wrist);\n        }\n    } // namespace robots\n} // namespace robot_dart\n</code></pre>"},{"location":"api/ur3e_8hpp/","title":"File ur3e.hpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; ur3e.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robot.hpp\"</code></li> <li><code>#include \"robot_dart/sensor/force_torque.hpp\"</code></li> </ul>"},{"location":"api/ur3e_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots"},{"location":"api/ur3e_8hpp/#classes","title":"Classes","text":"Type Name class Ur3e class Ur3eHand <p>The documentation for this class was generated from the following file <code>robot_dart/robots/ur3e.hpp</code></p>"},{"location":"api/ur3e_8hpp_source/","title":"File ur3e.hpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; ur3e.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_ROBOTS_UR3E_HPP\n#define ROBOT_DART_ROBOTS_UR3E_HPP\n\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/sensor/force_torque.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        class Ur3e : public Robot {\n        public:\n            Ur3e(size_t frequency = 1000, const std::string&amp; urdf = \"ur3e/ur3e.urdf\", const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages = ('ur3e_description', 'ur3e/ur3e_description'));\n\n            const sensor::ForceTorque&amp; ft_wrist() const { return *_ft_wrist; }\n\n        protected:\n            std::shared_ptr&lt;sensor::ForceTorque&gt; _ft_wrist;\n            void _post_addition(RobotDARTSimu* simu) override;\n            void _post_removal(RobotDARTSimu* simu) override;\n        };\n\n        class Ur3eHand : public Ur3e {\n        public:\n            Ur3eHand(size_t frequency = 1000, const std::string&amp; urdf = \"ur3e/ur3e_with_schunk_hand.urdf\", const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages = ('ur3e_description', 'ur3e/ur3e_description')) : Ur3e(frequency, urdf, packages) {}\n        };\n    } // namespace robots\n} // namespace robot_dart\n#endif\n</code></pre>"},{"location":"api/vx300_8hpp/","title":"File vx300.hpp","text":"<p>FileList &gt; robot_dart &gt; robots &gt; vx300.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart/robot.hpp\"</code></li> </ul>"},{"location":"api/vx300_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace robots"},{"location":"api/vx300_8hpp/#classes","title":"Classes","text":"Type Name class Vx300 <p>The documentation for this class was generated from the following file <code>robot_dart/robots/vx300.hpp</code></p>"},{"location":"api/vx300_8hpp_source/","title":"File vx300.hpp","text":"<p>File List &gt; robot_dart &gt; robots &gt; vx300.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_ROBOTS_VX300_HPP\n#define ROBOT_DART_ROBOTS_VX300_HPP\n\n#include \"robot_dart/robot.hpp\"\n\nnamespace robot_dart {\n    namespace robots {\n        class Vx300 : public Robot {\n        public:\n            Vx300(const std::string&amp; urdf = \"vx300/vx300.urdf\", const std::vector&lt;std::pair&lt;std::string, std::string&gt;&gt;&amp; packages = ('interbotix_xsarm_descriptions', 'vx300')) : Robot(urdf, packages)\n            {\n                fix_to_world();\n                set_position_enforced(true);\n                set_color_mode(\"aspect\");\n            }\n        };\n    } // namespace robots\n} // namespace robot_dart\n#endif\n</code></pre>"},{"location":"api/dir_d1adb19f0b40b70b30ee0daf1901679b/","title":"Dir robot_dart/sensor","text":"<p>FileList &gt; robot_dart &gt; sensor</p>"},{"location":"api/dir_d1adb19f0b40b70b30ee0daf1901679b/#files","title":"Files","text":"Type Name file force_torque.cpp file force_torque.hpp file imu.cpp file imu.hpp file sensor.cpp file sensor.hpp file torque.cpp file torque.hpp <p>The documentation for this class was generated from the following file <code>robot_dart/sensor/</code></p>"},{"location":"api/force__torque_8cpp/","title":"File force_torque.cpp","text":"<p>FileList &gt; robot_dart &gt; sensor &gt; force_torque.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"force_torque.hpp\"</code></li> <li><code>#include &lt;robot_dart/utils_headers_dart_dynamics.hpp&gt;</code></li> </ul>"},{"location":"api/force__torque_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace sensor <p>The documentation for this class was generated from the following file <code>robot_dart/sensor/force_torque.cpp</code></p>"},{"location":"api/force__torque_8cpp_source/","title":"File force_torque.cpp","text":"<p>File List &gt; robot_dart &gt; sensor &gt; force_torque.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"force_torque.hpp\"\n\n#include &lt;robot_dart/utils_headers_dart_dynamics.hpp&gt;\n\nnamespace robot_dart {\n    namespace sensor {\n        ForceTorque::ForceTorque(dart::dynamics::Joint* joint, size_t frequency, const std::string&amp; direction) : Sensor(frequency), _direction(direction)\n        {\n            attach_to_joint(joint, Eigen::Isometry3d::Identity());\n        }\n\n        void ForceTorque::init()\n        {\n            _wrench.setZero();\n\n            attach_to_joint(_joint_attached, Eigen::Isometry3d::Identity());\n            _active = true;\n        }\n\n        void ForceTorque::calculate(double)\n        {\n            if (!_attached_to_joint)\n                return; // cannot compute anything if not attached to a joint\n\n            Eigen::Vector6d wrench = Eigen::Vector6d::Zero();\n            auto child_body = _joint_attached-&gt;getChildBodyNode();\n            ROBOT_DART_ASSERT(child_body != nullptr, \"Child BodyNode is nullptr\", );\n\n            wrench = -dart::math::dAdT(_joint_attached-&gt;getTransformFromChildBodyNode(), child_body-&gt;getBodyForce());\n\n            // We always compute things in SENSOR frame (aka joint frame)\n            if (_direction == \"parent_to_child\") {\n                _wrench = wrench;\n            }\n            else // \"child_to_parent\" (default)\n            {\n                _wrench = -wrench;\n            }\n        }\n\n        std::string ForceTorque::type() const { return \"ft\"; }\n\n        Eigen::Vector3d ForceTorque::force() const\n        {\n            return _wrench.tail(3);\n        }\n\n        Eigen::Vector3d ForceTorque::torque() const\n        {\n            return _wrench.head(3);\n        }\n\n        const Eigen::Vector6d&amp; ForceTorque::wrench() const\n        {\n            return _wrench;\n        }\n    } // namespace sensor\n} // namespace robot_dart\n</code></pre>"},{"location":"api/force__torque_8hpp/","title":"File force_torque.hpp","text":"<p>FileList &gt; robot_dart &gt; sensor &gt; force_torque.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/sensor/sensor.hpp&gt;</code></li> </ul>"},{"location":"api/force__torque_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace sensor"},{"location":"api/force__torque_8hpp/#classes","title":"Classes","text":"Type Name class ForceTorque <p>The documentation for this class was generated from the following file <code>robot_dart/sensor/force_torque.hpp</code></p>"},{"location":"api/force__torque_8hpp_source/","title":"File force_torque.hpp","text":"<p>File List &gt; robot_dart &gt; sensor &gt; force_torque.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_SENSOR_FORCE_TORQUE_HPP\n#define ROBOT_DART_SENSOR_FORCE_TORQUE_HPP\n\n#include &lt;robot_dart/sensor/sensor.hpp&gt;\n\nnamespace robot_dart {\n    namespace sensor {\n        class ForceTorque : public Sensor {\n        public:\n            ForceTorque(dart::dynamics::Joint* joint, size_t frequency = 1000, const std::string&amp; direction = \"child_to_parent\");\n            ForceTorque(const std::shared_ptr&lt;Robot&gt;&amp; robot, const std::string&amp; joint_name, size_t frequency = 1000, const std::string&amp; direction = \"child_to_parent\") : ForceTorque(robot-&gt;joint(joint_name), frequency, direction) {}\n\n            void init() override;\n\n            void calculate(double) override;\n\n            std::string type() const override;\n\n            Eigen::Vector3d force() const;\n            Eigen::Vector3d torque() const;\n            const Eigen::Vector6d&amp; wrench() const;\n\n            void attach_to_body(dart::dynamics::BodyNode*, const Eigen::Isometry3d&amp;) override\n            {\n                ROBOT_DART_WARNING(true, \"You cannot attach a force/torque sensor to a body!\");\n            }\n\n        protected:\n            std::string _direction;\n\n            Eigen::Vector6d _wrench;\n        };\n    } // namespace sensor\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/imu_8cpp/","title":"File imu.cpp","text":"<p>FileList &gt; robot_dart &gt; sensor &gt; imu.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"imu.hpp\"</code></li> <li><code>#include &lt;robot_dart/robot_dart_simu.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/utils_headers_dart_dynamics.hpp&gt;</code></li> </ul>"},{"location":"api/imu_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace sensor <p>The documentation for this class was generated from the following file <code>robot_dart/sensor/imu.cpp</code></p>"},{"location":"api/imu_8cpp_source/","title":"File imu.cpp","text":"<p>File List &gt; robot_dart &gt; sensor &gt; imu.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"imu.hpp\"\n\n#include &lt;robot_dart/robot_dart_simu.hpp&gt;\n#include &lt;robot_dart/utils_headers_dart_dynamics.hpp&gt;\n\nnamespace robot_dart {\n    namespace sensor {\n        IMU::IMU(const IMUConfig&amp; config) : Sensor(config.frequency), _config(config) {}\n\n        void IMU::init()\n        {\n            _angular_vel.setZero();\n            _linear_accel.setZero();\n\n            attach_to_body(_config.body, Eigen::Isometry3d::Identity());\n            if (_simu)\n                _active = true;\n        }\n\n        void IMU::calculate(double)\n        {\n            if (!_attached_to_body)\n                return; // cannot compute anything if not attached to a link\n            ROBOT_DART_EXCEPTION_ASSERT(_simu, \"Simulation pointer is null!\");\n\n            Eigen::Vector3d tmp = dart::math::logMap(_body_attached-&gt;getTransform(dart::dynamics::Frame::World(), _body_attached).linear().matrix());\n            _angular_pos = Eigen::AngleAxisd(tmp.norm(), tmp.normalized());\n            _angular_vel = _body_attached-&gt;getSpatialVelocity().head(3); // angular velocity with respect to the world, in local coordinates\n            _linear_accel = _body_attached-&gt;getSpatialAcceleration().tail(3); // linear acceleration with respect to the world, in local coordinates\n\n            // add biases\n            _angular_vel += _config.gyro_bias;\n            _linear_accel += _config.accel_bias;\n\n            // add gravity to acceleration\n            _linear_accel -= _world_pose.linear().transpose() * _simu-&gt;gravity();\n        }\n\n        std::string IMU::type() const { return \"imu\"; }\n\n        const Eigen::AngleAxisd&amp; IMU::angular_position() const\n        {\n            return _angular_pos;\n        }\n\n        Eigen::Vector3d IMU::angular_position_vec() const\n        {\n            return _angular_pos.angle() * _angular_pos.axis();\n        }\n\n        const Eigen::Vector3d&amp; IMU::angular_velocity() const\n        {\n            return _angular_vel;\n        }\n\n        const Eigen::Vector3d&amp; IMU::linear_acceleration() const\n        {\n            return _linear_accel;\n        }\n    } // namespace sensor\n} // namespace robot_dart\n</code></pre>"},{"location":"api/imu_8hpp/","title":"File imu.hpp","text":"<p>FileList &gt; robot_dart &gt; sensor &gt; imu.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/sensor/sensor.hpp&gt;</code></li> </ul>"},{"location":"api/imu_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace sensor"},{"location":"api/imu_8hpp/#classes","title":"Classes","text":"Type Name class IMU struct IMUConfig <p>The documentation for this class was generated from the following file <code>robot_dart/sensor/imu.hpp</code></p>"},{"location":"api/imu_8hpp_source/","title":"File imu.hpp","text":"<p>File List &gt; robot_dart &gt; sensor &gt; imu.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_SENSOR_IMU_HPP\n#define ROBOT_DART_SENSOR_IMU_HPP\n\n#include &lt;robot_dart/sensor/sensor.hpp&gt;\n\nnamespace robot_dart {\n    namespace sensor {\n        // TO-DO: Implement some noise models (e.g., https://github.com/ethz-asl/kalibr/wiki/IMU-Noise-Model)\n        struct IMUConfig {\n            IMUConfig(dart::dynamics::BodyNode* b, size_t f) : gyro_bias(Eigen::Vector3d::Zero()), accel_bias(Eigen::Vector3d::Zero()), body(b), frequency(f){};\n            IMUConfig(const Eigen::Vector3d&amp; gyro_bias, const Eigen::Vector3d&amp; accel_bias, dart::dynamics::BodyNode* b, size_t f) : gyro_bias(gyro_bias), accel_bias(accel_bias), body(b), frequency(f){};\n            IMUConfig() : gyro_bias(Eigen::Vector3d::Zero()), accel_bias(Eigen::Vector3d::Zero()), body(nullptr), frequency(200) {}\n\n            // We assume fixed bias; TO-DO: Make this time-dependent\n            Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero();\n            Eigen::Vector3d accel_bias = Eigen::Vector3d::Zero();\n\n            // // We assume white Gaussian noise // TO-DO: Implement this\n            // Eigen::Vector3d _gyro_std = Eigen::Vector3d::Zero();\n            // Eigen::Vector3d _accel_std = Eigen::Vector3d::Zero();\n\n            // BodyNode/Link attached to\n            dart::dynamics::BodyNode* body = nullptr;\n            // Eigen::Isometry3d _tf = Eigen::Isometry3d::Identity();\n\n            // Frequency\n            size_t frequency = 200;\n        };\n\n        class IMU : public Sensor {\n        public:\n            IMU(const IMUConfig&amp; config);\n\n            void init() override;\n\n            void calculate(double) override;\n\n            std::string type() const override;\n\n            const Eigen::AngleAxisd&amp; angular_position() const;\n            Eigen::Vector3d angular_position_vec() const;\n            const Eigen::Vector3d&amp; angular_velocity() const;\n            const Eigen::Vector3d&amp; linear_acceleration() const;\n\n            void attach_to_joint(dart::dynamics::Joint*, const Eigen::Isometry3d&amp;) override\n            {\n                ROBOT_DART_WARNING(true, \"You cannot attach an IMU sensor to a joint!\");\n            }\n\n        protected:\n            // double _prev_time = 0.;\n            IMUConfig _config;\n\n            Eigen::AngleAxisd _angular_pos; // TO-DO: Check how to do this as close as possible to real sensors\n            Eigen::Vector3d _angular_vel;\n            Eigen::Vector3d _linear_accel;\n        };\n    } // namespace sensor\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/sensor_8cpp/","title":"File sensor.cpp","text":"<p>FileList &gt; robot_dart &gt; sensor &gt; sensor.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"sensor.hpp\"</code></li> <li><code>#include \"robot_dart/robot_dart_simu.hpp\"</code></li> <li><code>#include \"robot_dart/utils.hpp\"</code></li> <li><code>#include \"robot_dart/utils_headers_dart_dynamics.hpp\"</code></li> </ul>"},{"location":"api/sensor_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace sensor <p>The documentation for this class was generated from the following file <code>robot_dart/sensor/sensor.cpp</code></p>"},{"location":"api/sensor_8cpp_source/","title":"File sensor.cpp","text":"<p>File List &gt; robot_dart &gt; sensor &gt; sensor.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"sensor.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n#include \"robot_dart/utils.hpp\"\n#include \"robot_dart/utils_headers_dart_dynamics.hpp\"\n\nnamespace robot_dart {\n    namespace sensor {\n        Sensor::Sensor(size_t freq) : _active(false), _frequency(freq), _world_pose(Eigen::Isometry3d::Identity()), _attaching_to_body(false), _attached_to_body(false), _attaching_to_joint(false), _attached_to_joint(false) {}\n\n        void Sensor::activate(bool enable)\n        {\n            _active = false;\n            if (enable) {\n                init();\n            }\n        }\n\n        bool Sensor::active() const\n        {\n            return _active;\n        }\n\n        void Sensor::set_simu(RobotDARTSimu* simu)\n        {\n            ROBOT_DART_EXCEPTION_ASSERT(simu, \"Simulation pointer is null!\");\n            _simu = simu;\n            bool check = static_cast&lt;int&gt;(_frequency) &gt; simu-&gt;physics_freq();\n            ROBOT_DART_WARNING(check, \"Sensor frequency is bigger than simulation physics. Setting it to simulation rate!\");\n            if (check)\n                _frequency = simu-&gt;physics_freq();\n        }\n\n        const RobotDARTSimu* Sensor::simu() const\n        {\n            return _simu;\n        }\n\n        size_t Sensor::frequency() const { return _frequency; }\n        void Sensor::set_frequency(size_t freq) { _frequency = freq; }\n\n        void Sensor::set_pose(const Eigen::Isometry3d&amp; tf) { _world_pose = tf; }\n        const Eigen::Isometry3d&amp; Sensor::pose() const { return _world_pose; }\n\n        void Sensor::detach()\n        {\n            _attached_to_body = false;\n            _attached_to_joint = false;\n            _body_attached = nullptr;\n            _joint_attached = nullptr;\n            _active = false;\n        }\n\n        void Sensor::refresh(double t)\n        {\n            if (!_active)\n                return;\n            if (_attaching_to_body &amp;&amp; !_attached_to_body) {\n                attach_to_body(_body_attached, _attached_tf);\n            }\n            else if (_attaching_to_joint &amp;&amp; !_attached_to_joint) {\n                attach_to_joint(_joint_attached, _attached_tf);\n            }\n\n            if (_attached_to_body &amp;&amp; _body_attached) {\n                _world_pose = _body_attached-&gt;getWorldTransform() * _attached_tf;\n            }\n            else if (_attached_to_joint &amp;&amp; _joint_attached) {\n                dart::dynamics::BodyNode* body = nullptr;\n                Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();\n\n                if (_joint_attached-&gt;getParentBodyNode()) {\n                    body = _joint_attached-&gt;getParentBodyNode();\n                    tf = _joint_attached-&gt;getTransformFromParentBodyNode();\n                }\n                else if (_joint_attached-&gt;getChildBodyNode()) {\n                    body = _joint_attached-&gt;getChildBodyNode();\n                    tf = _joint_attached-&gt;getTransformFromChildBodyNode();\n                }\n\n                if (body)\n                    _world_pose = body-&gt;getWorldTransform() * tf * _attached_tf;\n            }\n            calculate(t);\n        }\n\n        void Sensor::attach_to_body(dart::dynamics::BodyNode* body, const Eigen::Isometry3d&amp; tf)\n        {\n            _body_attached = body;\n            _attached_tf = tf;\n\n            if (_body_attached) {\n                _attaching_to_body = false;\n                _attached_to_body = true;\n\n                _attaching_to_joint = false;\n                _attached_to_joint = false;\n                _joint_attached = nullptr;\n            }\n            else { // we cannot keep attaching to a null BodyNode\n                _attaching_to_body = false;\n                _attached_to_body = false;\n            }\n        }\n\n        void Sensor::attach_to_joint(dart::dynamics::Joint* joint, const Eigen::Isometry3d&amp; tf)\n        {\n            _joint_attached = joint;\n            _attached_tf = tf;\n\n            if (_joint_attached) {\n                _attaching_to_joint = false;\n                _attached_to_joint = true;\n\n                _attaching_to_body = false;\n                _attached_to_body = false;\n            }\n            else { // we cannot keep attaching to a null Joint\n                _attaching_to_joint = false;\n                _attached_to_joint = false;\n            }\n        }\n        const std::string&amp; Sensor::attached_to() const\n        {\n            ROBOT_DART_EXCEPTION_ASSERT(_attached_to_body || _attached_to_joint, \"Joint is not attached to anything\");\n            if (_attached_to_body)\n                return _body_attached-&gt;getName();\n            // attached to joint\n            return _joint_attached-&gt;getName();\n        }\n    } // namespace sensor\n} // namespace robot_dart\n</code></pre>"},{"location":"api/sensor_8hpp/","title":"File sensor.hpp","text":"<p>FileList &gt; robot_dart &gt; sensor &gt; sensor.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/robot.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/utils.hpp&gt;</code></li> <li><code>#include &lt;memory&gt;</code></li> <li><code>#include &lt;vector&gt;</code></li> </ul>"},{"location":"api/sensor_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace dart namespace dynamics namespace robot_dart namespace sensor"},{"location":"api/sensor_8hpp/#classes","title":"Classes","text":"Type Name class Sensor <p>The documentation for this class was generated from the following file <code>robot_dart/sensor/sensor.hpp</code></p>"},{"location":"api/sensor_8hpp_source/","title":"File sensor.hpp","text":"<p>File List &gt; robot_dart &gt; sensor &gt; sensor.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_SENSOR_SENSOR_HPP\n#define ROBOT_DART_SENSOR_SENSOR_HPP\n\n#include &lt;robot_dart/robot.hpp&gt;\n#include &lt;robot_dart/utils.hpp&gt;\n\n#include &lt;memory&gt;\n#include &lt;vector&gt;\n\nnamespace dart {\n    namespace dynamics {\n        class BodyNode;\n        class Joint;\n    } // namespace dynamics\n} // namespace dart\n\nnamespace robot_dart {\n    class RobotDARTSimu;\n\n    namespace sensor {\n        class Sensor {\n        public:\n            Sensor(size_t freq = 40);\n            virtual ~Sensor() {}\n\n            void activate(bool enable = true);\n            bool active() const;\n\n            void set_simu(RobotDARTSimu* simu);\n            const RobotDARTSimu* simu() const;\n\n            size_t frequency() const;\n            void set_frequency(size_t freq);\n\n            void set_pose(const Eigen::Isometry3d&amp; tf);\n            const Eigen::Isometry3d&amp; pose() const;\n\n            void refresh(double t);\n\n            virtual void init() = 0;\n            // TO-DO: Maybe make this const?\n            virtual void calculate(double) = 0;\n\n            virtual std::string type() const = 0;\n\n            virtual void attach_to_body(dart::dynamics::BodyNode* body, const Eigen::Isometry3d&amp; tf = Eigen::Isometry3d::Identity());\n            void attach_to_body(const std::shared_ptr&lt;Robot&gt;&amp; robot, const std::string&amp; body_name, const Eigen::Isometry3d&amp; tf = Eigen::Isometry3d::Identity()) { attach_to_body(robot-&gt;body_node(body_name), tf); }\n\n            virtual void attach_to_joint(dart::dynamics::Joint* joint, const Eigen::Isometry3d&amp; tf = Eigen::Isometry3d::Identity());\n            void attach_to_joint(const std::shared_ptr&lt;Robot&gt;&amp; robot, const std::string&amp; joint_name, const Eigen::Isometry3d&amp; tf = Eigen::Isometry3d::Identity()) { attach_to_joint(robot-&gt;joint(joint_name), tf); }\n\n            void detach();\n            const std::string&amp; attached_to() const;\n\n        protected:\n            RobotDARTSimu* _simu = nullptr;\n            bool _active;\n            size_t _frequency;\n\n            Eigen::Isometry3d _world_pose;\n\n            bool _attaching_to_body = false, _attached_to_body = false;\n            bool _attaching_to_joint = false, _attached_to_joint = false;\n            Eigen::Isometry3d _attached_tf;\n            dart::dynamics::BodyNode* _body_attached;\n            dart::dynamics::Joint* _joint_attached;\n        };\n    } // namespace sensor\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/torque_8cpp/","title":"File torque.cpp","text":"<p>FileList &gt; robot_dart &gt; sensor &gt; torque.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"torque.hpp\"</code></li> <li><code>#include &lt;robot_dart/robot_dart_simu.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/utils_headers_dart_dynamics.hpp&gt;</code></li> </ul>"},{"location":"api/torque_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace sensor <p>The documentation for this class was generated from the following file <code>robot_dart/sensor/torque.cpp</code></p>"},{"location":"api/torque_8cpp_source/","title":"File torque.cpp","text":"<p>File List &gt; robot_dart &gt; sensor &gt; torque.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"torque.hpp\"\n\n#include &lt;robot_dart/robot_dart_simu.hpp&gt;\n#include &lt;robot_dart/utils_headers_dart_dynamics.hpp&gt;\n\nnamespace robot_dart {\n    namespace sensor {\n        Torque::Torque(dart::dynamics::Joint* joint, size_t frequency) : Sensor(frequency), _torques(joint-&gt;getNumDofs())\n        {\n            attach_to_joint(joint, Eigen::Isometry3d::Identity());\n        }\n\n        void Torque::init()\n        {\n            _torques.setZero();\n\n            attach_to_joint(_joint_attached, Eigen::Isometry3d::Identity());\n            _active = true;\n        }\n\n        void Torque::calculate(double)\n        {\n            if (!_attached_to_joint)\n                return; // cannot compute anything if not attached to a joint\n\n            Eigen::Vector6d wrench = Eigen::Vector6d::Zero();\n            auto child_body = _joint_attached-&gt;getChildBodyNode();\n            ROBOT_DART_ASSERT(child_body != nullptr, \"Child BodyNode is nullptr\", );\n\n            wrench = child_body-&gt;getBodyForce();\n\n            // get forces for only the only degrees of freedom in this joint\n            _torques = _joint_attached-&gt;getRelativeJacobian().transpose() * wrench;\n        }\n\n        std::string Torque::type() const { return \"t\"; }\n\n        const Eigen::VectorXd&amp; Torque::torques() const\n        {\n            return _torques;\n        }\n    } // namespace sensor\n} // namespace robot_dart\n</code></pre>"},{"location":"api/torque_8hpp/","title":"File torque.hpp","text":"<p>FileList &gt; robot_dart &gt; sensor &gt; torque.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/sensor/sensor.hpp&gt;</code></li> </ul>"},{"location":"api/torque_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace sensor"},{"location":"api/torque_8hpp/#classes","title":"Classes","text":"Type Name class Torque <p>The documentation for this class was generated from the following file <code>robot_dart/sensor/torque.hpp</code></p>"},{"location":"api/torque_8hpp_source/","title":"File torque.hpp","text":"<p>File List &gt; robot_dart &gt; sensor &gt; torque.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_SENSOR_TORQUE_HPP\n#define ROBOT_DART_SENSOR_TORQUE_HPP\n\n#include &lt;robot_dart/sensor/sensor.hpp&gt;\n\nnamespace robot_dart {\n    namespace sensor {\n        class Torque : public Sensor {\n        public:\n            Torque(dart::dynamics::Joint* joint, size_t frequency = 1000);\n            Torque(const std::shared_ptr&lt;Robot&gt;&amp; robot, const std::string&amp; joint_name, size_t frequency = 1000) : Torque(robot-&gt;joint(joint_name), frequency) {}\n\n            void init() override;\n\n            void calculate(double) override;\n\n            std::string type() const override;\n\n            const Eigen::VectorXd&amp; torques() const;\n\n            void attach_to_body(dart::dynamics::BodyNode*, const Eigen::Isometry3d&amp;) override\n            {\n                ROBOT_DART_WARNING(true, \"You cannot attach a torque sensor to a body!\");\n            }\n\n        protected:\n            Eigen::VectorXd _torques;\n        };\n    } // namespace sensor\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/robot__dart__simu_8cpp/","title":"File robot_dart_simu.cpp","text":"<p>FileList &gt; robot_dart &gt; robot_dart_simu.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include \"robot_dart_simu.hpp\"</code></li> <li><code>#include \"gui_data.hpp\"</code></li> <li><code>#include \"utils.hpp\"</code></li> <li><code>#include \"utils_headers_dart_collision.hpp\"</code></li> <li><code>#include \"utils_headers_dart_dynamics.hpp\"</code></li> <li><code>#include &lt;sstream&gt;</code></li> </ul>"},{"location":"api/robot__dart__simu_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace collision_filter"},{"location":"api/robot__dart__simu_8cpp/#classes","title":"Classes","text":"Type Name class BitmaskContactFilter struct Masks <p>The documentation for this class was generated from the following file <code>robot_dart/robot_dart_simu.cpp</code></p>"},{"location":"api/robot__dart__simu_8cpp_source/","title":"File robot_dart_simu.cpp","text":"<p>File List &gt; robot_dart &gt; robot_dart_simu.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include \"robot_dart_simu.hpp\"\n#include \"gui_data.hpp\"\n#include \"utils.hpp\"\n#include \"utils_headers_dart_collision.hpp\"\n#include \"utils_headers_dart_dynamics.hpp\"\n\n#include &lt;sstream&gt;\n\nnamespace robot_dart {\n    namespace collision_filter {\n        // This is inspired from Swift: https://developer.apple.com/documentation/spritekit/skphysicsbody#//apple_ref/occ/instp/SKPhysicsBody/collisionBitMask\n        // https://stackoverflow.com/questions/39063949/cant-understand-how-collision-bit-mask-works\n        class BitmaskContactFilter : public dart::collision::BodyNodeCollisionFilter {\n        public:\n            using DartCollisionConstPtr = const dart::collision::CollisionObject*;\n            using DartShapeConstPtr = const dart::dynamics::ShapeNode*;\n\n            struct Masks {\n                uint32_t collision_mask = 0xffffffff;\n                uint32_t category_mask = 0xffffffff;\n            };\n\n            virtual ~BitmaskContactFilter() = default;\n\n            // This function follows DART's coding style as it needs to override a function\n            bool ignoresCollision(DartCollisionConstPtr object1, DartCollisionConstPtr object2) const override\n            {\n                auto shape_node1 = object1-&gt;getShapeFrame()-&gt;asShapeNode();\n                auto shape_node2 = object2-&gt;getShapeFrame()-&gt;asShapeNode();\n\n                if (dart::collision::BodyNodeCollisionFilter::ignoresCollision(object1, object2))\n                    return true;\n\n                auto shape1_iter = _bitmask_map.find(shape_node1);\n                auto shape2_iter = _bitmask_map.find(shape_node2);\n                if (shape1_iter != _bitmask_map.end() &amp;&amp; shape2_iter != _bitmask_map.end()) {\n                    auto col_mask1 = shape1_iter-&gt;second.collision_mask;\n                    auto cat_mask1 = shape1_iter-&gt;second.category_mask;\n\n                    auto col_mask2 = shape2_iter-&gt;second.collision_mask;\n                    auto cat_mask2 = shape2_iter-&gt;second.category_mask;\n\n                    if ((col_mask1 &amp; cat_mask2) == 0 &amp;&amp; (col_mask2 &amp; cat_mask1) == 0)\n                        return true;\n                }\n\n                return false;\n            }\n\n            void add_to_map(DartShapeConstPtr shape, uint32_t col_mask, uint32_t cat_mask)\n            {\n                _bitmask_map[shape] = {col_mask, cat_mask};\n            }\n\n            void add_to_map(dart::dynamics::SkeletonPtr skel, uint32_t col_mask, uint32_t cat_mask)\n            {\n                for (std::size_t i = 0; i &lt; skel-&gt;getNumShapeNodes(); ++i) {\n                    auto shape = skel-&gt;getShapeNode(i);\n                    this-&gt;add_to_map(shape, col_mask, cat_mask);\n                }\n            }\n\n            void remove_from_map(DartShapeConstPtr shape)\n            {\n                auto shape_iter = _bitmask_map.find(shape);\n                if (shape_iter != _bitmask_map.end())\n                    _bitmask_map.erase(shape_iter);\n            }\n\n            void remove_from_map(dart::dynamics::SkeletonPtr skel)\n            {\n                for (std::size_t i = 0; i &lt; skel-&gt;getNumShapeNodes(); ++i) {\n                    auto shape = skel-&gt;getShapeNode(i);\n                    this-&gt;remove_from_map(shape);\n                }\n            }\n\n            void clear_all() { _bitmask_map.clear(); }\n\n            Masks mask(DartShapeConstPtr shape) const\n            {\n                auto shape_iter = _bitmask_map.find(shape);\n                if (shape_iter != _bitmask_map.end())\n                    return shape_iter-&gt;second;\n                return {0xffffffff, 0xffffffff};\n            }\n\n        private:\n            // We need ShapeNodes and not BodyNodes, since in DART collision checking is performed in ShapeNode-level\n            // in RobotDARTSimu, we only allow setting one mask per BodyNode; maybe we can improve the performance of this slightly\n            std::unordered_map&lt;DartShapeConstPtr, Masks&gt; _bitmask_map;\n        };\n    } // namespace collision_filter\n\n    RobotDARTSimu::RobotDARTSimu(double timestep) : _world(std::make_shared&lt;dart::simulation::World&gt;()),\n                                                    _old_index(0),\n                                                    _break(false),\n                                                    _scheduler(timestep),\n                                                    _physics_freq(std::round(1. / timestep)),\n                                                    _control_freq(_physics_freq)\n    {\n        _world-&gt;getConstraintSolver()-&gt;setCollisionDetector(dart::collision::DARTCollisionDetector::create());\n        _world-&gt;getConstraintSolver()-&gt;getCollisionOption().collisionFilter = std::make_shared&lt;collision_filter::BitmaskContactFilter&gt;();\n        _world-&gt;setTimeStep(timestep);\n        _world-&gt;setTime(0.0);\n        _graphics = std::make_shared&lt;gui::Base&gt;();\n\n        _gui_data.reset(new simu::GUIData());\n    }\n\n    RobotDARTSimu::~RobotDARTSimu()\n    {\n        _robots.clear();\n        _sensors.clear();\n    }\n\n    void RobotDARTSimu::run(double max_duration, bool reset_commands, bool force_position_bounds)\n    {\n        _break = false;\n        double old_time = _world-&gt;getTime();\n        double factor = _world-&gt;getTimeStep() / 2.;\n\n        while ((_world-&gt;getTime() - old_time - max_duration) &lt; -factor) {\n            if (step(reset_commands, force_position_bounds))\n                break;\n        }\n    }\n\n    bool RobotDARTSimu::step_world(bool reset_commands, bool force_position_bounds)\n    {\n        if (_scheduler(_physics_freq)) {\n            _world-&gt;step(reset_commands);\n            if (force_position_bounds)\n                for (auto&amp; r : _robots)\n                    r-&gt;force_position_bounds();\n        }\n\n        // Update graphics\n        if (_scheduler(_graphics_freq)) {\n            // Update default texts\n            if (_text_panel) { // Need to re-transform as the size of the window might have changed\n                Eigen::Affine2d tf = Eigen::Affine2d::Identity();\n                tf.translate(Eigen::Vector2d(-static_cast&lt;double&gt;(_graphics-&gt;width()) / 2., _graphics-&gt;height() / 2.));\n                // tf.translate(Eigen::Vector2d(-static_cast&lt;double&gt;(_graphics-&gt;width()) / 2., 0.));\n                _text_panel-&gt;transformation = tf;\n            }\n            if (_status_bar) {\n                _status_bar-&gt;text = status_bar_text(); // this is dynamic text (timings)\n                Eigen::Affine2d tf = Eigen::Affine2d::Identity();\n                tf.translate(Eigen::Vector2d(-static_cast&lt;double&gt;(_graphics-&gt;width()) / 2., -static_cast&lt;double&gt;(_graphics-&gt;height() / 2.)));\n                // tf.translate(Eigen::Vector2d(-static_cast&lt;double&gt;(_graphics-&gt;width()) / 2., 0.));\n                _status_bar-&gt;transformation = tf;\n            }\n\n            // Update robot-specific GUI data\n            for (auto&amp; robot : _robots) {\n                _gui_data-&gt;update_robot(robot);\n            }\n\n            _graphics-&gt;refresh();\n        }\n\n        // update sensors\n        for (auto&amp; sensor : _sensors) {\n            if (sensor-&gt;active() &amp;&amp; _scheduler(sensor-&gt;frequency())) {\n                sensor-&gt;refresh(_world-&gt;getTime());\n            }\n        }\n\n        _old_index++;\n        _scheduler.step();\n\n        return _break || _graphics-&gt;done();\n    }\n\n    bool RobotDARTSimu::step(bool reset_commands, bool force_position_bounds)\n    {\n        if (_scheduler(_control_freq)) {\n            for (auto&amp; robot : _robots) {\n                robot-&gt;update(_world-&gt;getTime());\n            }\n        }\n\n        return step_world(reset_commands, force_position_bounds);\n    }\n\n    std::shared_ptr&lt;gui::Base&gt; RobotDARTSimu::graphics() const\n    {\n        return _graphics;\n    }\n\n    void RobotDARTSimu::set_graphics(const std::shared_ptr&lt;gui::Base&gt;&amp; graphics)\n    {\n        _graphics = graphics;\n        _graphics-&gt;set_simu(this);\n        _graphics-&gt;set_fps(_graphics_freq);\n    }\n\n    dart::simulation::WorldPtr RobotDARTSimu::world()\n    {\n        return _world;\n    }\n\n    void RobotDARTSimu::add_sensor(const std::shared_ptr&lt;sensor::Sensor&gt;&amp; sensor)\n    {\n        _sensors.push_back(sensor);\n        sensor-&gt;set_simu(this);\n        sensor-&gt;init();\n    }\n\n    std::vector&lt;std::shared_ptr&lt;sensor::Sensor&gt;&gt; RobotDARTSimu::sensors() const\n    {\n        return _sensors;\n    }\n\n    std::shared_ptr&lt;sensor::Sensor&gt; RobotDARTSimu::sensor(size_t index) const\n    {\n        ROBOT_DART_ASSERT(index &lt; _sensors.size(), \"Sensor index out of bounds\", nullptr);\n        return _sensors[index];\n    }\n\n    void RobotDARTSimu::remove_sensor(const std::shared_ptr&lt;sensor::Sensor&gt;&amp; sensor)\n    {\n        auto it = std::find(_sensors.begin(), _sensors.end(), sensor);\n        if (it != _sensors.end()) {\n            _sensors.erase(it);\n        }\n    }\n\n    void RobotDARTSimu::remove_sensor(size_t index)\n    {\n        ROBOT_DART_ASSERT(index &lt; _sensors.size(), \"Sensor index out of bounds\", );\n        _sensors.erase(_sensors.begin() + index);\n    }\n\n    void RobotDARTSimu::remove_sensors(const std::string&amp; type)\n    {\n        for (int i = 0; i &lt; static_cast&lt;int&gt;(_sensors.size()); i++) {\n            auto&amp; sensor = _sensors[i];\n            if (sensor-&gt;type() == type) {\n                _sensors.erase(_sensors.begin() + i);\n                i--;\n            }\n        }\n    }\n\n    void RobotDARTSimu::clear_sensors()\n    {\n        _sensors.clear();\n    }\n\n    double RobotDARTSimu::timestep() const\n    {\n        return _world-&gt;getTimeStep();\n    }\n\n    void RobotDARTSimu::set_timestep(double timestep, bool update_control_freq)\n    {\n        _world-&gt;setTimeStep(timestep);\n        _physics_freq = std::round(1. / timestep);\n        if (update_control_freq)\n            _control_freq = _physics_freq;\n\n        _scheduler.reset(timestep, _scheduler.sync(), _scheduler.current_time(), _scheduler.real_time());\n    }\n\n    Eigen::Vector3d RobotDARTSimu::gravity() const\n    {\n        return _world-&gt;getGravity();\n    }\n\n    void RobotDARTSimu::set_gravity(const Eigen::Vector3d&amp; gravity)\n    {\n        _world-&gt;setGravity(gravity);\n    }\n\n    void RobotDARTSimu::stop_sim(bool disable)\n    {\n        _break = disable;\n    }\n\n    bool RobotDARTSimu::halted_sim() const\n    {\n        return _break;\n    }\n\n    size_t RobotDARTSimu::num_robots() const\n    {\n        return _robots.size();\n    }\n\n    const std::vector&lt;std::shared_ptr&lt;Robot&gt;&gt;&amp; RobotDARTSimu::robots() const\n    {\n        return _robots;\n    }\n\n    std::shared_ptr&lt;Robot&gt; RobotDARTSimu::robot(size_t index) const\n    {\n        ROBOT_DART_ASSERT(index &lt; _robots.size(), \"Robot index out of bounds\", nullptr);\n        return _robots[index];\n    }\n\n    int RobotDARTSimu::robot_index(const std::shared_ptr&lt;Robot&gt;&amp; robot) const\n    {\n        auto it = std::find(_robots.begin(), _robots.end(), robot);\n        ROBOT_DART_ASSERT(it != _robots.end(), \"Robot index out of bounds\", -1);\n        return std::distance(_robots.begin(), it);\n    }\n\n    void RobotDARTSimu::add_robot(const std::shared_ptr&lt;Robot&gt;&amp; robot)\n    {\n        if (robot-&gt;skeleton()) {\n            _robots.push_back(robot);\n            _world-&gt;addSkeleton(robot-&gt;skeleton());\n\n            robot-&gt;_post_addition(this);\n\n            _gui_data-&gt;update_robot(robot);\n        }\n    }\n\n    void RobotDARTSimu::add_visual_robot(const std::shared_ptr&lt;Robot&gt;&amp; robot)\n    {\n        if (robot-&gt;skeleton()) {\n            // make robot a pure visual one -- assuming that the color is already set\n            // visual robots do not do physics updates\n            robot-&gt;skeleton()-&gt;setMobile(false);\n            for (auto&amp; bd : robot-&gt;skeleton()-&gt;getBodyNodes()) {\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n                // visual robots do not have collisions\n                bd-&gt;eachShapeNodeWith&lt;dart::dynamics::CollisionAspect&gt;([](dart::dynamics::ShapeNode* shape) {\n                    shape-&gt;removeAspect&lt;dart::dynamics::CollisionAspect&gt;();\n                });\n#else\n                auto&amp; collision_shapes = bd-&gt;getShapeNodesWith&lt;dart::dynamics::CollisionAspect&gt;();\n                for (auto&amp; shape : collision_shapes) {\n                    shape-&gt;removeAspect&lt;dart::dynamics::CollisionAspect&gt;();\n                }\n#endif\n            }\n\n            // visual robots, by default, use the color from the VisualAspect\n            robot-&gt;set_color_mode(\"aspect\");\n\n            // visual robots do not cast shadows\n            robot-&gt;set_cast_shadows(false);\n            // set the ghost/visual flag\n            robot-&gt;set_ghost(true);\n            robot-&gt;_post_addition(this);\n\n            _robots.push_back(robot);\n            _world-&gt;addSkeleton(robot-&gt;skeleton());\n\n            _gui_data-&gt;update_robot(robot);\n        }\n    }\n\n    void RobotDARTSimu::remove_robot(const std::shared_ptr&lt;Robot&gt;&amp; robot)\n    {\n        auto it = std::find(_robots.begin(), _robots.end(), robot);\n        if (it != _robots.end()) {\n            robot-&gt;_post_removal(this);\n            _gui_data-&gt;remove_robot(robot);\n            _world-&gt;removeSkeleton(robot-&gt;skeleton());\n            _robots.erase(it);\n        }\n    }\n\n    void RobotDARTSimu::remove_robot(size_t index)\n    {\n        ROBOT_DART_ASSERT(index &lt; _robots.size(), \"Robot index out of bounds\", );\n        _robots[index]-&gt;_post_removal(this);\n        _gui_data-&gt;remove_robot(_robots[index]);\n        _world-&gt;removeSkeleton(_robots[index]-&gt;skeleton());\n        _robots.erase(_robots.begin() + index);\n    }\n\n    void RobotDARTSimu::clear_robots()\n    {\n        for (auto&amp; robot : _robots) {\n            robot-&gt;_post_removal(this);\n            _gui_data-&gt;remove_robot(robot);\n            _world-&gt;removeSkeleton(robot-&gt;skeleton());\n        }\n        _robots.clear();\n    }\n\n    simu::GUIData* RobotDARTSimu::gui_data() { return &amp;(*_gui_data); }\n\n    void RobotDARTSimu::enable_text_panel(bool enable, double font_size)\n    {\n        _enable(_text_panel, enable, font_size);\n        if (enable) {\n            _text_panel-&gt;alignment = 3 &lt;&lt; 2; // alignment of status bar should be LineTop; TO-DO: Check how to get types automatically from Magnum?\n            // _text_panel-&gt;draw_background = true; // we want to draw a background\n            // _text_panel-&gt;background_color = Eigen::Vector4d(0, 0, 0, 0.75); // black-transparent bar\n        }\n    }\n\n    void RobotDARTSimu::enable_status_bar(bool enable, double font_size)\n    {\n        _enable(_status_bar, enable, font_size);\n        if (enable) {\n            _status_bar-&gt;alignment = 1 &lt;&lt; 2; // alignment of status bar should be LineBottom; TO-DO: Check how to get types automatically from Magnum?\n            _status_bar-&gt;draw_background = true; // we want to draw a background\n            _status_bar-&gt;background_color = Eigen::Vector4d(0, 0, 0, 0.75); // black-transparent bar\n        }\n    }\n\n    void RobotDARTSimu::_enable(std::shared_ptr&lt;simu::TextData&gt;&amp; text, bool enable, double font_size)\n    {\n        if (!text &amp;&amp; enable) {\n            text = add_text(\"\");\n        }\n        else if (!enable) {\n            if (text)\n                _gui_data-&gt;remove_text(text);\n            text = nullptr;\n        }\n        if (text &amp;&amp; font_size &gt; 0)\n            text-&gt;font_size = font_size;\n    }\n\n    void RobotDARTSimu::set_text_panel(const std::string&amp; str)\n    {\n        ROBOT_DART_ASSERT(_text_panel, \"Panel text object not created. Use enable_text_panel() to create it.\", );\n        _text_panel-&gt;text = str;\n    }\n\n    std::string RobotDARTSimu::text_panel_text() const\n    {\n        ROBOT_DART_ASSERT(_text_panel, \"Panel text object not created. Returning empty string.\", \"\");\n        return _text_panel-&gt;text;\n    }\n\n    std::string RobotDARTSimu::status_bar_text() const\n    {\n        std::ostringstream out;\n        out.precision(3);\n        double rt = _scheduler.real_time();\n\n        out &lt;&lt; std::fixed &lt;&lt; \"[simulation time: \" &lt;&lt; _world-&gt;getTime()\n            &lt;&lt; \"s ] [\"\n            &lt;&lt; \"wall time: \" &lt;&lt; rt &lt;&lt; \"s] [\";\n        out.precision(1);\n        out &lt;&lt; _scheduler.real_time_factor() &lt;&lt; \"x]\";\n        out &lt;&lt; \" [it: \" &lt;&lt; _scheduler.it_duration() * 1e3 &lt;&lt; \" ms]\";\n        out &lt;&lt; (_scheduler.sync() ? \" [sync]\" : \" [no-sync]\");\n\n        return out.str();\n    }\n\n    std::shared_ptr&lt;simu::TextData&gt; RobotDARTSimu::add_text(const std::string&amp; text, const Eigen::Affine2d&amp; tf, Eigen::Vector4d color, std::uint8_t alignment, bool draw_bg, Eigen::Vector4d bg_color, double font_size)\n    {\n        return _gui_data-&gt;add_text(text, tf, color, alignment, draw_bg, bg_color, font_size);\n    }\n\n    std::shared_ptr&lt;Robot&gt; RobotDARTSimu::add_floor(double floor_width, double floor_height, const Eigen::Isometry3d&amp; tf, const std::string&amp; floor_name)\n    {\n        ROBOT_DART_ASSERT((_world-&gt;getSkeleton(floor_name) == nullptr), \"We cannot have 2 floors with the name '\" + floor_name + \"'\", nullptr);\n        ROBOT_DART_ASSERT((floor_width &gt; 0. &amp;&amp; floor_height &gt; 0.), \"Floor dimensions should be bigger than zero!\", nullptr);\n\n        dart::dynamics::SkeletonPtr floor_skel = dart::dynamics::Skeleton::create(floor_name);\n\n        // Give the floor a body\n        dart::dynamics::BodyNodePtr body = floor_skel-&gt;createJointAndBodyNodePair&lt;dart::dynamics::WeldJoint&gt;(nullptr).second;\n\n        // Give the body a shape\n        auto box = std::make_shared&lt;dart::dynamics::BoxShape&gt;(Eigen::Vector3d(floor_width, floor_width, floor_height));\n        auto box_node = body-&gt;createShapeNodeWith&lt;dart::dynamics::VisualAspect, dart::dynamics::CollisionAspect, dart::dynamics::DynamicsAspect&gt;(box);\n        box_node-&gt;getVisualAspect()-&gt;setColor(dart::Color::Gray());\n\n        // Put the body into position\n        Eigen::Isometry3d new_tf = tf;\n        new_tf.translate(Eigen::Vector3d(0., 0., -floor_height / 2.0));\n        body-&gt;getParentJoint()-&gt;setTransformFromParentBodyNode(new_tf);\n\n        auto floor_robot = std::make_shared&lt;Robot&gt;(floor_skel, floor_name);\n        add_robot(floor_robot);\n        return floor_robot;\n    }\n\n    std::shared_ptr&lt;Robot&gt; RobotDARTSimu::add_checkerboard_floor(double floor_width, double floor_height, double size, const Eigen::Isometry3d&amp; tf, const std::string&amp; floor_name, const Eigen::Vector4d&amp; first_color, const Eigen::Vector4d&amp; second_color)\n    {\n        ROBOT_DART_ASSERT((_world-&gt;getSkeleton(floor_name) == nullptr), \"We cannot have 2 floors with the name '\" + floor_name + \"'\", nullptr);\n        ROBOT_DART_ASSERT((floor_width &gt; 0. &amp;&amp; floor_height &gt; 0. &amp;&amp; size &gt; 0.), \"Floor dimensions should be bigger than zero!\", nullptr);\n\n        // Add main floor skeleton\n        dart::dynamics::SkeletonPtr main_floor_skel = dart::dynamics::Skeleton::create(floor_name + \"_main\");\n\n        // Give the floor a body\n        dart::dynamics::BodyNodePtr main_body = main_floor_skel-&gt;createJointAndBodyNodePair&lt;dart::dynamics::WeldJoint&gt;(nullptr).second;\n\n        // Give the body a shape\n        auto box = std::make_shared&lt;dart::dynamics::BoxShape&gt;(Eigen::Vector3d(floor_width, floor_width, floor_height));\n        // No visual shape for this one; only collision and dynamics\n        main_body-&gt;createShapeNodeWith&lt;dart::dynamics::CollisionAspect, dart::dynamics::DynamicsAspect&gt;(box);\n\n        // Put the body into position\n        Eigen::Isometry3d new_tf = tf;\n        new_tf.translate(Eigen::Vector3d(0., 0., -floor_height / 2.0));\n        main_body-&gt;getParentJoint()-&gt;setTransformFromParentBodyNode(new_tf);\n\n        // Add visual bodies just for visualization\n        int step = std::ceil(floor_width / size);\n        int c = 0;\n        for (int i = 0; i &lt; step; i++) {\n            c = i;\n            for (int j = 0; j &lt; step; j++) {\n                Eigen::Vector3d init_pose;\n                init_pose &lt;&lt; -floor_width / 2. + size / 2 + i * size, -floor_width / 2. + size / 2 + j * size, 0.;\n                int id = i * step + j;\n\n                dart::dynamics::WeldJoint::Properties properties;\n                properties.mName = \"joint_\" + std::to_string(id);\n                dart::dynamics::BodyNode::Properties bd_properties;\n                bd_properties.mName = \"body_\" + std::to_string(id);\n                dart::dynamics::BodyNodePtr body = main_body-&gt;createChildJointAndBodyNodePair&lt;dart::dynamics::WeldJoint&gt;(properties, bd_properties).second;\n\n                auto box = std::make_shared&lt;dart::dynamics::BoxShape&gt;(Eigen::Vector3d(size, size, floor_height));\n                // no collision/dynamics for these ones; only visual shape\n                auto box_node = body-&gt;createShapeNodeWith&lt;dart::dynamics::VisualAspect&gt;(box);\n                if (c % 2 == 0)\n                    box_node-&gt;getVisualAspect()-&gt;setColor(second_color);\n                else\n                    box_node-&gt;getVisualAspect()-&gt;setColor(first_color);\n\n                // Put the body into position\n                Eigen::Isometry3d tf(Eigen::Isometry3d::Identity());\n                tf.translation() = init_pose;\n                body-&gt;getParentJoint()-&gt;setTransformFromParentBodyNode(tf);\n\n                c++;\n            }\n        }\n\n        auto floor_robot = std::make_shared&lt;Robot&gt;(main_floor_skel, floor_name);\n        add_robot(floor_robot);\n        return floor_robot;\n    }\n\n    void RobotDARTSimu::set_collision_detector(const std::string&amp; collision_detector)\n    {\n        std::string coll = collision_detector;\n        for (auto&amp; c : coll)\n            c = tolower(c);\n\n        if (coll == \"dart\")\n            _world-&gt;getConstraintSolver()-&gt;setCollisionDetector(dart::collision::DARTCollisionDetector::create());\n        else if (coll == \"fcl\")\n            _world-&gt;getConstraintSolver()-&gt;setCollisionDetector(dart::collision::FCLCollisionDetector::create());\n        else if (coll == \"bullet\") {\n#if (HAVE_BULLET == 1)\n            _world-&gt;getConstraintSolver()-&gt;setCollisionDetector(dart::collision::BulletCollisionDetector::create());\n#else\n            ROBOT_DART_WARNING(true, \"DART is not installed with Bullet! Cannot set BulletCollisionDetector!\");\n#endif\n        }\n        else if (coll == \"ode\") {\n#if (HAVE_ODE == 1)\n            _world-&gt;getConstraintSolver()-&gt;setCollisionDetector(dart::collision::OdeCollisionDetector::create());\n#else\n            ROBOT_DART_WARNING(true, \"DART is not installed with ODE! Cannot set OdeCollisionDetector!\");\n#endif\n        }\n    }\n\n    const std::string&amp; RobotDARTSimu::collision_detector() const { return _world-&gt;getConstraintSolver()-&gt;getCollisionDetector()-&gt;getType(); }\n\n    void RobotDARTSimu::set_collision_masks(size_t robot_index, uint32_t category_mask, uint32_t collision_mask)\n    {\n        ROBOT_DART_ASSERT(robot_index &lt; _robots.size(), \"Robot index out of bounds\", );\n        auto coll_filter = std::static_pointer_cast&lt;collision_filter::BitmaskContactFilter&gt;(_world-&gt;getConstraintSolver()-&gt;getCollisionOption().collisionFilter);\n        coll_filter-&gt;add_to_map(_robots[robot_index]-&gt;skeleton(), collision_mask, category_mask);\n    }\n\n    void RobotDARTSimu::set_collision_masks(size_t robot_index, const std::string&amp; body_name, uint32_t category_mask, uint32_t collision_mask)\n    {\n        ROBOT_DART_ASSERT(robot_index &lt; _robots.size(), \"Robot index out of bounds\", );\n        auto bd = _robots[robot_index]-&gt;skeleton()-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n        auto coll_filter = std::static_pointer_cast&lt;collision_filter::BitmaskContactFilter&gt;(_world-&gt;getConstraintSolver()-&gt;getCollisionOption().collisionFilter);\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n        bd-&gt;eachShapeNode([coll_filter, collision_mask, category_mask](dart::dynamics::ShapeNode* shape) { coll_filter-&gt;add_to_map(shape, collision_mask, category_mask); });\n#else\n        for (auto&amp; shape : bd-&gt;getShapeNodes())\n            coll_filter-&gt;add_to_map(shape, collision_mask, category_mask);\n#endif\n    }\n\n    void RobotDARTSimu::set_collision_masks(size_t robot_index, size_t body_index, uint32_t category_mask, uint32_t collision_mask)\n    {\n        ROBOT_DART_ASSERT(robot_index &lt; _robots.size(), \"Robot index out of bounds\", );\n        auto skel = _robots[robot_index]-&gt;skeleton();\n        ROBOT_DART_ASSERT(body_index &lt; skel-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", );\n        auto bd = skel-&gt;getBodyNode(body_index);\n        auto coll_filter = std::static_pointer_cast&lt;collision_filter::BitmaskContactFilter&gt;(_world-&gt;getConstraintSolver()-&gt;getCollisionOption().collisionFilter);\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n        bd-&gt;eachShapeNode([coll_filter, collision_mask, category_mask](dart::dynamics::ShapeNode* shape) { coll_filter-&gt;add_to_map(shape, collision_mask, category_mask); });\n#else\n        for (auto&amp; shape : bd-&gt;getShapeNodes())\n            coll_filter-&gt;add_to_map(shape, collision_mask, category_mask);\n#endif\n    }\n\n    uint32_t RobotDARTSimu::collision_mask(size_t robot_index, const std::string&amp; body_name)\n    {\n        ROBOT_DART_ASSERT(robot_index &lt; _robots.size(), \"Robot index out of bounds\", 0xffffffff);\n        auto bd = _robots[robot_index]-&gt;skeleton()-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", 0xffffffff);\n        auto coll_filter = std::static_pointer_cast&lt;collision_filter::BitmaskContactFilter&gt;(_world-&gt;getConstraintSolver()-&gt;getCollisionOption().collisionFilter);\n\n        uint32_t mask = 0xffffffff;\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n        bd-&gt;eachShapeNode([coll_filter, &amp;mask](dart::dynamics::ShapeNode* shape) { mask &amp;= coll_filter-&gt;mask(shape).collision_mask; });\n#else\n        for (auto&amp; shape : bd-&gt;getShapeNodes())\n            mask &amp;= coll_filter-&gt;mask(shape).collision_mask;\n#endif\n\n        return mask;\n    }\n\n    uint32_t RobotDARTSimu::collision_mask(size_t robot_index, size_t body_index)\n    {\n        ROBOT_DART_ASSERT(robot_index &lt; _robots.size(), \"Robot index out of bounds\", 0xffffffff);\n        auto skel = _robots[robot_index]-&gt;skeleton();\n        ROBOT_DART_ASSERT(body_index &lt; skel-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", 0xffffffff);\n        auto bd = skel-&gt;getBodyNode(body_index);\n        auto coll_filter = std::static_pointer_cast&lt;collision_filter::BitmaskContactFilter&gt;(_world-&gt;getConstraintSolver()-&gt;getCollisionOption().collisionFilter);\n\n        uint32_t mask = 0xffffffff;\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n        bd-&gt;eachShapeNode([coll_filter, &amp;mask](dart::dynamics::ShapeNode* shape) { mask &amp;= coll_filter-&gt;mask(shape).collision_mask; });\n#else\n        for (auto&amp; shape : bd-&gt;getShapeNodes())\n            mask &amp;= coll_filter-&gt;mask(shape).collision_mask;\n#endif\n\n        return mask;\n    }\n\n    uint32_t RobotDARTSimu::collision_category(size_t robot_index, const std::string&amp; body_name)\n    {\n        ROBOT_DART_ASSERT(robot_index &lt; _robots.size(), \"Robot index out of bounds\", 0xffffffff);\n        auto bd = _robots[robot_index]-&gt;skeleton()-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", 0xffffffff);\n        auto coll_filter = std::static_pointer_cast&lt;collision_filter::BitmaskContactFilter&gt;(_world-&gt;getConstraintSolver()-&gt;getCollisionOption().collisionFilter);\n\n        uint32_t mask = 0xffffffff;\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n        bd-&gt;eachShapeNode([coll_filter, &amp;mask](dart::dynamics::ShapeNode* shape) { mask &amp;= coll_filter-&gt;mask(shape).category_mask; });\n#else\n        for (auto&amp; shape : bd-&gt;getShapeNodes())\n            mask &amp;= coll_filter-&gt;mask(shape).category_mask;\n#endif\n\n        return mask;\n    }\n\n    uint32_t RobotDARTSimu::collision_category(size_t robot_index, size_t body_index)\n    {\n        ROBOT_DART_ASSERT(robot_index &lt; _robots.size(), \"Robot index out of bounds\", 0xffffffff);\n        auto skel = _robots[robot_index]-&gt;skeleton();\n        ROBOT_DART_ASSERT(body_index &lt; skel-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", 0xffffffff);\n        auto bd = skel-&gt;getBodyNode(body_index);\n        auto coll_filter = std::static_pointer_cast&lt;collision_filter::BitmaskContactFilter&gt;(_world-&gt;getConstraintSolver()-&gt;getCollisionOption().collisionFilter);\n\n        uint32_t mask = 0xffffffff;\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n        bd-&gt;eachShapeNode([coll_filter, &amp;mask](dart::dynamics::ShapeNode* shape) { mask &amp;= coll_filter-&gt;mask(shape).category_mask; });\n#else\n        for (auto&amp; shape : bd-&gt;getShapeNodes())\n            mask &amp;= coll_filter-&gt;mask(shape).category_mask;\n#endif\n\n        return mask;\n    }\n\n    std::pair&lt;uint32_t, uint32_t&gt; RobotDARTSimu::collision_masks(size_t robot_index, const std::string&amp; body_name)\n    {\n        std::pair&lt;uint32_t, uint32_t&gt; mask = {0xffffffff, 0xffffffff};\n        ROBOT_DART_ASSERT(robot_index &lt; _robots.size(), \"Robot index out of bounds\", mask);\n        auto bd = _robots[robot_index]-&gt;skeleton()-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", mask);\n        auto coll_filter = std::static_pointer_cast&lt;collision_filter::BitmaskContactFilter&gt;(_world-&gt;getConstraintSolver()-&gt;getCollisionOption().collisionFilter);\n\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n        bd-&gt;eachShapeNode([coll_filter, &amp;mask](dart::dynamics::ShapeNode* shape) {\n            mask.first &amp;= coll_filter-&gt;mask(shape).collision_mask;\n            mask.second &amp;= coll_filter-&gt;mask(shape).category_mask;\n        });\n#else\n        for (auto&amp; shape : bd-&gt;getShapeNodes()) {\n            mask.first &amp;= coll_filter-&gt;mask(shape).collision_mask;\n            mask.second &amp;= coll_filter-&gt;mask(shape).category_mask;\n        }\n#endif\n\n        return mask;\n    }\n\n    std::pair&lt;uint32_t, uint32_t&gt; RobotDARTSimu::collision_masks(size_t robot_index, size_t body_index)\n    {\n        std::pair&lt;uint32_t, uint32_t&gt; mask = {0xffffffff, 0xffffffff};\n        ROBOT_DART_ASSERT(robot_index &lt; _robots.size(), \"Robot index out of bounds\", mask);\n        auto skel = _robots[robot_index]-&gt;skeleton();\n        ROBOT_DART_ASSERT(body_index &lt; skel-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", mask);\n        auto bd = skel-&gt;getBodyNode(body_index);\n        auto coll_filter = std::static_pointer_cast&lt;collision_filter::BitmaskContactFilter&gt;(_world-&gt;getConstraintSolver()-&gt;getCollisionOption().collisionFilter);\n\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n        bd-&gt;eachShapeNode([coll_filter, &amp;mask](dart::dynamics::ShapeNode* shape) {\n            mask.first &amp;= coll_filter-&gt;mask(shape).collision_mask;\n            mask.second &amp;= coll_filter-&gt;mask(shape).category_mask;\n        });\n#else\n        for (auto&amp; shape : bd-&gt;getShapeNodes()) {\n            mask.first &amp;= coll_filter-&gt;mask(shape).collision_mask;\n            mask.second &amp;= coll_filter-&gt;mask(shape).category_mask;\n        }\n#endif\n\n        return mask;\n    }\n\n    void RobotDARTSimu::remove_collision_masks(size_t robot_index)\n    {\n        ROBOT_DART_ASSERT(robot_index &lt; _robots.size(), \"Robot index out of bounds\", );\n        auto coll_filter = std::static_pointer_cast&lt;collision_filter::BitmaskContactFilter&gt;(_world-&gt;getConstraintSolver()-&gt;getCollisionOption().collisionFilter);\n        coll_filter-&gt;remove_from_map(_robots[robot_index]-&gt;skeleton());\n    }\n\n    void RobotDARTSimu::remove_collision_masks(size_t robot_index, const std::string&amp; body_name)\n    {\n        ROBOT_DART_ASSERT(robot_index &lt; _robots.size(), \"Robot index out of bounds\", );\n        auto bd = _robots[robot_index]-&gt;skeleton()-&gt;getBodyNode(body_name);\n        ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n        auto coll_filter = std::static_pointer_cast&lt;collision_filter::BitmaskContactFilter&gt;(_world-&gt;getConstraintSolver()-&gt;getCollisionOption().collisionFilter);\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n        bd-&gt;eachShapeNode([coll_filter](dart::dynamics::ShapeNode* shape) { coll_filter-&gt;remove_from_map(shape); });\n#else\n        for (auto&amp; shape : bd-&gt;getShapeNodes())\n            coll_filter-&gt;remove_from_map(shape);\n#endif\n    }\n\n    void RobotDARTSimu::remove_collision_masks(size_t robot_index, size_t body_index)\n    {\n        ROBOT_DART_ASSERT(robot_index &lt; _robots.size(), \"Robot index out of bounds\", );\n        auto skel = _robots[robot_index]-&gt;skeleton();\n        ROBOT_DART_ASSERT(body_index &lt; skel-&gt;getNumBodyNodes(), \"BodyNode index out of bounds\", );\n        auto bd = skel-&gt;getBodyNode(body_index);\n        auto coll_filter = std::static_pointer_cast&lt;collision_filter::BitmaskContactFilter&gt;(_world-&gt;getConstraintSolver()-&gt;getCollisionOption().collisionFilter);\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n        bd-&gt;eachShapeNode([coll_filter](dart::dynamics::ShapeNode* shape) { coll_filter-&gt;remove_from_map(shape); });\n#else\n        for (auto&amp; shape : bd-&gt;getShapeNodes())\n            coll_filter-&gt;remove_from_map(shape);\n#endif\n    }\n\n    void RobotDARTSimu::remove_all_collision_masks()\n    {\n        auto coll_filter = std::static_pointer_cast&lt;collision_filter::BitmaskContactFilter&gt;(_world-&gt;getConstraintSolver()-&gt;getCollisionOption().collisionFilter);\n        coll_filter-&gt;clear_all();\n    }\n} // namespace robot_dart\n</code></pre>"},{"location":"api/robot__dart__simu_8hpp/","title":"File robot_dart_simu.hpp","text":"<p>FileList &gt; robot_dart &gt; robot_dart_simu.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/gui/base.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/robot.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/scheduler.hpp&gt;</code></li> <li><code>#include &lt;robot_dart/sensor/sensor.hpp&gt;</code></li> </ul>"},{"location":"api/robot__dart__simu_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart namespace simu"},{"location":"api/robot__dart__simu_8hpp/#classes","title":"Classes","text":"Type Name class RobotDARTSimu struct TextData <p>The documentation for this class was generated from the following file <code>robot_dart/robot_dart_simu.hpp</code></p>"},{"location":"api/robot__dart__simu_8hpp_source/","title":"File robot_dart_simu.hpp","text":"<p>File List &gt; robot_dart &gt; robot_dart_simu.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_SIMU_HPP\n#define ROBOT_DART_SIMU_HPP\n\n#include &lt;robot_dart/gui/base.hpp&gt;\n#include &lt;robot_dart/robot.hpp&gt;\n#include &lt;robot_dart/scheduler.hpp&gt;\n#include &lt;robot_dart/sensor/sensor.hpp&gt;\n\nnamespace robot_dart {\n    namespace simu {\n        struct GUIData;\n\n        // We use the Abode Source Sans Pro font: https://github.com/adobe-fonts/source-sans-pro\n        // This font is licensed under SIL Open Font License 1.1: https://github.com/adobe-fonts/source-sans-pro/blob/release/LICENSE.md\n        struct TextData {\n            std::string text;\n            Eigen::Affine2d transformation;\n            Eigen::Vector4d color;\n            std::uint8_t alignment;\n            bool draw_background;\n            Eigen::Vector4d background_color;\n            double font_size = 28.;\n        };\n    } // namespace simu\n\n    class RobotDARTSimu {\n    public:\n        using robot_t = std::shared_ptr&lt;Robot&gt;;\n\n        RobotDARTSimu(double timestep = 0.015);\n\n        ~RobotDARTSimu();\n\n        void run(double max_duration = 5.0, bool reset_commands = false, bool force_position_bounds = true);\n        bool step_world(bool reset_commands = false, bool force_position_bounds = true);\n        bool step(bool reset_commands = false, bool force_position_bounds = true);\n\n        Scheduler&amp; scheduler() { return _scheduler; }\n        const Scheduler&amp; scheduler() const { return _scheduler; }\n        bool schedule(int freq) { return _scheduler(freq); }\n\n        int physics_freq() const { return _physics_freq; }\n        int control_freq() const { return _control_freq; }\n\n        void set_control_freq(int frequency)\n        {\n            ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(\n                frequency &lt;= _physics_freq &amp;&amp; \"Control frequency needs to be less than physics frequency\");\n            _control_freq = frequency;\n        }\n\n        int graphics_freq() const { return _graphics_freq; }\n\n        void set_graphics_freq(int frequency)\n        {\n            ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(\n                frequency &lt;= _physics_freq &amp;&amp; \"Graphics frequency needs to be less than physics frequency\");\n            _graphics_freq = frequency;\n            _graphics-&gt;set_fps(_graphics_freq);\n        }\n\n        std::shared_ptr&lt;gui::Base&gt; graphics() const;\n        void set_graphics(const std::shared_ptr&lt;gui::Base&gt;&amp; graphics);\n\n        dart::simulation::WorldPtr world();\n\n        template &lt;typename T, typename... Args&gt;\n        std::shared_ptr&lt;T&gt; add_sensor(Args&amp;&amp;... args)\n        {\n            add_sensor(std::make_shared&lt;T&gt;(std::forward&lt;Args&gt;(args)...));\n            return std::static_pointer_cast&lt;T&gt;(_sensors.back());\n        }\n\n        void add_sensor(const std::shared_ptr&lt;sensor::Sensor&gt;&amp; sensor);\n        std::vector&lt;std::shared_ptr&lt;sensor::Sensor&gt;&gt; sensors() const;\n        std::shared_ptr&lt;sensor::Sensor&gt; sensor(size_t index) const;\n\n        void remove_sensor(const std::shared_ptr&lt;sensor::Sensor&gt;&amp; sensor);\n        void remove_sensor(size_t index);\n        void remove_sensors(const std::string&amp; type);\n        void clear_sensors();\n\n        double timestep() const;\n        void set_timestep(double timestep, bool update_control_freq = true);\n\n        Eigen::Vector3d gravity() const;\n        void set_gravity(const Eigen::Vector3d&amp; gravity);\n\n        void stop_sim(bool disable = true);\n        bool halted_sim() const;\n\n        size_t num_robots() const;\n        const std::vector&lt;robot_t&gt;&amp; robots() const;\n        robot_t robot(size_t index) const;\n        int robot_index(const robot_t&amp; robot) const;\n\n        void add_robot(const robot_t&amp; robot);\n        void add_visual_robot(const robot_t&amp; robot);\n        void remove_robot(const robot_t&amp; robot);\n        void remove_robot(size_t index);\n        void clear_robots();\n\n        simu::GUIData* gui_data();\n\n        void enable_text_panel(bool enable = true, double font_size = -1);\n        std::string text_panel_text() const;\n        void set_text_panel(const std::string&amp; str);\n\n        void enable_status_bar(bool enable = true, double font_size = -1);\n        std::string status_bar_text() const;\n\n        std::shared_ptr&lt;simu::TextData&gt; add_text(const std::string&amp; text, const Eigen::Affine2d&amp; tf = Eigen::Affine2d::Identity(), Eigen::Vector4d color = Eigen::Vector4d(1, 1, 1, 1), std::uint8_t alignment = 2 &lt;&lt; 2, bool draw_bg = false, Eigen::Vector4d bg_color = Eigen::Vector4d(0, 0, 0, 0.75), double font_size = 28);\n\n        std::shared_ptr&lt;Robot&gt; add_floor(double floor_width = 10.0, double floor_height = 0.1, const Eigen::Isometry3d&amp; tf = Eigen::Isometry3d::Identity(), const std::string&amp; floor_name = \"floor\");\n        std::shared_ptr&lt;Robot&gt; add_checkerboard_floor(double floor_width = 10.0, double floor_height = 0.1, double size = 1., const Eigen::Isometry3d&amp; tf = Eigen::Isometry3d::Identity(), const std::string&amp; floor_name = \"checkerboard_floor\", const Eigen::Vector4d&amp; first_color = dart::Color::White(1.), const Eigen::Vector4d&amp; second_color = dart::Color::Gray(1.));\n\n        void set_collision_detector(const std::string&amp; collision_detector); // collision_detector can be \"DART\", \"FCL\", \"Ode\" or \"Bullet\" (case does not matter)\n        const std::string&amp; collision_detector() const;\n\n        // Bitmask collision filtering\n        void set_collision_masks(size_t robot_index, uint32_t category_mask, uint32_t collision_mask);\n        void set_collision_masks(size_t robot_index, const std::string&amp; body_name, uint32_t category_mask, uint32_t collision_mask);\n        void set_collision_masks(size_t robot_index, size_t body_index, uint32_t category_mask, uint32_t collision_mask);\n\n        uint32_t collision_mask(size_t robot_index, const std::string&amp; body_name);\n        uint32_t collision_mask(size_t robot_index, size_t body_index);\n\n        uint32_t collision_category(size_t robot_index, const std::string&amp; body_name);\n        uint32_t collision_category(size_t robot_index, size_t body_index);\n\n        std::pair&lt;uint32_t, uint32_t&gt; collision_masks(size_t robot_index, const std::string&amp; body_name);\n        std::pair&lt;uint32_t, uint32_t&gt; collision_masks(size_t robot_index, size_t body_index);\n\n        void remove_collision_masks(size_t robot_index);\n        void remove_collision_masks(size_t robot_index, const std::string&amp; body_name);\n        void remove_collision_masks(size_t robot_index, size_t body_index);\n\n        void remove_all_collision_masks();\n\n    protected:\n        void _enable(std::shared_ptr&lt;simu::TextData&gt;&amp; text, bool enable, double font_size);\n\n        dart::simulation::WorldPtr _world;\n        size_t _old_index;\n        bool _break;\n\n        std::vector&lt;std::shared_ptr&lt;sensor::Sensor&gt;&gt; _sensors;\n        std::vector&lt;robot_t&gt; _robots;\n        std::shared_ptr&lt;gui::Base&gt; _graphics;\n        std::unique_ptr&lt;simu::GUIData&gt; _gui_data;\n        std::shared_ptr&lt;simu::TextData&gt; _text_panel = nullptr;\n        std::shared_ptr&lt;simu::TextData&gt; _status_bar = nullptr;\n\n        Scheduler _scheduler;\n        int _physics_freq = -1, _control_freq = -1, _graphics_freq = 40;\n    };\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/robot__pool_8cpp/","title":"File robot_pool.cpp","text":"<p>FileList &gt; robot_dart &gt; robot_pool.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/robot_pool.hpp&gt;</code></li> </ul>"},{"location":"api/robot__pool_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart <p>The documentation for this class was generated from the following file <code>robot_dart/robot_pool.cpp</code></p>"},{"location":"api/robot__pool_8cpp_source/","title":"File robot_pool.cpp","text":"<p>File List &gt; robot_dart &gt; robot_pool.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include &lt;robot_dart/robot_pool.hpp&gt;\n\nnamespace robot_dart {\n    RobotPool::RobotPool(const std::function&lt;std::shared_ptr&lt;Robot&gt;()&gt;&amp; robot_creator, size_t pool_size, bool verbose) : _robot_creator(robot_creator), _pool_size(pool_size), _verbose(verbose)\n    {\n        if (_verbose) {\n            std::cout &lt;&lt; \"Creating a pool of \" &lt;&lt; pool_size &lt;&lt; \" robots: \";\n            std::cout.flush();\n        }\n\n        for (size_t i = 0; i &lt; _pool_size; ++i) {\n            if (_verbose) {\n                std::cout &lt;&lt; \"[\" &lt;&lt; i &lt;&lt; \"]\";\n                std::cout.flush();\n            }\n            auto robot = robot_creator();\n            _model_filename = robot-&gt;model_filename();\n            _reset_robot(robot);\n            _skeletons.push_back(robot-&gt;skeleton());\n        }\n        for (size_t i = 0; i &lt; _pool_size; i++)\n            _free.push_back(true);\n\n        if (_verbose)\n            std::cout &lt;&lt; std::endl;\n    }\n\n    std::shared_ptr&lt;Robot&gt; RobotPool::get_robot(const std::string&amp; name)\n    {\n        while (true) {\n            std::lock_guard&lt;std::mutex&gt; lock(_skeleton_mutex);\n            for (size_t i = 0; i &lt; _pool_size; i++)\n                if (_free[i]) {\n                    _free[i] = false;\n                    return std::make_shared&lt;Robot&gt;(_skeletons[i], name);\n                }\n        }\n    }\n\n    void RobotPool::free_robot(const std::shared_ptr&lt;Robot&gt;&amp; robot)\n    {\n        std::lock_guard&lt;std::mutex&gt; lock(_skeleton_mutex);\n        for (size_t i = 0; i &lt; _pool_size; i++) {\n            if (_skeletons[i] == robot-&gt;skeleton()) {\n                _reset_robot(robot);\n                _free[i] = true;\n                break;\n            }\n        }\n    }\n\n    void RobotPool::_reset_robot(const std::shared_ptr&lt;Robot&gt;&amp; robot)\n    {\n        robot-&gt;reset();\n    }\n} // namespace robot_dart\n</code></pre>"},{"location":"api/robot__pool_8hpp/","title":"File robot_pool.hpp","text":"<p>FileList &gt; robot_dart &gt; robot_pool.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;functional&gt;</code></li> <li><code>#include &lt;memory&gt;</code></li> <li><code>#include &lt;mutex&gt;</code></li> <li><code>#include &lt;vector&gt;</code></li> <li><code>#include &lt;robot_dart/robot.hpp&gt;</code></li> </ul>"},{"location":"api/robot__pool_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart"},{"location":"api/robot__pool_8hpp/#classes","title":"Classes","text":"Type Name class RobotPool <p>The documentation for this class was generated from the following file <code>robot_dart/robot_pool.hpp</code></p>"},{"location":"api/robot__pool_8hpp_source/","title":"File robot_pool.hpp","text":"<p>File List &gt; robot_dart &gt; robot_pool.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_ROBOT_POOL\n#define ROBOT_DART_ROBOT_POOL\n\n#include &lt;functional&gt;\n#include &lt;memory&gt;\n#include &lt;mutex&gt;\n#include &lt;vector&gt;\n\n#include &lt;robot_dart/robot.hpp&gt;\n\nnamespace robot_dart {\n    class RobotPool {\n    public:\n        using robot_creator_t = std::function&lt;std::shared_ptr&lt;Robot&gt;()&gt;;\n\n        RobotPool(const robot_creator_t&amp; robot_creator, size_t pool_size = 32, bool verbose = true);\n        virtual ~RobotPool() {}\n\n        RobotPool(const RobotPool&amp;) = delete;\n        void operator=(const RobotPool&amp;) = delete;\n\n        virtual std::shared_ptr&lt;Robot&gt; get_robot(const std::string&amp; name = \"robot\");\n        virtual void free_robot(const std::shared_ptr&lt;Robot&gt;&amp; robot);\n\n        const std::string&amp; model_filename() const { return _model_filename; }\n\n    protected:\n        robot_creator_t _robot_creator;\n        size_t _pool_size;\n        bool _verbose;\n        std::vector&lt;dart::dynamics::SkeletonPtr&gt; _skeletons;\n        std::vector&lt;bool&gt; _free;\n        std::mutex _skeleton_mutex;\n        std::string _model_filename;\n\n        virtual void _reset_robot(const std::shared_ptr&lt;Robot&gt;&amp; robot);\n    };\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/scheduler_8cpp/","title":"File scheduler.cpp","text":"<p>FileList &gt; robot_dart &gt; scheduler.cpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/scheduler.hpp&gt;</code></li> </ul>"},{"location":"api/scheduler_8cpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart <p>The documentation for this class was generated from the following file <code>robot_dart/scheduler.cpp</code></p>"},{"location":"api/scheduler_8cpp_source/","title":"File scheduler.cpp","text":"<p>File List &gt; robot_dart &gt; scheduler.cpp</p> <p>Go to the documentation of this file</p> <pre><code>#include &lt;robot_dart/scheduler.hpp&gt;\n\nnamespace robot_dart {\n    bool Scheduler::schedule(int frequency)\n    {\n        if (_max_frequency == -1) {\n            _start_time = clock_t::now();\n            _last_iteration_time = _start_time;\n        }\n\n        _max_frequency = std::max(_max_frequency, frequency);\n        double period = std::round((1. / frequency) / _dt);\n\n        ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(\n            period &gt;= 1. &amp;&amp; \"Time-step is too big for required frequency.\");\n\n        if (_current_step % int(period) == 0)\n            return true;\n\n        return false;\n    }\n\n    void Scheduler::reset(double dt, bool sync, double current_time, double real_time)\n    {\n        ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(dt &gt; 0. &amp;&amp; \"Time-step needs to be bigger than zero.\");\n\n        _current_time = 0.;\n        _real_time = 0.;\n        _simu_start_time = current_time;\n        _real_start_time = real_time;\n        _current_step = 0;\n        _max_frequency = -1;\n        _average_it_duration = 0.;\n\n        _dt = dt;\n        _sync = sync;\n    }\n\n    double Scheduler::step()\n    {\n        _current_time += _dt;\n        _current_step += 1;\n\n        auto end = clock_t::now();\n        _it_duration = std::chrono::duration&lt;double, std::micro&gt;(end - _last_iteration_time).count();\n        _last_iteration_time = end;\n        _average_it_duration = _average_it_duration + (_it_duration - _average_it_duration) / _current_step;\n        std::chrono::duration&lt;double, std::micro&gt; real = end - _start_time;\n        if (_sync) {\n            auto expected = std::chrono::microseconds(int(_current_time * 1e6));\n            std::chrono::duration&lt;double, std::micro&gt; adjust = expected - real;\n            if (adjust.count() &gt; 0)\n                std::this_thread::sleep_for(adjust);\n        }\n\n        _real_time = real.count() * 1e-6;\n        return _real_start_time + _real_time;\n    }\n\n} // namespace robot_dart\n</code></pre>"},{"location":"api/scheduler_8hpp/","title":"File scheduler.hpp","text":"<p>FileList &gt; robot_dart &gt; scheduler.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/utils.hpp&gt;</code></li> <li><code>#include &lt;chrono&gt;</code></li> <li><code>#include &lt;thread&gt;</code></li> </ul>"},{"location":"api/scheduler_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart"},{"location":"api/scheduler_8hpp/#classes","title":"Classes","text":"Type Name class Scheduler <p>The documentation for this class was generated from the following file <code>robot_dart/scheduler.hpp</code></p>"},{"location":"api/scheduler_8hpp_source/","title":"File scheduler.hpp","text":"<p>File List &gt; robot_dart &gt; scheduler.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_SCHEDULER_HPP\n#define ROBOT_DART_SCHEDULER_HPP\n\n#include &lt;robot_dart/utils.hpp&gt;\n\n#include &lt;chrono&gt;\n#include &lt;thread&gt;\n\nnamespace robot_dart {\n    class Scheduler {\n    protected:\n        using clock_t = std::chrono::high_resolution_clock;\n\n    public:\n        Scheduler(double dt, bool sync = false) : _dt(dt), _sync(sync)\n        {\n            ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(_dt &gt; 0. &amp;&amp; \"Time-step needs to be bigger than zero.\");\n        }\n\n        bool operator()(int frequency) { return schedule(frequency); };\n        bool schedule(int frequency);\n\n        double step();\n\n        void reset(double dt, bool sync = false, double current_time = 0., double real_time = 0.);\n\n        void set_sync(bool enable) { _sync = enable; }\n        bool sync() const { return _sync; }\n\n        double current_time() const { return _simu_start_time + _current_time; }\n        double next_time() const { return _simu_start_time + _current_time + _dt; }\n        double real_time() const { return _real_start_time + _real_time; }\n        double dt() const { return _dt; }\n        // 0.8x =&gt; we are simulating at 80% of real time\n        double real_time_factor() const { return _dt / it_duration(); }\n        // time for a single iteration (wall-clock)\n        double it_duration() const { return _average_it_duration * 1e-6; }\n        // time of the last iteration (wall-clock)\n        double last_it_duration() const { return _it_duration * 1e-6; }\n\n    protected:\n        double _current_time = 0., _simu_start_time = 0., _real_time = 0., _real_start_time = 0., _it_duration = 0.;\n        double _average_it_duration = 0.;\n        double _dt;\n        int _current_step = 0;\n        bool _sync;\n        int _max_frequency = -1;\n        clock_t::time_point _start_time;\n        clock_t::time_point _last_iteration_time;\n    };\n} // namespace robot_dart\n\n#endif\n</code></pre>"},{"location":"api/utils_8hpp/","title":"File utils.hpp","text":"<p>FileList &gt; robot_dart &gt; utils.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;exception&gt;</code></li> <li><code>#include &lt;iostream&gt;</code></li> <li><code>#include &lt;robot_dart/utils_headers_external.hpp&gt;</code></li> </ul>"},{"location":"api/utils_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace robot_dart"},{"location":"api/utils_8hpp/#classes","title":"Classes","text":"Type Name class Assertion"},{"location":"api/utils_8hpp/#macros","title":"Macros","text":"Type Name define M_PIf  static_cast&lt;float&gt;(M_PI) define ROBOT_DART_ASSERT (condition, message, returnValue)  define ROBOT_DART_EXCEPTION_ASSERT (condition, message)  define ROBOT_DART_EXCEPTION_INTERNAL_ASSERT (condition)  define ROBOT_DART_INTERNAL_ASSERT (condition)  define ROBOT_DART_SHOW_WARNINGS  true define ROBOT_DART_UNUSED_VARIABLE (var) (void)(var) define ROBOT_DART_WARNING (condition, message)"},{"location":"api/utils_8hpp/#macro-definition-documentation","title":"Macro Definition Documentation","text":""},{"location":"api/utils_8hpp/#define-m_pif","title":"define M_PIf","text":"<pre><code>#define M_PIf static_cast&lt;float&gt;(M_PI)\n</code></pre>"},{"location":"api/utils_8hpp/#define-robot_dart_assert","title":"define ROBOT_DART_ASSERT","text":"<pre><code>#define ROBOT_DART_ASSERT (\n    condition,\n    message,\n    returnValue\n) do {                                                                                                             \\\n        if (!(condition)) {                                                                                          \\\n            std::cerr &lt;&lt; __LINE__ &lt;&lt; \" \" &lt;&lt; __FILE__ &lt;&lt; \" -&gt; robot_dart assertion failed: \" &lt;&lt; message &lt;&lt; std::endl; \\\n            return returnValue;                                                                                      \\\n        }                                                                                                            \\\n    } while (false)\n</code></pre>"},{"location":"api/utils_8hpp/#define-robot_dart_exception_assert","title":"define ROBOT_DART_EXCEPTION_ASSERT","text":"<pre><code>#define ROBOT_DART_EXCEPTION_ASSERT (\n    condition,\n    message\n) do {                                                \\\n        if (!(condition)) {                             \\\n            throw robot_dart::Assertion (message);       \\\n        }                                               \\\n    } while (false)\n</code></pre>"},{"location":"api/utils_8hpp/#define-robot_dart_exception_internal_assert","title":"define ROBOT_DART_EXCEPTION_INTERNAL_ASSERT","text":"<pre><code>#define ROBOT_DART_EXCEPTION_INTERNAL_ASSERT (\n    condition\n) do {                                                \\\n        if (!(condition)) {                             \\\n            throw robot_dart::Assertion (#condition);    \\\n        }                                               \\\n    } while (false)\n</code></pre>"},{"location":"api/utils_8hpp/#define-robot_dart_internal_assert","title":"define ROBOT_DART_INTERNAL_ASSERT","text":"<pre><code>#define ROBOT_DART_INTERNAL_ASSERT (\n    condition\n) do {                                                                                                                      \\\n        if (!(condition)) {                                                                                                   \\\n            std::cerr &lt;&lt; \"Assertion '\" &lt;&lt; #condition &lt;&lt; \"' failed in '\" &lt;&lt; __FILE__ &lt;&lt; \"' on line \" &lt;&lt; __LINE__ &lt;&lt; std::endl; \\\n            std::abort();                                                                                                     \\\n        }                                                                                                                     \\\n    } while (false)\n</code></pre>"},{"location":"api/utils_8hpp/#define-robot_dart_show_warnings","title":"define ROBOT_DART_SHOW_WARNINGS","text":"<pre><code>#define ROBOT_DART_SHOW_WARNINGS true\n</code></pre>"},{"location":"api/utils_8hpp/#define-robot_dart_unused_variable","title":"define ROBOT_DART_UNUSED_VARIABLE","text":"<pre><code>#define ROBOT_DART_UNUSED_VARIABLE (\n    var\n) (void)(var)\n</code></pre>"},{"location":"api/utils_8hpp/#define-robot_dart_warning","title":"define ROBOT_DART_WARNING","text":"<pre><code>#define ROBOT_DART_WARNING (\n    condition,\n    message\n) if (ROBOT_DART_SHOW_WARNINGS &amp;&amp; (condition)) {                               \\\n        std::cerr &lt;&lt; \"[robot_dart WARNING]: \\\"\" &lt;&lt; message &lt;&lt; \"\\\"\" &lt;&lt; std::endl; \\\n    }\n</code></pre> <p>The documentation for this class was generated from the following file <code>robot_dart/utils.hpp</code></p>"},{"location":"api/utils_8hpp_source/","title":"File utils.hpp","text":"<p>File List &gt; robot_dart &gt; utils.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_UTILS_HPP\n#define ROBOT_DART_UTILS_HPP\n\n#include &lt;exception&gt;\n#include &lt;iostream&gt;\n\n#include &lt;robot_dart/utils_headers_external.hpp&gt;\n\n#ifndef ROBOT_DART_SHOW_WARNINGS\n#define ROBOT_DART_SHOW_WARNINGS true\n#endif\n\n#ifndef M_PIf\n#define M_PIf static_cast&lt;float&gt;(M_PI)\n#endif\n\nnamespace robot_dart {\n\n    inline Eigen::VectorXd make_vector(std::initializer_list&lt;double&gt; args)\n    {\n        return Eigen::VectorXd::Map(args.begin(), args.size());\n    }\n\n    inline Eigen::Isometry3d make_tf(const Eigen::Matrix3d&amp; R, const Eigen::Vector3d&amp; t)\n    {\n        Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();\n        tf.linear().matrix() = R;\n        tf.translation() = t;\n\n        return tf;\n    }\n\n    inline Eigen::Isometry3d make_tf(const Eigen::Matrix3d&amp; R)\n    {\n        Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();\n        tf.linear().matrix() = R;\n\n        return tf;\n    }\n\n    inline Eigen::Isometry3d make_tf(const Eigen::Vector3d&amp; t)\n    {\n        Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();\n        tf.translation() = t;\n\n        return tf;\n    }\n\n    inline Eigen::Isometry3d make_tf(std::initializer_list&lt;double&gt; args)\n    {\n        Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();\n        tf.translation() = make_vector(args);\n\n        return tf;\n    }\n\n    class Assertion : public std::exception {\n    public:\n        Assertion(const std::string&amp; msg = \"\") : _msg(_make_message(msg)) {}\n\n        const char* what() const throw()\n        {\n            return _msg.c_str();\n        }\n\n    private:\n        std::string _msg;\n\n        std::string _make_message(const std::string&amp; msg) const\n        {\n            std::string message = \"robot_dart assertion failed\";\n            if (msg != \"\")\n                message += \": '\" + msg + \"'\";\n            return message;\n        }\n    };\n} // namespace robot_dart\n\n#define ROBOT_DART_UNUSED_VARIABLE(var) (void)(var)\n\n#define ROBOT_DART_WARNING(condition, message)                                   \\\n    if (ROBOT_DART_SHOW_WARNINGS &amp;&amp; (condition)) {                               \\\n        std::cerr &lt;&lt; \"[robot_dart WARNING]: \\\"\" &lt;&lt; message &lt;&lt; \"\\\"\" &lt;&lt; std::endl; \\\n    }\n\n#define ROBOT_DART_ASSERT(condition, message, returnValue)                                                           \\\n    do {                                                                                                             \\\n        if (!(condition)) {                                                                                          \\\n            std::cerr &lt;&lt; __LINE__ &lt;&lt; \" \" &lt;&lt; __FILE__ &lt;&lt; \" -&gt; robot_dart assertion failed: \" &lt;&lt; message &lt;&lt; std::endl; \\\n            return returnValue;                                                                                      \\\n        }                                                                                                            \\\n    } while (false)\n\n#define ROBOT_DART_EXCEPTION_ASSERT(condition, message) \\\n    do {                                                \\\n        if (!(condition)) {                             \\\n            throw robot_dart::Assertion(message);       \\\n        }                                               \\\n    } while (false)\n\n#define ROBOT_DART_INTERNAL_ASSERT(condition)                                                                                 \\\n    do {                                                                                                                      \\\n        if (!(condition)) {                                                                                                   \\\n            std::cerr &lt;&lt; \"Assertion '\" &lt;&lt; #condition &lt;&lt; \"' failed in '\" &lt;&lt; __FILE__ &lt;&lt; \"' on line \" &lt;&lt; __LINE__ &lt;&lt; std::endl; \\\n            std::abort();                                                                                                     \\\n        }                                                                                                                     \\\n    } while (false)\n\n#define ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(condition) \\\n    do {                                                \\\n        if (!(condition)) {                             \\\n            throw robot_dart::Assertion(#condition);    \\\n        }                                               \\\n    } while (false)\n\n#endif\n</code></pre>"},{"location":"api/utils__headers__dart__collision_8hpp/","title":"File utils_headers_dart_collision.hpp","text":"<p>FileList &gt; robot_dart &gt; utils_headers_dart_collision.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;dart/config.hpp&gt;</code></li> <li><code>#include &lt;dart/collision/CollisionFilter.hpp&gt;</code></li> <li><code>#include &lt;dart/collision/CollisionObject.hpp&gt;</code></li> <li><code>#include &lt;dart/collision/dart/DARTCollisionDetector.hpp&gt;</code></li> <li><code>#include &lt;dart/collision/fcl/FCLCollisionDetector.hpp&gt;</code></li> <li><code>#include &lt;dart/constraint/ConstraintSolver.hpp&gt;</code></li> </ul> <p>The documentation for this class was generated from the following file <code>robot_dart/utils_headers_dart_collision.hpp</code></p>"},{"location":"api/utils__headers__dart__collision_8hpp_source/","title":"File utils_headers_dart_collision.hpp","text":"<p>File List &gt; robot_dart &gt; utils_headers_dart_collision.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_UTILS_HEADERS_DART_COLLISION_HPP\n#define ROBOT_DART_UTILS_HEADERS_DART_COLLISION_HPP\n\n#pragma GCC system_header\n\n#include &lt;dart/config.hpp&gt;\n\n#include &lt;dart/collision/CollisionFilter.hpp&gt;\n#include &lt;dart/collision/CollisionObject.hpp&gt;\n#include &lt;dart/collision/dart/DARTCollisionDetector.hpp&gt;\n#include &lt;dart/collision/fcl/FCLCollisionDetector.hpp&gt;\n#include &lt;dart/constraint/ConstraintSolver.hpp&gt;\n\n#if (HAVE_BULLET == 1)\n#include &lt;dart/collision/bullet/BulletCollisionDetector.hpp&gt;\n#endif\n\n#if (HAVE_ODE == 1)\n#include &lt;dart/collision/ode/OdeCollisionDetector.hpp&gt;\n#endif\n\n#endif\n</code></pre>"},{"location":"api/utils__headers__dart__dynamics_8hpp/","title":"File utils_headers_dart_dynamics.hpp","text":"<p>FileList &gt; robot_dart &gt; utils_headers_dart_dynamics.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;dart/dynamics/BallJoint.hpp&gt;</code></li> <li><code>#include &lt;dart/dynamics/BodyNode.hpp&gt;</code></li> <li><code>#include &lt;dart/dynamics/BoxShape.hpp&gt;</code></li> <li><code>#include &lt;dart/dynamics/DegreeOfFreedom.hpp&gt;</code></li> <li><code>#include &lt;dart/dynamics/EllipsoidShape.hpp&gt;</code></li> <li><code>#include &lt;dart/dynamics/EulerJoint.hpp&gt;</code></li> <li><code>#include &lt;dart/dynamics/FreeJoint.hpp&gt;</code></li> <li><code>#include &lt;dart/dynamics/MeshShape.hpp&gt;</code></li> <li><code>#include &lt;dart/dynamics/RevoluteJoint.hpp&gt;</code></li> <li><code>#include &lt;dart/dynamics/ShapeNode.hpp&gt;</code></li> <li><code>#include &lt;dart/dynamics/SoftBodyNode.hpp&gt;</code></li> <li><code>#include &lt;dart/dynamics/SoftMeshShape.hpp&gt;</code></li> <li><code>#include &lt;dart/dynamics/WeldJoint.hpp&gt;</code></li> </ul> <p>The documentation for this class was generated from the following file <code>robot_dart/utils_headers_dart_dynamics.hpp</code></p>"},{"location":"api/utils__headers__dart__dynamics_8hpp_source/","title":"File utils_headers_dart_dynamics.hpp","text":"<p>File List &gt; robot_dart &gt; utils_headers_dart_dynamics.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_UTILS_HEADERS_DART_DYNAMICS_HPP\n#define ROBOT_DART_UTILS_HEADERS_DART_DYNAMICS_HPP\n\n#pragma GCC system_header\n\n#include &lt;dart/dynamics/BallJoint.hpp&gt;\n#include &lt;dart/dynamics/BodyNode.hpp&gt;\n#include &lt;dart/dynamics/BoxShape.hpp&gt;\n#include &lt;dart/dynamics/DegreeOfFreedom.hpp&gt;\n#include &lt;dart/dynamics/EllipsoidShape.hpp&gt;\n#include &lt;dart/dynamics/EulerJoint.hpp&gt;\n#include &lt;dart/dynamics/FreeJoint.hpp&gt;\n#include &lt;dart/dynamics/MeshShape.hpp&gt;\n#include &lt;dart/dynamics/RevoluteJoint.hpp&gt;\n#include &lt;dart/dynamics/ShapeNode.hpp&gt;\n#include &lt;dart/dynamics/SoftBodyNode.hpp&gt;\n#include &lt;dart/dynamics/SoftMeshShape.hpp&gt;\n#include &lt;dart/dynamics/WeldJoint.hpp&gt;\n\n#endif\n</code></pre>"},{"location":"api/utils__headers__dart__io_8hpp/","title":"File utils_headers_dart_io.hpp","text":"<p>FileList &gt; robot_dart &gt; utils_headers_dart_io.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;dart/config.hpp&gt;</code></li> <li><code>#include &lt;dart/utils/SkelParser.hpp&gt;</code></li> <li><code>#include &lt;dart/utils/sdf/SdfParser.hpp&gt;</code></li> <li><code>#include &lt;dart/utils/urdf/urdf.hpp&gt;</code></li> </ul>"},{"location":"api/utils__headers__dart__io_8hpp/#namespaces","title":"Namespaces","text":"Type Name namespace dart <p>The documentation for this class was generated from the following file <code>robot_dart/utils_headers_dart_io.hpp</code></p>"},{"location":"api/utils__headers__dart__io_8hpp_source/","title":"File utils_headers_dart_io.hpp","text":"<p>File List &gt; robot_dart &gt; utils_headers_dart_io.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_UTILS_HEADERS_DART_IO_HPP\n#define ROBOT_DART_UTILS_HEADERS_DART_IO_HPP\n\n#pragma GCC system_header\n\n#include &lt;dart/config.hpp&gt;\n\n#if DART_VERSION_AT_LEAST(7, 0, 0)\n#include &lt;dart/io/SkelParser.hpp&gt;\n#include &lt;dart/io/sdf/SdfParser.hpp&gt;\n#include &lt;dart/io/urdf/urdf.hpp&gt;\n#else\n#include &lt;dart/utils/SkelParser.hpp&gt;\n#include &lt;dart/utils/sdf/SdfParser.hpp&gt;\n#include &lt;dart/utils/urdf/urdf.hpp&gt;\n\n// namespace alias for compatibility\nnamespace dart {\n    namespace io = utils;\n}\n#endif\n\n#endif\n</code></pre>"},{"location":"api/utils__headers__external_8hpp/","title":"File utils_headers_external.hpp","text":"<p>FileList &gt; robot_dart &gt; utils_headers_external.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;Eigen/Core&gt;</code></li> <li><code>#include &lt;Eigen/Geometry&gt;</code></li> <li><code>#include &lt;dart/config.hpp&gt;</code></li> <li><code>#include &lt;dart/dynamics/MeshShape.hpp&gt;</code></li> <li><code>#include &lt;dart/dynamics/Skeleton.hpp&gt;</code></li> <li><code>#include &lt;dart/simulation/World.hpp&gt;</code></li> </ul> <p>The documentation for this class was generated from the following file <code>robot_dart/utils_headers_external.hpp</code></p>"},{"location":"api/utils__headers__external_8hpp_source/","title":"File utils_headers_external.hpp","text":"<p>File List &gt; robot_dart &gt; utils_headers_external.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_UTILS_HEADERS_EXTERNAL_HPP\n#define ROBOT_DART_UTILS_HEADERS_EXTERNAL_HPP\n\n#pragma GCC system_header\n\n#include &lt;Eigen/Core&gt;\n#include &lt;Eigen/Geometry&gt;\n\n#include &lt;dart/config.hpp&gt;\n#include &lt;dart/dynamics/MeshShape.hpp&gt;\n#include &lt;dart/dynamics/Skeleton.hpp&gt;\n#include &lt;dart/simulation/World.hpp&gt;\n\n#endif\n</code></pre>"},{"location":"api/utils__headers__external__gui_8hpp/","title":"File utils_headers_external_gui.hpp","text":"<p>FileList &gt; robot_dart &gt; utils_headers_external_gui.hpp</p> <p>Go to the source code of this file</p> <ul> <li><code>#include &lt;robot_dart/utils_headers_external.hpp&gt;</code></li> <li><code>#include &lt;Magnum/DartIntegration/World.h&gt;</code></li> </ul> <p>The documentation for this class was generated from the following file <code>robot_dart/utils_headers_external_gui.hpp</code></p>"},{"location":"api/utils__headers__external__gui_8hpp_source/","title":"File utils_headers_external_gui.hpp","text":"<p>File List &gt; robot_dart &gt; utils_headers_external_gui.hpp</p> <p>Go to the documentation of this file</p> <pre><code>#ifndef ROBOT_DART_UTILS_HEADERS_EXTERNAL_GUI_HPP\n#define ROBOT_DART_UTILS_HEADERS_EXTERNAL_GUI_HPP\n\n#pragma GCC system_header\n\n#include &lt;robot_dart/utils_headers_external.hpp&gt;\n\n#include &lt;Magnum/DartIntegration/World.h&gt;\n\n#endif\n</code></pre>"},{"location":"api/namespaces/","title":"Namespace List","text":"<p>Here is a list of all namespaces with brief descriptions:</p> <ul> <li>namespace Magnum <ul> <li>namespace GL </li> <li>namespace Platform </li> <li>namespace SceneGraph </li> <li>namespace Shaders <ul> <li>namespace Implementation </li> </ul> </li> </ul> </li> <li>namespace TinyProcessLib </li> <li>namespace dart <ul> <li>namespace collision </li> <li>namespace dynamics </li> </ul> </li> <li>namespace robot_dart <ul> <li>namespace collision_filter </li> <li>namespace control </li> <li>namespace detail </li> <li>namespace gui <ul> <li>namespace magnum <ul> <li>namespace gs </li> <li>namespace sensor </li> </ul> </li> </ul> </li> <li>namespace robots </li> <li>namespace sensor </li> <li>namespace simu </li> </ul> </li> <li>namespace gs </li> <li>namespace std </li> </ul>"},{"location":"api/classes/","title":"Class Index","text":""},{"location":"api/classes/#a","title":"a","text":"<ul> <li>A1 (robot_dart::robots)</li> <li>Arm (robot_dart::robots)</li> <li>Assertion (robot_dart)</li> </ul>"},{"location":"api/classes/#b","title":"b","text":"<ul> <li>Base (robot_dart::gui)</li> <li>BaseApplication (robot_dart::gui::magnum)</li> <li>BaseGraphics (robot_dart::gui::magnum)</li> <li>BitmaskContactFilter (robot_dart::collision_filter)</li> </ul>"},{"location":"api/classes/#c","title":"c","text":"<ul> <li>Camera (robot_dart::gui::magnum::gs)</li> <li>Camera (robot_dart::gui::magnum::sensor)</li> <li>CubeMap (robot_dart::gui::magnum::gs)</li> <li>CubeMapColor (robot_dart::gui::magnum::gs)</li> <li>CubeMapShadowedColorObject (robot_dart::gui::magnum)</li> <li>CubeMapShadowedObject (robot_dart::gui::magnum)</li> </ul>"},{"location":"api/classes/#d","title":"d","text":"<ul> <li>DebugDrawData (robot_dart::gui::magnum)</li> <li>DepthImage (robot_dart::gui)</li> <li>DrawableObject (robot_dart::gui::magnum)</li> </ul>"},{"location":"api/classes/#f","title":"f","text":"<ul> <li>ForceTorque (robot_dart::sensor)</li> <li>Franka (robot_dart::robots)</li> </ul>"},{"location":"api/classes/#g","title":"g","text":"<ul> <li>GlfwApplication (robot_dart::gui::magnum)</li> <li>GlobalData (robot_dart::gui::magnum)</li> <li>Graphics (robot_dart::gui::magnum)</li> <li>GraphicsConfiguration (robot_dart::gui::magnum)</li> <li>GrayscaleImage (robot_dart::gui)</li> <li>GUIData (robot_dart::simu)</li> </ul>"},{"location":"api/classes/#h","title":"h","text":"<ul> <li>Hexapod (robot_dart::robots)</li> </ul>"},{"location":"api/classes/#i","title":"i","text":"<ul> <li>ICub (robot_dart::robots)</li> <li>Iiwa (robot_dart::robots)</li> <li>Image (robot_dart::gui)</li> <li>IMU (robot_dart::sensor)</li> <li>IMUConfig (robot_dart::sensor)</li> </ul>"},{"location":"api/classes/#l","title":"l","text":"<ul> <li>Light (robot_dart::gui::magnum::gs)</li> </ul>"},{"location":"api/classes/#m","title":"m","text":"<ul> <li>Masks (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>Material (robot_dart::gui::magnum::gs)</li> </ul>"},{"location":"api/classes/#o","title":"o","text":"<ul> <li>ObjectStruct (robot_dart::gui::magnum)</li> </ul>"},{"location":"api/classes/#p","title":"p","text":"<ul> <li>PDControl (robot_dart::control)</li> <li>Pendulum (robot_dart::robots)</li> <li>PhongMultiLight (robot_dart::gui::magnum::gs)</li> <li>PolicyControl (robot_dart::control)</li> </ul>"},{"location":"api/classes/#r","title":"r","text":"<ul> <li>Robot (robot_dart)</li> <li>RobotControl (robot_dart::control)</li> <li>RobotDARTSimu (robot_dart)</li> <li>RobotData</li> <li>RobotPool (robot_dart)</li> </ul>"},{"location":"api/classes/#s","title":"s","text":"<ul> <li>Scheduler (robot_dart)</li> <li>Sensor (robot_dart::sensor)</li> <li>ShadowData (robot_dart::gui::magnum)</li> <li>ShadowedColorObject (robot_dart::gui::magnum)</li> <li>ShadowedObject (robot_dart::gui::magnum)</li> <li>ShadowMap (robot_dart::gui::magnum::gs)</li> <li>ShadowMapColor (robot_dart::gui::magnum::gs)</li> <li>SimpleControl (robot_dart::control)</li> </ul>"},{"location":"api/classes/#t","title":"t","text":"<ul> <li>Talos (robot_dart::robots)</li> <li>TalosFastCollision (robot_dart::robots)</li> <li>TalosLight (robot_dart::robots)</li> <li>TextData (robot_dart::simu)</li> <li>Tiago (robot_dart::robots)</li> <li>Torque (robot_dart::sensor)</li> </ul>"},{"location":"api/classes/#u","title":"u","text":"<ul> <li>Ur3e (robot_dart::robots)</li> <li>Ur3eHand (robot_dart::robots)</li> </ul>"},{"location":"api/classes/#v","title":"v","text":"<ul> <li>Vx300 (robot_dart::robots)</li> </ul>"},{"location":"api/classes/#w","title":"w","text":"<ul> <li>WindowlessGLApplication (robot_dart::gui::magnum)</li> <li>WindowlessGraphics (robot_dart::gui::magnum)</li> </ul>"},{"location":"api/hierarchy/","title":"Class Hierarchy","text":"<p>This inheritance list is sorted roughly, but not completely, alphabetically:</p> <ul> <li>class robot_dart::RobotDARTSimu </li> <li>class robot_dart::RobotPool </li> <li>class robot_dart::Scheduler </li> <li>class robot_dart::control::RobotControl <ul> <li>class robot_dart::control::PDControl </li> <li>class robot_dart::control::PolicyControl </li> <li>class robot_dart::control::SimpleControl </li> </ul> </li> <li>class robot_dart::gui::Base <ul> <li>class robot_dart::gui::magnum::BaseGraphics </li> <li>class robot_dart::gui::magnum::BaseGraphics </li> <li>class robot_dart::gui::magnum::BaseGraphics </li> </ul> </li> <li>class robot_dart::gui::magnum::BaseApplication <ul> <li>class robot_dart::gui::magnum::GlfwApplication </li> <li>class robot_dart::gui::magnum::WindowlessGLApplication </li> </ul> </li> <li>class robot_dart::gui::magnum::Light </li> <li>class robot_dart::gui::magnum::Material </li> <li>class robot_dart::sensor::Sensor <ul> <li>class robot_dart::gui::magnum::sensor::Camera </li> <li>class robot_dart::sensor::ForceTorque </li> <li>class robot_dart::sensor::IMU </li> <li>class robot_dart::sensor::Torque </li> </ul> </li> <li>struct robot_dart::collision_filter::BitmaskContactFilter::Masks </li> <li>struct robot_dart::gui::DepthImage </li> <li>struct robot_dart::gui::GrayscaleImage </li> <li>struct robot_dart::gui::Image </li> <li>struct robot_dart::gui::magnum::DebugDrawData </li> <li>struct robot_dart::gui::magnum::GlobalData </li> <li>struct robot_dart::gui::magnum::GraphicsConfiguration </li> <li>struct robot_dart::gui::magnum::ObjectStruct </li> <li>struct robot_dart::gui::magnum::ShadowData </li> <li>struct robot_dart::sensor::IMUConfig </li> <li>struct robot_dart::simu::GUIData </li> <li>struct robot_dart::simu::TextData </li> <li>struct robot_dart::simu::GUIData::RobotData </li> <li>class std::exception <ul> <li>class robot_dart::Assertion </li> </ul> </li> <li>class std::enable_shared_from_this&lt; Robot &gt; <ul> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> <li>class robot_dart::Robot <ul> <li>class robot_dart::robots::A1 </li> <li>class robot_dart::robots::Arm </li> <li>class robot_dart::robots::Franka </li> <li>class robot_dart::robots::Hexapod </li> <li>class robot_dart::robots::ICub </li> <li>class robot_dart::robots::Iiwa </li> <li>class robot_dart::robots::Pendulum </li> <li>class robot_dart::robots::Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __    <ul> <li>class robot_dart::robots::TalosFastCollision </li> <li>class robot_dart::robots::TalosLight </li> </ul> </li> <li>class robot_dart::robots::Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __</li> <li>class robot_dart::robots::Ur3e <ul> <li>class robot_dart::robots::Ur3eHand </li> </ul> </li> <li>class robot_dart::robots::Vx300 </li> </ul> </li> </ul> </li> <li>class dart::BodyNodeCollisionFilter <ul> <li>class robot_dart::collision_filter::BitmaskContactFilter </li> </ul> </li> <li>class Object3D <ul> <li>class robot_dart::gui::magnum::CubeMapShadowedColorObject </li> <li>class robot_dart::gui::magnum::CubeMapShadowedObject </li> <li>class robot_dart::gui::magnum::DrawableObject </li> <li>class robot_dart::gui::magnum::ShadowedColorObject </li> <li>class robot_dart::gui::magnum::ShadowedObject </li> <li>class robot_dart::gui::magnum::Camera </li> </ul> </li> <li>class Magnum::SceneGraph::Drawable3D <ul> <li>class robot_dart::gui::magnum::CubeMapShadowedColorObject </li> <li>class robot_dart::gui::magnum::CubeMapShadowedObject </li> <li>class robot_dart::gui::magnum::DrawableObject </li> <li>class robot_dart::gui::magnum::ShadowedColorObject </li> <li>class robot_dart::gui::magnum::ShadowedObject </li> </ul> </li> <li>class Magnum::Platform::Application <ul> <li>class robot_dart::gui::magnum::GlfwApplication </li> </ul> </li> <li>class Magnum::Platform::WindowlessApplication <ul> <li>class robot_dart::gui::magnum::WindowlessGLApplication </li> </ul> </li> <li>class Magnum::GL::AbstractShaderProgram <ul> <li>class robot_dart::gui::magnum::CubeMap </li> <li>class robot_dart::gui::magnum::CubeMapColor </li> <li>class robot_dart::gui::magnum::PhongMultiLight </li> <li>class robot_dart::gui::magnum::ShadowMap </li> <li>class robot_dart::gui::magnum::ShadowMapColor </li> </ul> </li> </ul>"},{"location":"api/modules/","title":"Modules","text":"<p>No modules found.</p>"},{"location":"api/pages/","title":"Related Pages","text":"<p>Here is a list of all related documentation pages:</p>"},{"location":"api/class_members/","title":"Class Members","text":""},{"location":"api/class_members/#a","title":"a","text":"<ul> <li>Assertion (robot_dart::Assertion)</li> <li>acceleration_lower_limits (robot_dart::Robot)</li> <li>acceleration_upper_limits (robot_dart::Robot)</li> <li>accelerations (robot_dart::Robot)</li> <li>active_controllers (robot_dart::Robot)</li> <li>actuator_type (robot_dart::Robot)</li> <li>actuator_types (robot_dart::Robot)</li> <li>add_body_mass (robot_dart::Robot)</li> <li>add_controller (robot_dart::Robot)</li> <li>add_external_force (robot_dart::Robot)</li> <li>add_external_torque (robot_dart::Robot)</li> <li>adjacent_colliding (robot_dart::Robot)</li> <li>aug_mass_matrix (robot_dart::Robot)</li> <li>add_checkerboard_floor (robot_dart::RobotDARTSimu)</li> <li>add_floor (robot_dart::RobotDARTSimu)</li> <li>add_robot (robot_dart::RobotDARTSimu)</li> <li>add_sensor (robot_dart::RobotDARTSimu)</li> <li>add_text (robot_dart::RobotDARTSimu, robot_dart::simu::GUIData)</li> <li>add_visual_robot (robot_dart::RobotDARTSimu)</li> <li>add_to_map (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>activate (robot_dart::control::RobotControl, robot_dart::sensor::Sensor)</li> <li>active (robot_dart::control::RobotControl, robot_dart::sensor::Sensor)</li> <li>add_light (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>attach_camera (robot_dart::gui::magnum::BaseApplication)</li> <li>axes_mesh (robot_dart::gui::magnum::DebugDrawData)</li> <li>axes_shader (robot_dart::gui::magnum::DebugDrawData)</li> <li>attenuation (robot_dart::gui::magnum::Light)</li> <li>ambient_color (robot_dart::gui::magnum::Material)</li> <li>ambient_texture (robot_dart::gui::magnum::Material)</li> <li>attach_to_body (robot_dart::gui::magnum::sensor::Camera, robot_dart::sensor::ForceTorque, robot_dart::sensor::Sensor, robot_dart::sensor::Torque)</li> <li>attach_to_joint (robot_dart::gui::magnum::sensor::Camera, robot_dart::sensor::IMU, robot_dart::sensor::Sensor)</li> <li>A1 (robot_dart::robots::A1)</li> <li>Arm (robot_dart::robots::Arm)</li> <li>angular_position (robot_dart::sensor::IMU)</li> <li>angular_position_vec (robot_dart::sensor::IMU)</li> <li>angular_velocity (robot_dart::sensor::IMU)</li> <li>accel_bias (robot_dart::sensor::IMUConfig)</li> <li>attached_to (robot_dart::sensor::Sensor)</li> <li>alignment (robot_dart::simu::TextData)</li> </ul>"},{"location":"api/class_members/#b","title":"b","text":"<ul> <li>base_pose (robot_dart::Robot)</li> <li>base_pose_vec (robot_dart::Robot)</li> <li>body_acceleration (robot_dart::Robot)</li> <li>body_index (robot_dart::Robot)</li> <li>body_mass (robot_dart::Robot)</li> <li>body_name (robot_dart::Robot)</li> <li>body_names (robot_dart::Robot)</li> <li>body_node (robot_dart::Robot)</li> <li>body_pose (robot_dart::Robot)</li> <li>body_pose_vec (robot_dart::Robot)</li> <li>body_velocity (robot_dart::Robot)</li> <li>Base (robot_dart::gui::Base)</li> <li>BaseApplication (robot_dart::gui::magnum::BaseApplication)</li> <li>BaseGraphics (robot_dart::gui::magnum::BaseGraphics)</li> <li>background_mesh (robot_dart::gui::magnum::DebugDrawData)</li> <li>background_shader (robot_dart::gui::magnum::DebugDrawData)</li> <li>bg_color (robot_dart::gui::magnum::GraphicsConfiguration)</li> <li>bind_cube_map_texture (robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight)</li> <li>bind_cube_map_color_texture (robot_dart::gui::magnum::PhongMultiLight)</li> <li>bind_shadow_color_texture (robot_dart::gui::magnum::PhongMultiLight)</li> <li>bind_shadow_texture (robot_dart::gui::magnum::PhongMultiLight)</li> <li>body (robot_dart::sensor::IMUConfig)</li> <li>background_color (robot_dart::simu::TextData)</li> </ul>"},{"location":"api/class_members/#c","title":"c","text":"<ul> <li>cast_shadows (robot_dart::Robot, robot_dart::simu::GUIData)</li> <li>clear_controllers (robot_dart::Robot)</li> <li>clear_external_forces (robot_dart::Robot)</li> <li>clear_internal_forces (robot_dart::Robot)</li> <li>clone (robot_dart::Robot, robot_dart::control::PDControl, robot_dart::control::PolicyControl, robot_dart::control::RobotControl, robot_dart::control::SimpleControl)</li> <li>clone_ghost (robot_dart::Robot)</li> <li>com (robot_dart::Robot)</li> <li>com_acceleration (robot_dart::Robot)</li> <li>com_jacobian (robot_dart::Robot)</li> <li>com_jacobian_deriv (robot_dart::Robot)</li> <li>com_velocity (robot_dart::Robot)</li> <li>commands (robot_dart::Robot)</li> <li>constraint_forces (robot_dart::Robot)</li> <li>controller (robot_dart::Robot)</li> <li>controllers (robot_dart::Robot)</li> <li>coriolis_forces (robot_dart::Robot)</li> <li>coriolis_gravity_forces (robot_dart::Robot)</li> <li>coulomb_coeffs (robot_dart::Robot)</li> <li>create_box (robot_dart::Robot)</li> <li>create_ellipsoid (robot_dart::Robot)</li> <li>clear_robots (robot_dart::RobotDARTSimu)</li> <li>clear_sensors (robot_dart::RobotDARTSimu)</li> <li>collision_category (robot_dart::RobotDARTSimu)</li> <li>collision_detector (robot_dart::RobotDARTSimu)</li> <li>collision_mask (robot_dart::RobotDARTSimu, robot_dart::collision_filter::BitmaskContactFilter::Masks)</li> <li>collision_masks (robot_dart::RobotDARTSimu)</li> <li>control_freq (robot_dart::RobotDARTSimu)</li> <li>clock_t (robot_dart::Scheduler)</li> <li>current_time (robot_dart::Scheduler)</li> <li>clear_all (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>category_mask (robot_dart::collision_filter::BitmaskContactFilter::Masks)</li> <li>calculate (robot_dart::control::PDControl, robot_dart::control::PolicyControl, robot_dart::control::RobotControl, robot_dart::control::SimpleControl, robot_dart::gui::magnum::sensor::Camera, robot_dart::sensor::ForceTorque, robot_dart::sensor::IMU, robot_dart::sensor::Sensor, robot_dart::sensor::Torque)</li> <li>configure (robot_dart::control::PDControl, robot_dart::control::PolicyControl, robot_dart::control::RobotControl, robot_dart::control::SimpleControl)</li> <li>controllable_dofs (robot_dart::control::RobotControl)</li> <li>channels (robot_dart::gui::Image)</li> <li>camera (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>clear_lights (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>camera_extrinsic_matrix (robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::sensor::Camera)</li> <li>camera_intrinsic_matrix (robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::sensor::Camera)</li> <li>CubeMapShadowedColorObject (robot_dart::gui::magnum::CubeMapShadowedColorObject)</li> <li>CubeMapShadowedObject (robot_dart::gui::magnum::CubeMapShadowedObject)</li> <li>cache (robot_dart::gui::magnum::DebugDrawData)</li> <li>cubemapped (robot_dart::gui::magnum::ObjectStruct)</li> <li>cubemapped_color (robot_dart::gui::magnum::ObjectStruct)</li> <li>Camera (robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>camera_object (robot_dart::gui::magnum::Camera)</li> <li>CubeMap (robot_dart::gui::magnum::CubeMap)</li> <li>CubeMapColor (robot_dart::gui::magnum::CubeMapColor)</li> <li>casts_shadows (robot_dart::gui::magnum::Light)</li> <li>collision_vec (robot_dart::robots::TalosFastCollision)</li> <li>caster_joints (robot_dart::robots::Tiago)</li> <li>color (robot_dart::simu::TextData)</li> <li>casting_shadows (robot_dart::simu::GUIData::RobotData)</li> </ul>"},{"location":"api/class_members/#d","title":"d","text":"<ul> <li>damping_coeffs (robot_dart::Robot)</li> <li>dof (robot_dart::Robot)</li> <li>dof_index (robot_dart::Robot)</li> <li>dof_map (robot_dart::Robot)</li> <li>dof_name (robot_dart::Robot)</li> <li>dof_names (robot_dart::Robot)</li> <li>drawing_axes (robot_dart::Robot, robot_dart::simu::GUIData)</li> <li>dt (robot_dart::Scheduler)</li> <li>DartCollisionConstPtr (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>DartShapeConstPtr (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>depth_array (robot_dart::gui::Base, robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::sensor::Camera)</li> <li>depth_image (robot_dart::gui::Base, robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>done (robot_dart::gui::Base, robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>data (robot_dart::gui::DepthImage, robot_dart::gui::GrayscaleImage, robot_dart::gui::Image)</li> <li>debug_draw_data (robot_dart::gui::magnum::BaseApplication)</li> <li>drawables (robot_dart::gui::magnum::BaseApplication)</li> <li>draw (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject, robot_dart::gui::magnum::Camera)</li> <li>DrawableObject (robot_dart::gui::magnum::DrawableObject)</li> <li>drawEvent (robot_dart::gui::magnum::GlfwApplication)</li> <li>default_configuration (robot_dart::gui::magnum::Graphics, robot_dart::gui::magnum::WindowlessGraphics)</li> <li>draw_debug (robot_dart::gui::magnum::GraphicsConfiguration, robot_dart::gui::magnum::sensor::Camera)</li> <li>draw_main_camera (robot_dart::gui::magnum::GraphicsConfiguration)</li> <li>draw_text (robot_dart::gui::magnum::GraphicsConfiguration)</li> <li>drawable (robot_dart::gui::magnum::ObjectStruct)</li> <li>diffuse_color (robot_dart::gui::magnum::Material)</li> <li>diffuse_texture (robot_dart::gui::magnum::Material)</li> <li>drawing_debug (robot_dart::gui::magnum::sensor::Camera)</li> <li>detach (robot_dart::sensor::Sensor)</li> <li>drawing_texts (robot_dart::simu::GUIData)</li> <li>draw_background (robot_dart::simu::TextData)</li> </ul>"},{"location":"api/class_members/#e","title":"e","text":"<ul> <li>external_forces (robot_dart::Robot)</li> <li>enable_status_bar (robot_dart::RobotDARTSimu)</li> <li>enable_text_panel (robot_dart::RobotDARTSimu)</li> <li>enable_shadows (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>exitEvent (robot_dart::gui::magnum::GlfwApplication)</li> <li>exec (robot_dart::gui::magnum::WindowlessGLApplication)</li> <li>extrinsic_matrix (robot_dart::gui::magnum::Camera)</li> </ul>"},{"location":"api/class_members/#f","title":"f","text":"<ul> <li>fix_to_world (robot_dart::Robot)</li> <li>fixed (robot_dart::Robot)</li> <li>force_lower_limits (robot_dart::Robot)</li> <li>force_position_bounds (robot_dart::Robot)</li> <li>force_torque (robot_dart::Robot)</li> <li>force_upper_limits (robot_dart::Robot)</li> <li>forces (robot_dart::Robot)</li> <li>free (robot_dart::Robot)</li> <li>free_from_world (robot_dart::Robot)</li> <li>friction_coeff (robot_dart::Robot)</li> <li>friction_dir (robot_dart::Robot)</li> <li>free_robot (robot_dart::RobotPool)</li> <li>font (robot_dart::gui::magnum::DebugDrawData)</li> <li>free_gl_context (robot_dart::gui::magnum::GlobalData)</li> <li>far_plane (robot_dart::gui::magnum::Camera)</li> <li>forward (robot_dart::gui::magnum::Camera)</li> <li>fov (robot_dart::gui::magnum::Camera)</li> <li>Flag (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>Flags (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>flags (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>Franka (robot_dart::robots::Franka)</li> <li>ft_wrist (robot_dart::robots::Franka, robot_dart::robots::Iiwa, robot_dart::robots::Tiago, robot_dart::robots::Ur3e)</li> <li>ft_foot_left (robot_dart::robots::ICub, robot_dart::robots::Talos)</li> <li>ft_foot_right (robot_dart::robots::ICub, robot_dart::robots::Talos)</li> <li>ft_wrist_left (robot_dart::robots::Talos)</li> <li>ft_wrist_right (robot_dart::robots::Talos)</li> <li>ForceTorque (robot_dart::sensor::ForceTorque)</li> <li>force (robot_dart::sensor::ForceTorque)</li> <li>frequency (robot_dart::sensor::IMUConfig, robot_dart::sensor::Sensor)</li> <li>font_size (robot_dart::simu::TextData)</li> </ul>"},{"location":"api/class_members/#g","title":"g","text":"<ul> <li>ghost (robot_dart::Robot, robot_dart::simu::GUIData)</li> <li>gravity_forces (robot_dart::Robot)</li> <li>graphics (robot_dart::RobotDARTSimu)</li> <li>graphics_freq (robot_dart::RobotDARTSimu)</li> <li>gravity (robot_dart::RobotDARTSimu)</li> <li>gui_data (robot_dart::RobotDARTSimu)</li> <li>get_robot (robot_dart::RobotPool)</li> <li>GlfwApplication (robot_dart::gui::magnum::GlfwApplication)</li> <li>GlobalData (robot_dart::gui::magnum::GlobalData)</li> <li>gl_context (robot_dart::gui::magnum::GlobalData)</li> <li>Graphics (robot_dart::gui::magnum::Graphics)</li> <li>gyro_bias (robot_dart::sensor::IMUConfig)</li> </ul>"},{"location":"api/class_members/#h","title":"h","text":"<ul> <li>halted_sim (robot_dart::RobotDARTSimu)</li> <li>h_params (robot_dart::control::PolicyControl)</li> <li>height (robot_dart::gui::Base, robot_dart::gui::DepthImage, robot_dart::gui::GrayscaleImage, robot_dart::gui::Image, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::GraphicsConfiguration, robot_dart::gui::magnum::Camera)</li> <li>has_ambient_texture (robot_dart::gui::magnum::Material)</li> <li>has_diffuse_texture (robot_dart::gui::magnum::Material)</li> <li>has_specular_texture (robot_dart::gui::magnum::Material)</li> <li>Hexapod (robot_dart::robots::Hexapod)</li> </ul>"},{"location":"api/class_members/#i","title":"i","text":"<ul> <li>inv_aug_mass_matrix (robot_dart::Robot)</li> <li>inv_mass_matrix (robot_dart::Robot)</li> <li>it_duration (robot_dart::Scheduler)</li> <li>ignoresCollision (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>init (robot_dart::control::RobotControl, robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::sensor::Camera, robot_dart::sensor::ForceTorque, robot_dart::sensor::IMU, robot_dart::sensor::Sensor, robot_dart::sensor::Torque)</li> <li>image (robot_dart::gui::Base, robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>instance (robot_dart::gui::magnum::GlobalData)</li> <li>intrinsic_matrix (robot_dart::gui::magnum::Camera)</li> <li>imu (robot_dart::robots::A1, robot_dart::robots::ICub, robot_dart::robots::Talos)</li> <li>ICub (robot_dart::robots::ICub)</li> <li>Iiwa (robot_dart::robots::Iiwa)</li> <li>IMU (robot_dart::sensor::IMU)</li> <li>IMUConfig (robot_dart::sensor::IMUConfig)</li> <li>is_ghost (robot_dart::simu::GUIData::RobotData)</li> </ul>"},{"location":"api/class_members/#j","title":"j","text":"<ul> <li>jacobian (robot_dart::Robot)</li> <li>jacobian_deriv (robot_dart::Robot)</li> <li>joint (robot_dart::Robot)</li> <li>joint_index (robot_dart::Robot)</li> <li>joint_map (robot_dart::Robot)</li> <li>joint_name (robot_dart::Robot)</li> <li>joint_names (robot_dart::Robot)</li> </ul>"},{"location":"api/class_members/#k","title":"k","text":"<ul> <li>keyPressEvent (robot_dart::gui::magnum::GlfwApplication)</li> <li>keyReleaseEvent (robot_dart::gui::magnum::GlfwApplication)</li> </ul>"},{"location":"api/class_members/#l","title":"l","text":"<ul> <li>locked_dof_names (robot_dart::Robot)</li> <li>last_it_duration (robot_dart::Scheduler)</li> <li>light (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>lights (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>look_at (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>Light (robot_dart::gui::magnum::Light)</li> <li>linear_acceleration (robot_dart::sensor::IMU)</li> </ul>"},{"location":"api/class_members/#m","title":"m","text":"<ul> <li>mass_matrix (robot_dart::Robot)</li> <li>mimic_dof_names (robot_dart::Robot)</li> <li>model_filename (robot_dart::Robot, robot_dart::RobotPool)</li> <li>model_packages (robot_dart::Robot)</li> <li>mask (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>magnum_app (robot_dart::gui::magnum::BaseGraphics)</li> <li>magnum_image (robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::sensor::Camera)</li> <li>materials (robot_dart::gui::magnum::DrawableObject)</li> <li>mouseMoveEvent (robot_dart::gui::magnum::GlfwApplication)</li> <li>mouseScrollEvent (robot_dart::gui::magnum::GlfwApplication)</li> <li>max_lights (robot_dart::gui::magnum::GraphicsConfiguration, robot_dart::gui::magnum::PhongMultiLight)</li> <li>move (robot_dart::gui::magnum::Camera)</li> <li>material (robot_dart::gui::magnum::Light)</li> <li>Material (robot_dart::gui::magnum::Material)</li> <li>magnum_depth_image (robot_dart::gui::magnum::sensor::Camera)</li> </ul>"},{"location":"api/class_members/#n","title":"n","text":"<ul> <li>name (robot_dart::Robot)</li> <li>num_bodies (robot_dart::Robot)</li> <li>num_controllers (robot_dart::Robot)</li> <li>num_dofs (robot_dart::Robot)</li> <li>num_joints (robot_dart::Robot)</li> <li>num_robots (robot_dart::RobotDARTSimu)</li> <li>next_time (robot_dart::Scheduler)</li> <li>num_lights (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>near_plane (robot_dart::gui::magnum::Camera)</li> <li>Normal (robot_dart::gui::magnum::PhongMultiLight)</li> </ul>"},{"location":"api/class_members/#o","title":"o","text":"<ul> <li>operator= (robot_dart::RobotPool, robot_dart::gui::magnum::GlobalData)</li> <li>operator() (robot_dart::Scheduler)</li> </ul>"},{"location":"api/class_members/#p","title":"p","text":"<ul> <li>passive_dof_names (robot_dart::Robot)</li> <li>position_enforced (robot_dart::Robot)</li> <li>position_lower_limits (robot_dart::Robot)</li> <li>position_upper_limits (robot_dart::Robot)</li> <li>positions (robot_dart::Robot)</li> <li>physics_freq (robot_dart::RobotDARTSimu)</li> <li>PDControl (robot_dart::control::PDControl)</li> <li>pd (robot_dart::control::PDControl)</li> <li>PolicyControl (robot_dart::control::PolicyControl)</li> <li>parameters (robot_dart::control::RobotControl)</li> <li>Position (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>position (robot_dart::gui::magnum::Light)</li> <li>PhongMultiLight (robot_dart::gui::magnum::PhongMultiLight)</li> <li>Pendulum (robot_dart::robots::Pendulum)</li> <li>pose (robot_dart::sensor::Sensor)</li> </ul>"},{"location":"api/class_members/#r","title":"r","text":"<ul> <li>Robot (robot_dart::Robot)</li> <li>reinit_controllers (robot_dart::Robot)</li> <li>remove_all_drawing_axis (robot_dart::Robot)</li> <li>remove_controller (robot_dart::Robot)</li> <li>reset (robot_dart::Robot, robot_dart::Scheduler, robot_dart::robots::A1, robot_dart::robots::Hexapod, robot_dart::robots::ICub, robot_dart::robots::Talos, robot_dart::robots::Tiago)</li> <li>reset_commands (robot_dart::Robot)</li> <li>restitution_coeff (robot_dart::Robot)</li> <li>RobotDARTSimu (robot_dart::RobotDARTSimu)</li> <li>remove_all_collision_masks (robot_dart::RobotDARTSimu)</li> <li>remove_collision_masks (robot_dart::RobotDARTSimu)</li> <li>remove_robot (robot_dart::RobotDARTSimu, robot_dart::simu::GUIData)</li> <li>remove_sensor (robot_dart::RobotDARTSimu)</li> <li>remove_sensors (robot_dart::RobotDARTSimu)</li> <li>robot (robot_dart::RobotDARTSimu, robot_dart::control::RobotControl)</li> <li>robot_index (robot_dart::RobotDARTSimu)</li> <li>robot_t (robot_dart::RobotDARTSimu)</li> <li>robots (robot_dart::RobotDARTSimu)</li> <li>run (robot_dart::RobotDARTSimu)</li> <li>RobotPool (robot_dart::RobotPool)</li> <li>robot_creator_t (robot_dart::RobotPool)</li> <li>real_time (robot_dart::Scheduler)</li> <li>real_time_factor (robot_dart::Scheduler)</li> <li>remove_from_map (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>RobotControl (robot_dart::control::RobotControl)</li> <li>raw_depth_image (robot_dart::gui::Base, robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::sensor::Camera)</li> <li>refresh (robot_dart::gui::Base, robot_dart::gui::magnum::BaseGraphics, robot_dart::sensor::Sensor)</li> <li>record_video (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>render (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::GlfwApplication, robot_dart::gui::magnum::WindowlessGLApplication)</li> <li>render_shadows (robot_dart::gui::magnum::BaseApplication)</li> <li>record (robot_dart::gui::magnum::Camera)</li> <li>recording (robot_dart::gui::magnum::Camera)</li> <li>recording_depth (robot_dart::gui::magnum::Camera)</li> <li>root_object (robot_dart::gui::magnum::Camera)</li> <li>remove_text (robot_dart::simu::GUIData)</li> <li>robot_axes (robot_dart::simu::GUIData)</li> <li>robot_data (robot_dart::simu::GUIData)</li> </ul>"},{"location":"api/class_members/#s","title":"s","text":"<ul> <li>secondary_friction_coeff (robot_dart::Robot)</li> <li>self_colliding (robot_dart::Robot)</li> <li>set_acceleration_lower_limits (robot_dart::Robot)</li> <li>set_acceleration_upper_limits (robot_dart::Robot)</li> <li>set_accelerations (robot_dart::Robot)</li> <li>set_actuator_type (robot_dart::Robot, robot_dart::robots::Tiago)</li> <li>set_actuator_types (robot_dart::Robot, robot_dart::robots::Tiago)</li> <li>set_base_pose (robot_dart::Robot)</li> <li>set_body_mass (robot_dart::Robot)</li> <li>set_body_name (robot_dart::Robot)</li> <li>set_cast_shadows (robot_dart::Robot)</li> <li>set_color_mode (robot_dart::Robot)</li> <li>set_commands (robot_dart::Robot)</li> <li>set_coulomb_coeffs (robot_dart::Robot)</li> <li>set_damping_coeffs (robot_dart::Robot)</li> <li>set_draw_axis (robot_dart::Robot)</li> <li>set_external_force (robot_dart::Robot)</li> <li>set_external_torque (robot_dart::Robot)</li> <li>set_force_lower_limits (robot_dart::Robot)</li> <li>set_force_upper_limits (robot_dart::Robot)</li> <li>set_forces (robot_dart::Robot)</li> <li>set_friction_coeff (robot_dart::Robot)</li> <li>set_friction_coeffs (robot_dart::Robot)</li> <li>set_friction_dir (robot_dart::Robot)</li> <li>set_ghost (robot_dart::Robot)</li> <li>set_joint_name (robot_dart::Robot)</li> <li>set_mimic (robot_dart::Robot)</li> <li>set_position_enforced (robot_dart::Robot)</li> <li>set_position_lower_limits (robot_dart::Robot)</li> <li>set_position_upper_limits (robot_dart::Robot)</li> <li>set_positions (robot_dart::Robot)</li> <li>set_restitution_coeff (robot_dart::Robot)</li> <li>set_restitution_coeffs (robot_dart::Robot)</li> <li>set_secondary_friction_coeff (robot_dart::Robot)</li> <li>set_secondary_friction_coeffs (robot_dart::Robot)</li> <li>set_self_collision (robot_dart::Robot)</li> <li>set_spring_stiffnesses (robot_dart::Robot)</li> <li>set_velocities (robot_dart::Robot)</li> <li>set_velocity_lower_limits (robot_dart::Robot)</li> <li>set_velocity_upper_limits (robot_dart::Robot)</li> <li>skeleton (robot_dart::Robot)</li> <li>spring_stiffnesses (robot_dart::Robot)</li> <li>schedule (robot_dart::RobotDARTSimu, robot_dart::Scheduler)</li> <li>scheduler (robot_dart::RobotDARTSimu)</li> <li>sensor (robot_dart::RobotDARTSimu)</li> <li>sensors (robot_dart::RobotDARTSimu)</li> <li>set_collision_detector (robot_dart::RobotDARTSimu)</li> <li>set_collision_masks (robot_dart::RobotDARTSimu)</li> <li>set_control_freq (robot_dart::RobotDARTSimu)</li> <li>set_graphics (robot_dart::RobotDARTSimu)</li> <li>set_graphics_freq (robot_dart::RobotDARTSimu)</li> <li>set_gravity (robot_dart::RobotDARTSimu)</li> <li>set_text_panel (robot_dart::RobotDARTSimu)</li> <li>set_timestep (robot_dart::RobotDARTSimu)</li> <li>status_bar_text (robot_dart::RobotDARTSimu)</li> <li>step (robot_dart::RobotDARTSimu, robot_dart::Scheduler)</li> <li>step_world (robot_dart::RobotDARTSimu)</li> <li>stop_sim (robot_dart::RobotDARTSimu)</li> <li>Scheduler (robot_dart::Scheduler)</li> <li>set_sync (robot_dart::Scheduler)</li> <li>sync (robot_dart::Scheduler)</li> <li>set_pd (robot_dart::control::PDControl)</li> <li>set_use_angular_errors (robot_dart::control::PDControl)</li> <li>set_h_params (robot_dart::control::PolicyControl)</li> <li>set_parameters (robot_dart::control::RobotControl)</li> <li>set_robot (robot_dart::control::RobotControl)</li> <li>set_weight (robot_dart::control::RobotControl)</li> <li>SimpleControl (robot_dart::control::SimpleControl)</li> <li>set_enable (robot_dart::gui::Base, robot_dart::gui::magnum::BaseGraphics)</li> <li>set_fps (robot_dart::gui::Base, robot_dart::gui::magnum::BaseGraphics)</li> <li>set_render_period (robot_dart::gui::Base)</li> <li>set_simu (robot_dart::gui::Base, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::Graphics, robot_dart::gui::magnum::WindowlessGraphics, robot_dart::sensor::Sensor)</li> <li>simu (robot_dart::gui::Base, robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject, robot_dart::sensor::Sensor)</li> <li>scene (robot_dart::gui::magnum::BaseApplication)</li> <li>shadowed (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::GraphicsConfiguration, robot_dart::gui::magnum::ObjectStruct)</li> <li>set_materials (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject)</li> <li>set_meshes (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject)</li> <li>set_scalings (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject)</li> <li>shape (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject)</li> <li>set_color_shader (robot_dart::gui::magnum::DrawableObject)</li> <li>set_soft_bodies (robot_dart::gui::magnum::DrawableObject)</li> <li>set_texture_shader (robot_dart::gui::magnum::DrawableObject)</li> <li>set_transparent (robot_dart::gui::magnum::DrawableObject)</li> <li>set_max_contexts (robot_dart::gui::magnum::GlobalData)</li> <li>shadow_map_size (robot_dart::gui::magnum::GraphicsConfiguration)</li> <li>specular_strength (robot_dart::gui::magnum::GraphicsConfiguration)</li> <li>shadowed_color (robot_dart::gui::magnum::ObjectStruct)</li> <li>shadow_color_framebuffer (robot_dart::gui::magnum::ShadowData)</li> <li>shadow_framebuffer (robot_dart::gui::magnum::ShadowData)</li> <li>ShadowedColorObject (robot_dart::gui::magnum::ShadowedColorObject)</li> <li>ShadowedObject (robot_dart::gui::magnum::ShadowedObject)</li> <li>set_camera_params (robot_dart::gui::magnum::Camera)</li> <li>set_far_plane (robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight)</li> <li>set_fov (robot_dart::gui::magnum::Camera)</li> <li>set_near_plane (robot_dart::gui::magnum::Camera)</li> <li>set_speed (robot_dart::gui::magnum::Camera)</li> <li>set_viewport (robot_dart::gui::magnum::Camera)</li> <li>speed (robot_dart::gui::magnum::Camera)</li> <li>strafe (robot_dart::gui::magnum::Camera)</li> <li>set_light_index (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor)</li> <li>set_light_position (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor)</li> <li>set_material (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::Light, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>set_shadow_matrices (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor)</li> <li>set_transformation_matrix (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>set_attenuation (robot_dart::gui::magnum::Light)</li> <li>set_casts_shadows (robot_dart::gui::magnum::Light)</li> <li>set_position (robot_dart::gui::magnum::Light)</li> <li>set_shadow_matrix (robot_dart::gui::magnum::Light)</li> <li>set_spot_cut_off (robot_dart::gui::magnum::Light)</li> <li>set_spot_direction (robot_dart::gui::magnum::Light)</li> <li>set_spot_exponent (robot_dart::gui::magnum::Light)</li> <li>set_transformed_position (robot_dart::gui::magnum::Light)</li> <li>set_transformed_spot_direction (robot_dart::gui::magnum::Light)</li> <li>shadow_matrix (robot_dart::gui::magnum::Light)</li> <li>spot_cut_off (robot_dart::gui::magnum::Light)</li> <li>spot_direction (robot_dart::gui::magnum::Light)</li> <li>spot_exponent (robot_dart::gui::magnum::Light)</li> <li>set_ambient_color (robot_dart::gui::magnum::Material)</li> <li>set_ambient_texture (robot_dart::gui::magnum::Material)</li> <li>set_diffuse_color (robot_dart::gui::magnum::Material)</li> <li>set_diffuse_texture (robot_dart::gui::magnum::Material)</li> <li>set_shininess (robot_dart::gui::magnum::Material)</li> <li>set_specular_color (robot_dart::gui::magnum::Material)</li> <li>set_specular_texture (robot_dart::gui::magnum::Material)</li> <li>shininess (robot_dart::gui::magnum::Material)</li> <li>specular_color (robot_dart::gui::magnum::Material)</li> <li>specular_texture (robot_dart::gui::magnum::Material)</li> <li>set_camera_matrix (robot_dart::gui::magnum::PhongMultiLight)</li> <li>set_is_shadowed (robot_dart::gui::magnum::PhongMultiLight)</li> <li>set_light (robot_dart::gui::magnum::PhongMultiLight)</li> <li>set_normal_matrix (robot_dart::gui::magnum::PhongMultiLight)</li> <li>set_projection_matrix (robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>set_specular_strength (robot_dart::gui::magnum::PhongMultiLight)</li> <li>set_transparent_shadows (robot_dart::gui::magnum::PhongMultiLight)</li> <li>ShadowMap (robot_dart::gui::magnum::ShadowMap)</li> <li>ShadowMapColor (robot_dart::gui::magnum::ShadowMapColor)</li> <li>Sensor (robot_dart::sensor::Sensor)</li> <li>set_frequency (robot_dart::sensor::Sensor)</li> <li>set_pose (robot_dart::sensor::Sensor)</li> </ul>"},{"location":"api/class_members/#t","title":"t","text":"<ul> <li>text_panel_text (robot_dart::RobotDARTSimu)</li> <li>timestep (robot_dart::RobotDARTSimu)</li> <li>transparent_shadows (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::GraphicsConfiguration)</li> <li>text_indices (robot_dart::gui::magnum::DebugDrawData)</li> <li>text_shader (robot_dart::gui::magnum::DebugDrawData)</li> <li>text_vertices (robot_dart::gui::magnum::DebugDrawData)</li> <li>transparent (robot_dart::gui::magnum::DrawableObject)</li> <li>title (robot_dart::gui::magnum::GraphicsConfiguration)</li> <li>transform_lights (robot_dart::gui::magnum::Camera)</li> <li>TextureCoordinates (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>transformed_position (robot_dart::gui::magnum::Light)</li> <li>transformed_spot_direction (robot_dart::gui::magnum::Light)</li> <li>type (robot_dart::gui::magnum::sensor::Camera, robot_dart::sensor::ForceTorque, robot_dart::sensor::IMU, robot_dart::sensor::Sensor, robot_dart::sensor::Torque)</li> <li>Talos (robot_dart::robots::Talos)</li> <li>torque_map_t (robot_dart::robots::Talos)</li> <li>torques (robot_dart::robots::Talos, robot_dart::sensor::Torque)</li> <li>TalosFastCollision (robot_dart::robots::TalosFastCollision)</li> <li>TalosLight (robot_dart::robots::TalosLight)</li> <li>Tiago (robot_dart::robots::Tiago)</li> <li>torque (robot_dart::sensor::ForceTorque)</li> <li>Torque (robot_dart::sensor::Torque)</li> <li>text_drawings (robot_dart::simu::GUIData)</li> <li>text (robot_dart::simu::TextData)</li> <li>transformation (robot_dart::simu::TextData)</li> </ul>"},{"location":"api/class_members/#u","title":"u","text":"<ul> <li>update (robot_dart::Robot)</li> <li>update_joint_dof_maps (robot_dart::Robot)</li> <li>using_angular_errors (robot_dart::control::PDControl)</li> <li>update_graphics (robot_dart::gui::magnum::BaseApplication)</li> <li>update_lights (robot_dart::gui::magnum::BaseApplication)</li> <li>Ur3e (robot_dart::robots::Ur3e)</li> <li>Ur3eHand (robot_dart::robots::Ur3eHand)</li> <li>update_robot (robot_dart::simu::GUIData)</li> </ul>"},{"location":"api/class_members/#v","title":"v","text":"<ul> <li>vec_dof (robot_dart::Robot)</li> <li>velocities (robot_dart::Robot)</li> <li>velocity_lower_limits (robot_dart::Robot)</li> <li>velocity_upper_limits (robot_dart::Robot)</li> <li>viewportEvent (robot_dart::gui::magnum::GlfwApplication)</li> <li>Vx300 (robot_dart::robots::Vx300)</li> </ul>"},{"location":"api/class_members/#w","title":"w","text":"<ul> <li>what (robot_dart::Assertion)</li> <li>world (robot_dart::RobotDARTSimu)</li> <li>weight (robot_dart::control::RobotControl)</li> <li>width (robot_dart::gui::Base, robot_dart::gui::DepthImage, robot_dart::gui::GrayscaleImage, robot_dart::gui::Image, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::GraphicsConfiguration, robot_dart::gui::magnum::Camera)</li> <li>WindowlessGLApplication (robot_dart::gui::magnum::WindowlessGLApplication)</li> <li>WindowlessGraphics (robot_dart::gui::magnum::WindowlessGraphics)</li> <li>wrench (robot_dart::sensor::ForceTorque)</li> </ul>"},{"location":"api/class_members/#_1","title":"~","text":"<ul> <li>~Robot (robot_dart::Robot)</li> <li>~RobotDARTSimu (robot_dart::RobotDARTSimu)</li> <li>~RobotPool (robot_dart::RobotPool)</li> <li>~BitmaskContactFilter (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>~RobotControl (robot_dart::control::RobotControl)</li> <li>~Base (robot_dart::gui::Base)</li> <li>~BaseApplication (robot_dart::gui::magnum::BaseApplication)</li> <li>~BaseGraphics (robot_dart::gui::magnum::BaseGraphics)</li> <li>~GlfwApplication (robot_dart::gui::magnum::GlfwApplication)</li> <li>~GlobalData (robot_dart::gui::magnum::GlobalData)</li> <li>~Graphics (robot_dart::gui::magnum::Graphics)</li> <li>~WindowlessGLApplication (robot_dart::gui::magnum::WindowlessGLApplication)</li> <li>~WindowlessGraphics (robot_dart::gui::magnum::WindowlessGraphics)</li> <li>~Camera (robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>~Sensor (robot_dart::sensor::Sensor)</li> </ul>"},{"location":"api/class_members/#_","title":"_","text":"<ul> <li>_make_message (robot_dart::Assertion)</li> <li>_msg (robot_dart::Assertion)</li> <li>_actuator_type (robot_dart::Robot)</li> <li>_actuator_types (robot_dart::Robot)</li> <li>_axis_shapes (robot_dart::Robot)</li> <li>_cast_shadows (robot_dart::Robot, robot_dart::gui::magnum::Light)</li> <li>_controllers (robot_dart::Robot)</li> <li>_dof_map (robot_dart::Robot)</li> <li>_get_path (robot_dart::Robot)</li> <li>_is_ghost (robot_dart::Robot)</li> <li>_jacobian (robot_dart::Robot)</li> <li>_joint_map (robot_dart::Robot)</li> <li>_load_model (robot_dart::Robot)</li> <li>_mass_matrix (robot_dart::Robot)</li> <li>_model_filename (robot_dart::Robot, robot_dart::RobotPool)</li> <li>_packages (robot_dart::Robot)</li> <li>_post_addition (robot_dart::Robot, robot_dart::robots::Franka, robot_dart::robots::ICub, robot_dart::robots::Iiwa, robot_dart::robots::Talos, robot_dart::robots::TalosFastCollision, robot_dart::robots::Tiago, robot_dart::robots::Ur3e)</li> <li>_post_removal (robot_dart::Robot, robot_dart::robots::Franka, robot_dart::robots::ICub, robot_dart::robots::Iiwa, robot_dart::robots::Talos, robot_dart::robots::Tiago, robot_dart::robots::Ur3e)</li> <li>_robot_name (robot_dart::Robot)</li> <li>_set_actuator_type (robot_dart::Robot)</li> <li>_set_actuator_types (robot_dart::Robot)</li> <li>_set_color_mode (robot_dart::Robot)</li> <li>_skeleton (robot_dart::Robot)</li> <li>_break (robot_dart::RobotDARTSimu)</li> <li>_control_freq (robot_dart::RobotDARTSimu)</li> <li>_enable (robot_dart::RobotDARTSimu)</li> <li>_graphics (robot_dart::RobotDARTSimu)</li> <li>_graphics_freq (robot_dart::RobotDARTSimu)</li> <li>_gui_data (robot_dart::RobotDARTSimu)</li> <li>_old_index (robot_dart::RobotDARTSimu)</li> <li>_physics_freq (robot_dart::RobotDARTSimu)</li> <li>_robots (robot_dart::RobotDARTSimu)</li> <li>_scheduler (robot_dart::RobotDARTSimu)</li> <li>_sensors (robot_dart::RobotDARTSimu)</li> <li>_status_bar (robot_dart::RobotDARTSimu)</li> <li>_text_panel (robot_dart::RobotDARTSimu)</li> <li>_world (robot_dart::RobotDARTSimu)</li> <li>_free (robot_dart::RobotPool)</li> <li>_pool_size (robot_dart::RobotPool)</li> <li>_reset_robot (robot_dart::RobotPool)</li> <li>_robot_creator (robot_dart::RobotPool)</li> <li>_skeleton_mutex (robot_dart::RobotPool)</li> <li>_skeletons (robot_dart::RobotPool)</li> <li>_verbose (robot_dart::RobotPool)</li> <li>_average_it_duration (robot_dart::Scheduler)</li> <li>_current_step (robot_dart::Scheduler)</li> <li>_current_time (robot_dart::Scheduler)</li> <li>_dt (robot_dart::Scheduler, robot_dart::control::PolicyControl)</li> <li>_it_duration (robot_dart::Scheduler)</li> <li>_last_iteration_time (robot_dart::Scheduler)</li> <li>_max_frequency (robot_dart::Scheduler)</li> <li>_real_start_time (robot_dart::Scheduler)</li> <li>_real_time (robot_dart::Scheduler)</li> <li>_simu_start_time (robot_dart::Scheduler)</li> <li>_start_time (robot_dart::Scheduler)</li> <li>_sync (robot_dart::Scheduler)</li> <li>_bitmask_map (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>_Kd (robot_dart::control::PDControl)</li> <li>_Kp (robot_dart::control::PDControl)</li> <li>_angle_dist (robot_dart::control::PDControl)</li> <li>_use_angular_errors (robot_dart::control::PDControl)</li> <li>_first (robot_dart::control::PolicyControl)</li> <li>_full_dt (robot_dart::control::PolicyControl)</li> <li>_i (robot_dart::control::PolicyControl)</li> <li>_policy (robot_dart::control::PolicyControl)</li> <li>_prev_commands (robot_dart::control::PolicyControl)</li> <li>_prev_time (robot_dart::control::PolicyControl)</li> <li>_threshold (robot_dart::control::PolicyControl)</li> <li>_active (robot_dart::control::RobotControl, robot_dart::sensor::Sensor)</li> <li>_check_free (robot_dart::control::RobotControl)</li> <li>_control_dof (robot_dart::control::RobotControl)</li> <li>_controllable_dofs (robot_dart::control::RobotControl)</li> <li>_ctrl (robot_dart::control::RobotControl)</li> <li>_dof (robot_dart::control::RobotControl)</li> <li>_robot (robot_dart::control::RobotControl)</li> <li>_weight (robot_dart::control::RobotControl)</li> <li>_simu (robot_dart::gui::Base, robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::GlfwApplication, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject, robot_dart::gui::magnum::WindowlessGLApplication, robot_dart::sensor::Sensor)</li> <li>_3D_axis_mesh (robot_dart::gui::magnum::BaseApplication)</li> <li>_3D_axis_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_background_mesh (robot_dart::gui::magnum::BaseApplication)</li> <li>_background_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_camera (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>_color_shader (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::DrawableObject)</li> <li>_configuration (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>_cubemap_color_drawables (robot_dart::gui::magnum::BaseApplication)</li> <li>_cubemap_color_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_cubemap_drawables (robot_dart::gui::magnum::BaseApplication)</li> <li>_cubemap_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_cubemap_texture_color_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_cubemap_texture_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_dart_world (robot_dart::gui::magnum::BaseApplication)</li> <li>_done (robot_dart::gui::magnum::BaseApplication)</li> <li>_drawable_objects (robot_dart::gui::magnum::BaseApplication)</li> <li>_drawables (robot_dart::gui::magnum::BaseApplication)</li> <li>_font (robot_dart::gui::magnum::BaseApplication)</li> <li>_font_manager (robot_dart::gui::magnum::BaseApplication)</li> <li>_gl_clean_up (robot_dart::gui::magnum::BaseApplication)</li> <li>_glyph_cache (robot_dart::gui::magnum::BaseApplication)</li> <li>_importer_manager (robot_dart::gui::magnum::BaseApplication)</li> <li>_lights (robot_dart::gui::magnum::BaseApplication)</li> <li>_max_lights (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::PhongMultiLight)</li> <li>_prepare_shadows (robot_dart::gui::magnum::BaseApplication)</li> <li>_scene (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadow_camera (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadow_camera_object (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadow_color_cube_map (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadow_color_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadow_color_texture (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadow_cube_map (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadow_data (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadow_map_size (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadow_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadow_texture (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadow_texture_color_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadow_texture_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadowed (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadowed_color_drawables (robot_dart::gui::magnum::BaseApplication)</li> <li>_shadowed_drawables (robot_dart::gui::magnum::BaseApplication)</li> <li>_text_indices (robot_dart::gui::magnum::BaseApplication)</li> <li>_text_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_text_vertices (robot_dart::gui::magnum::BaseApplication)</li> <li>_texture_shader (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject)</li> <li>_transparentSize (robot_dart::gui::magnum::BaseApplication)</li> <li>_transparent_shadows (robot_dart::gui::magnum::BaseApplication)</li> <li>_enabled (robot_dart::gui::magnum::BaseGraphics)</li> <li>_fps (robot_dart::gui::magnum::BaseGraphics)</li> <li>_magnum_app (robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::sensor::Camera)</li> <li>_magnum_silence_output (robot_dart::gui::magnum::BaseGraphics)</li> <li>_materials (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject)</li> <li>_meshes (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject)</li> <li>_scalings (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject)</li> <li>_shader (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject)</li> <li>_shape (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject)</li> <li>_has_negative_scaling (robot_dart::gui::magnum::DrawableObject)</li> <li>_isTransparent (robot_dart::gui::magnum::DrawableObject)</li> <li>_is_soft_body (robot_dart::gui::magnum::DrawableObject)</li> <li>_bg_color (robot_dart::gui::magnum::GlfwApplication, robot_dart::gui::magnum::WindowlessGLApplication)</li> <li>_draw_debug (robot_dart::gui::magnum::GlfwApplication, robot_dart::gui::magnum::WindowlessGLApplication, robot_dart::gui::magnum::sensor::Camera)</li> <li>_draw_main_camera (robot_dart::gui::magnum::GlfwApplication, robot_dart::gui::magnum::WindowlessGLApplication)</li> <li>_speed (robot_dart::gui::magnum::GlfwApplication, robot_dart::gui::magnum::Camera)</li> <li>_speed_move (robot_dart::gui::magnum::GlfwApplication)</li> <li>_speed_strafe (robot_dart::gui::magnum::GlfwApplication)</li> <li>_context_mutex (robot_dart::gui::magnum::GlobalData)</li> <li>_create_contexts (robot_dart::gui::magnum::GlobalData)</li> <li>_gl_contexts (robot_dart::gui::magnum::GlobalData)</li> <li>_max_contexts (robot_dart::gui::magnum::GlobalData)</li> <li>_used (robot_dart::gui::magnum::GlobalData)</li> <li>_color (robot_dart::gui::magnum::WindowlessGLApplication, robot_dart::gui::magnum::sensor::Camera)</li> <li>_depth (robot_dart::gui::magnum::WindowlessGLApplication, robot_dart::gui::magnum::sensor::Camera)</li> <li>_format (robot_dart::gui::magnum::WindowlessGLApplication, robot_dart::gui::magnum::sensor::Camera)</li> <li>_framebuffer (robot_dart::gui::magnum::WindowlessGLApplication, robot_dart::gui::magnum::sensor::Camera)</li> <li>_aspect_ratio (robot_dart::gui::magnum::Camera)</li> <li>_camera_object (robot_dart::gui::magnum::Camera)</li> <li>_clean_up_subprocess (robot_dart::gui::magnum::Camera)</li> <li>_depth_image (robot_dart::gui::magnum::Camera)</li> <li>_far_plane (robot_dart::gui::magnum::Camera)</li> <li>_ffmpeg_process (robot_dart::gui::magnum::Camera)</li> <li>_fov (robot_dart::gui::magnum::Camera)</li> <li>_front (robot_dart::gui::magnum::Camera)</li> <li>_height (robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>_image (robot_dart::gui::magnum::Camera)</li> <li>_near_plane (robot_dart::gui::magnum::Camera)</li> <li>_pitch_object (robot_dart::gui::magnum::Camera)</li> <li>_recording (robot_dart::gui::magnum::Camera)</li> <li>_recording_depth (robot_dart::gui::magnum::Camera)</li> <li>_recording_video (robot_dart::gui::magnum::Camera)</li> <li>_right (robot_dart::gui::magnum::Camera)</li> <li>_up (robot_dart::gui::magnum::Camera)</li> <li>_width (robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>_yaw_object (robot_dart::gui::magnum::Camera)</li> <li>_diffuse_color_uniform (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>_far_plane_uniform (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight)</li> <li>_flags (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>_light_index_uniform (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor)</li> <li>_light_position_uniform (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor)</li> <li>_shadow_matrices_uniform (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor)</li> <li>_transformation_matrix_uniform (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>_cube_map_textures_location (robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight)</li> <li>_attenuation (robot_dart::gui::magnum::Light)</li> <li>_material (robot_dart::gui::magnum::Light)</li> <li>_position (robot_dart::gui::magnum::Light)</li> <li>_shadow_transform (robot_dart::gui::magnum::Light)</li> <li>_spot_cut_off (robot_dart::gui::magnum::Light)</li> <li>_spot_direction (robot_dart::gui::magnum::Light)</li> <li>_spot_exponent (robot_dart::gui::magnum::Light)</li> <li>_transformed_position (robot_dart::gui::magnum::Light)</li> <li>_transformed_spot_direction (robot_dart::gui::magnum::Light)</li> <li>_ambient (robot_dart::gui::magnum::Material)</li> <li>_ambient_texture (robot_dart::gui::magnum::Material)</li> <li>_diffuse (robot_dart::gui::magnum::Material)</li> <li>_diffuse_texture (robot_dart::gui::magnum::Material)</li> <li>_shininess (robot_dart::gui::magnum::Material)</li> <li>_specular (robot_dart::gui::magnum::Material)</li> <li>_specular_texture (robot_dart::gui::magnum::Material)</li> <li>_ambient_color_uniform (robot_dart::gui::magnum::PhongMultiLight)</li> <li>_camera_matrix_uniform (robot_dart::gui::magnum::PhongMultiLight)</li> <li>_cube_map_color_textures_location (robot_dart::gui::magnum::PhongMultiLight)</li> <li>_is_shadowed_uniform (robot_dart::gui::magnum::PhongMultiLight)</li> <li>_light_loc_size (robot_dart::gui::magnum::PhongMultiLight)</li> <li>_lights_matrices_uniform (robot_dart::gui::magnum::PhongMultiLight)</li> <li>_lights_uniform (robot_dart::gui::magnum::PhongMultiLight)</li> <li>_normal_matrix_uniform (robot_dart::gui::magnum::PhongMultiLight)</li> <li>_projection_matrix_uniform (robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>_shadow_color_textures_location (robot_dart::gui::magnum::PhongMultiLight)</li> <li>_shadow_textures_location (robot_dart::gui::magnum::PhongMultiLight)</li> <li>_shininess_uniform (robot_dart::gui::magnum::PhongMultiLight)</li> <li>_specular_color_uniform (robot_dart::gui::magnum::PhongMultiLight)</li> <li>_specular_strength_uniform (robot_dart::gui::magnum::PhongMultiLight)</li> <li>_transparent_shadows_uniform (robot_dart::gui::magnum::PhongMultiLight)</li> <li>_imu (robot_dart::robots::A1, robot_dart::robots::ICub, robot_dart::robots::Talos)</li> <li>_ft_wrist (robot_dart::robots::Franka, robot_dart::robots::Iiwa, robot_dart::robots::Tiago, robot_dart::robots::Ur3e)</li> <li>_ft_foot_left (robot_dart::robots::ICub, robot_dart::robots::Talos)</li> <li>_ft_foot_right (robot_dart::robots::ICub, robot_dart::robots::Talos)</li> <li>_frequency (robot_dart::robots::Talos, robot_dart::sensor::Sensor)</li> <li>_ft_wrist_left (robot_dart::robots::Talos)</li> <li>_ft_wrist_right (robot_dart::robots::Talos)</li> <li>_torques (robot_dart::robots::Talos, robot_dart::sensor::Torque)</li> <li>_direction (robot_dart::sensor::ForceTorque)</li> <li>_wrench (robot_dart::sensor::ForceTorque)</li> <li>_angular_pos (robot_dart::sensor::IMU)</li> <li>_angular_vel (robot_dart::sensor::IMU)</li> <li>_config (robot_dart::sensor::IMU)</li> <li>_linear_accel (robot_dart::sensor::IMU)</li> <li>_attached_tf (robot_dart::sensor::Sensor)</li> <li>_attached_to_body (robot_dart::sensor::Sensor)</li> <li>_attached_to_joint (robot_dart::sensor::Sensor)</li> <li>_attaching_to_body (robot_dart::sensor::Sensor)</li> <li>_attaching_to_joint (robot_dart::sensor::Sensor)</li> <li>_body_attached (robot_dart::sensor::Sensor)</li> <li>_joint_attached (robot_dart::sensor::Sensor)</li> <li>_world_pose (robot_dart::sensor::Sensor)</li> </ul>"},{"location":"api/class_member_functions/","title":"Class Member Functions","text":""},{"location":"api/class_member_functions/#a","title":"a","text":"<ul> <li>Assertion (robot_dart::Assertion)</li> <li>acceleration_lower_limits (robot_dart::Robot)</li> <li>acceleration_upper_limits (robot_dart::Robot)</li> <li>accelerations (robot_dart::Robot)</li> <li>active_controllers (robot_dart::Robot)</li> <li>actuator_type (robot_dart::Robot)</li> <li>actuator_types (robot_dart::Robot)</li> <li>add_body_mass (robot_dart::Robot)</li> <li>add_controller (robot_dart::Robot)</li> <li>add_external_force (robot_dart::Robot)</li> <li>add_external_torque (robot_dart::Robot)</li> <li>adjacent_colliding (robot_dart::Robot)</li> <li>aug_mass_matrix (robot_dart::Robot)</li> <li>add_checkerboard_floor (robot_dart::RobotDARTSimu)</li> <li>add_floor (robot_dart::RobotDARTSimu)</li> <li>add_robot (robot_dart::RobotDARTSimu)</li> <li>add_sensor (robot_dart::RobotDARTSimu)</li> <li>add_text (robot_dart::RobotDARTSimu, robot_dart::simu::GUIData)</li> <li>add_visual_robot (robot_dart::RobotDARTSimu)</li> <li>add_to_map (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>activate (robot_dart::control::RobotControl, robot_dart::sensor::Sensor)</li> <li>active (robot_dart::control::RobotControl, robot_dart::sensor::Sensor)</li> <li>add_light (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>attach_camera (robot_dart::gui::magnum::BaseApplication)</li> <li>attenuation (robot_dart::gui::magnum::Light)</li> <li>ambient_color (robot_dart::gui::magnum::Material)</li> <li>ambient_texture (robot_dart::gui::magnum::Material)</li> <li>attach_to_body (robot_dart::gui::magnum::sensor::Camera, robot_dart::sensor::ForceTorque, robot_dart::sensor::Sensor, robot_dart::sensor::Torque)</li> <li>attach_to_joint (robot_dart::gui::magnum::sensor::Camera, robot_dart::sensor::IMU, robot_dart::sensor::Sensor)</li> <li>A1 (robot_dart::robots::A1)</li> <li>Arm (robot_dart::robots::Arm)</li> <li>angular_position (robot_dart::sensor::IMU)</li> <li>angular_position_vec (robot_dart::sensor::IMU)</li> <li>angular_velocity (robot_dart::sensor::IMU)</li> <li>attached_to (robot_dart::sensor::Sensor)</li> </ul>"},{"location":"api/class_member_functions/#b","title":"b","text":"<ul> <li>base_pose (robot_dart::Robot)</li> <li>base_pose_vec (robot_dart::Robot)</li> <li>body_acceleration (robot_dart::Robot)</li> <li>body_index (robot_dart::Robot)</li> <li>body_mass (robot_dart::Robot)</li> <li>body_name (robot_dart::Robot)</li> <li>body_names (robot_dart::Robot)</li> <li>body_node (robot_dart::Robot)</li> <li>body_pose (robot_dart::Robot)</li> <li>body_pose_vec (robot_dart::Robot)</li> <li>body_velocity (robot_dart::Robot)</li> <li>Base (robot_dart::gui::Base)</li> <li>BaseApplication (robot_dart::gui::magnum::BaseApplication)</li> <li>BaseGraphics (robot_dart::gui::magnum::BaseGraphics)</li> <li>bind_cube_map_texture (robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight)</li> <li>bind_cube_map_color_texture (robot_dart::gui::magnum::PhongMultiLight)</li> <li>bind_shadow_color_texture (robot_dart::gui::magnum::PhongMultiLight)</li> <li>bind_shadow_texture (robot_dart::gui::magnum::PhongMultiLight)</li> </ul>"},{"location":"api/class_member_functions/#c","title":"c","text":"<ul> <li>cast_shadows (robot_dart::Robot, robot_dart::simu::GUIData)</li> <li>clear_controllers (robot_dart::Robot)</li> <li>clear_external_forces (robot_dart::Robot)</li> <li>clear_internal_forces (robot_dart::Robot)</li> <li>clone (robot_dart::Robot, robot_dart::control::PDControl, robot_dart::control::PolicyControl, robot_dart::control::RobotControl, robot_dart::control::SimpleControl)</li> <li>clone_ghost (robot_dart::Robot)</li> <li>com (robot_dart::Robot)</li> <li>com_acceleration (robot_dart::Robot)</li> <li>com_jacobian (robot_dart::Robot)</li> <li>com_jacobian_deriv (robot_dart::Robot)</li> <li>com_velocity (robot_dart::Robot)</li> <li>commands (robot_dart::Robot)</li> <li>constraint_forces (robot_dart::Robot)</li> <li>controller (robot_dart::Robot)</li> <li>controllers (robot_dart::Robot)</li> <li>coriolis_forces (robot_dart::Robot)</li> <li>coriolis_gravity_forces (robot_dart::Robot)</li> <li>coulomb_coeffs (robot_dart::Robot)</li> <li>create_box (robot_dart::Robot)</li> <li>create_ellipsoid (robot_dart::Robot)</li> <li>clear_robots (robot_dart::RobotDARTSimu)</li> <li>clear_sensors (robot_dart::RobotDARTSimu)</li> <li>collision_category (robot_dart::RobotDARTSimu)</li> <li>collision_detector (robot_dart::RobotDARTSimu)</li> <li>collision_mask (robot_dart::RobotDARTSimu)</li> <li>collision_masks (robot_dart::RobotDARTSimu)</li> <li>control_freq (robot_dart::RobotDARTSimu)</li> <li>current_time (robot_dart::Scheduler)</li> <li>clear_all (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>calculate (robot_dart::control::PDControl, robot_dart::control::PolicyControl, robot_dart::control::RobotControl, robot_dart::control::SimpleControl, robot_dart::gui::magnum::sensor::Camera, robot_dart::sensor::ForceTorque, robot_dart::sensor::IMU, robot_dart::sensor::Sensor, robot_dart::sensor::Torque)</li> <li>configure (robot_dart::control::PDControl, robot_dart::control::PolicyControl, robot_dart::control::RobotControl, robot_dart::control::SimpleControl)</li> <li>controllable_dofs (robot_dart::control::RobotControl)</li> <li>camera (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>clear_lights (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>camera_extrinsic_matrix (robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::sensor::Camera)</li> <li>camera_intrinsic_matrix (robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::sensor::Camera)</li> <li>CubeMapShadowedColorObject (robot_dart::gui::magnum::CubeMapShadowedColorObject)</li> <li>CubeMapShadowedObject (robot_dart::gui::magnum::CubeMapShadowedObject)</li> <li>Camera (robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>camera_object (robot_dart::gui::magnum::Camera)</li> <li>CubeMap (robot_dart::gui::magnum::CubeMap)</li> <li>CubeMapColor (robot_dart::gui::magnum::CubeMapColor)</li> <li>casts_shadows (robot_dart::gui::magnum::Light)</li> <li>collision_vec (robot_dart::robots::TalosFastCollision)</li> <li>caster_joints (robot_dart::robots::Tiago)</li> </ul>"},{"location":"api/class_member_functions/#d","title":"d","text":"<ul> <li>damping_coeffs (robot_dart::Robot)</li> <li>dof (robot_dart::Robot)</li> <li>dof_index (robot_dart::Robot)</li> <li>dof_map (robot_dart::Robot)</li> <li>dof_name (robot_dart::Robot)</li> <li>dof_names (robot_dart::Robot)</li> <li>drawing_axes (robot_dart::Robot, robot_dart::simu::GUIData)</li> <li>dt (robot_dart::Scheduler)</li> <li>depth_array (robot_dart::gui::Base, robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::sensor::Camera)</li> <li>depth_image (robot_dart::gui::Base, robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>done (robot_dart::gui::Base, robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>debug_draw_data (robot_dart::gui::magnum::BaseApplication)</li> <li>drawables (robot_dart::gui::magnum::BaseApplication)</li> <li>draw (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject, robot_dart::gui::magnum::Camera)</li> <li>DrawableObject (robot_dart::gui::magnum::DrawableObject)</li> <li>drawEvent (robot_dart::gui::magnum::GlfwApplication)</li> <li>default_configuration (robot_dart::gui::magnum::Graphics, robot_dart::gui::magnum::WindowlessGraphics)</li> <li>diffuse_color (robot_dart::gui::magnum::Material)</li> <li>diffuse_texture (robot_dart::gui::magnum::Material)</li> <li>draw_debug (robot_dart::gui::magnum::sensor::Camera)</li> <li>drawing_debug (robot_dart::gui::magnum::sensor::Camera)</li> <li>detach (robot_dart::sensor::Sensor)</li> <li>drawing_texts (robot_dart::simu::GUIData)</li> </ul>"},{"location":"api/class_member_functions/#e","title":"e","text":"<ul> <li>external_forces (robot_dart::Robot)</li> <li>enable_status_bar (robot_dart::RobotDARTSimu)</li> <li>enable_text_panel (robot_dart::RobotDARTSimu)</li> <li>enable_shadows (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>exitEvent (robot_dart::gui::magnum::GlfwApplication)</li> <li>exec (robot_dart::gui::magnum::WindowlessGLApplication)</li> <li>extrinsic_matrix (robot_dart::gui::magnum::Camera)</li> </ul>"},{"location":"api/class_member_functions/#f","title":"f","text":"<ul> <li>fix_to_world (robot_dart::Robot)</li> <li>fixed (robot_dart::Robot)</li> <li>force_lower_limits (robot_dart::Robot)</li> <li>force_position_bounds (robot_dart::Robot)</li> <li>force_torque (robot_dart::Robot)</li> <li>force_upper_limits (robot_dart::Robot)</li> <li>forces (robot_dart::Robot)</li> <li>free (robot_dart::Robot)</li> <li>free_from_world (robot_dart::Robot)</li> <li>friction_coeff (robot_dart::Robot)</li> <li>friction_dir (robot_dart::Robot)</li> <li>free_robot (robot_dart::RobotPool)</li> <li>free_gl_context (robot_dart::gui::magnum::GlobalData)</li> <li>far_plane (robot_dart::gui::magnum::Camera)</li> <li>forward (robot_dart::gui::magnum::Camera)</li> <li>fov (robot_dart::gui::magnum::Camera)</li> <li>flags (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>Franka (robot_dart::robots::Franka)</li> <li>ft_wrist (robot_dart::robots::Franka, robot_dart::robots::Iiwa, robot_dart::robots::Tiago, robot_dart::robots::Ur3e)</li> <li>ft_foot_left (robot_dart::robots::ICub, robot_dart::robots::Talos)</li> <li>ft_foot_right (robot_dart::robots::ICub, robot_dart::robots::Talos)</li> <li>ft_wrist_left (robot_dart::robots::Talos)</li> <li>ft_wrist_right (robot_dart::robots::Talos)</li> <li>ForceTorque (robot_dart::sensor::ForceTorque)</li> <li>force (robot_dart::sensor::ForceTorque)</li> <li>frequency (robot_dart::sensor::Sensor)</li> </ul>"},{"location":"api/class_member_functions/#g","title":"g","text":"<ul> <li>ghost (robot_dart::Robot, robot_dart::simu::GUIData)</li> <li>gravity_forces (robot_dart::Robot)</li> <li>graphics (robot_dart::RobotDARTSimu)</li> <li>graphics_freq (robot_dart::RobotDARTSimu)</li> <li>gravity (robot_dart::RobotDARTSimu)</li> <li>gui_data (robot_dart::RobotDARTSimu)</li> <li>get_robot (robot_dart::RobotPool)</li> <li>GlfwApplication (robot_dart::gui::magnum::GlfwApplication)</li> <li>GlobalData (robot_dart::gui::magnum::GlobalData)</li> <li>gl_context (robot_dart::gui::magnum::GlobalData)</li> <li>Graphics (robot_dart::gui::magnum::Graphics)</li> </ul>"},{"location":"api/class_member_functions/#h","title":"h","text":"<ul> <li>halted_sim (robot_dart::RobotDARTSimu)</li> <li>h_params (robot_dart::control::PolicyControl)</li> <li>height (robot_dart::gui::Base, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::Camera)</li> <li>has_ambient_texture (robot_dart::gui::magnum::Material)</li> <li>has_diffuse_texture (robot_dart::gui::magnum::Material)</li> <li>has_specular_texture (robot_dart::gui::magnum::Material)</li> <li>Hexapod (robot_dart::robots::Hexapod)</li> </ul>"},{"location":"api/class_member_functions/#i","title":"i","text":"<ul> <li>inv_aug_mass_matrix (robot_dart::Robot)</li> <li>inv_mass_matrix (robot_dart::Robot)</li> <li>it_duration (robot_dart::Scheduler)</li> <li>ignoresCollision (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>init (robot_dart::control::RobotControl, robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::sensor::Camera, robot_dart::sensor::ForceTorque, robot_dart::sensor::IMU, robot_dart::sensor::Sensor, robot_dart::sensor::Torque)</li> <li>image (robot_dart::gui::Base, robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>instance (robot_dart::gui::magnum::GlobalData)</li> <li>intrinsic_matrix (robot_dart::gui::magnum::Camera)</li> <li>imu (robot_dart::robots::A1, robot_dart::robots::ICub, robot_dart::robots::Talos)</li> <li>ICub (robot_dart::robots::ICub)</li> <li>Iiwa (robot_dart::robots::Iiwa)</li> <li>IMU (robot_dart::sensor::IMU)</li> <li>IMUConfig (robot_dart::sensor::IMUConfig)</li> </ul>"},{"location":"api/class_member_functions/#j","title":"j","text":"<ul> <li>jacobian (robot_dart::Robot)</li> <li>jacobian_deriv (robot_dart::Robot)</li> <li>joint (robot_dart::Robot)</li> <li>joint_index (robot_dart::Robot)</li> <li>joint_map (robot_dart::Robot)</li> <li>joint_name (robot_dart::Robot)</li> <li>joint_names (robot_dart::Robot)</li> </ul>"},{"location":"api/class_member_functions/#k","title":"k","text":"<ul> <li>keyPressEvent (robot_dart::gui::magnum::GlfwApplication)</li> <li>keyReleaseEvent (robot_dart::gui::magnum::GlfwApplication)</li> </ul>"},{"location":"api/class_member_functions/#l","title":"l","text":"<ul> <li>locked_dof_names (robot_dart::Robot)</li> <li>last_it_duration (robot_dart::Scheduler)</li> <li>light (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>lights (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>look_at (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>Light (robot_dart::gui::magnum::Light)</li> <li>linear_acceleration (robot_dart::sensor::IMU)</li> </ul>"},{"location":"api/class_member_functions/#m","title":"m","text":"<ul> <li>mass_matrix (robot_dart::Robot)</li> <li>mimic_dof_names (robot_dart::Robot)</li> <li>model_filename (robot_dart::Robot, robot_dart::RobotPool)</li> <li>model_packages (robot_dart::Robot)</li> <li>mask (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>magnum_app (robot_dart::gui::magnum::BaseGraphics)</li> <li>magnum_image (robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::sensor::Camera)</li> <li>materials (robot_dart::gui::magnum::DrawableObject)</li> <li>mouseMoveEvent (robot_dart::gui::magnum::GlfwApplication)</li> <li>mouseScrollEvent (robot_dart::gui::magnum::GlfwApplication)</li> <li>move (robot_dart::gui::magnum::Camera)</li> <li>material (robot_dart::gui::magnum::Light)</li> <li>Material (robot_dart::gui::magnum::Material)</li> <li>max_lights (robot_dart::gui::magnum::PhongMultiLight)</li> <li>magnum_depth_image (robot_dart::gui::magnum::sensor::Camera)</li> </ul>"},{"location":"api/class_member_functions/#n","title":"n","text":"<ul> <li>name (robot_dart::Robot)</li> <li>num_bodies (robot_dart::Robot)</li> <li>num_controllers (robot_dart::Robot)</li> <li>num_dofs (robot_dart::Robot)</li> <li>num_joints (robot_dart::Robot)</li> <li>num_robots (robot_dart::RobotDARTSimu)</li> <li>next_time (robot_dart::Scheduler)</li> <li>num_lights (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>near_plane (robot_dart::gui::magnum::Camera)</li> </ul>"},{"location":"api/class_member_functions/#o","title":"o","text":"<ul> <li>operator= (robot_dart::RobotPool, robot_dart::gui::magnum::GlobalData)</li> <li>operator() (robot_dart::Scheduler)</li> </ul>"},{"location":"api/class_member_functions/#p","title":"p","text":"<ul> <li>passive_dof_names (robot_dart::Robot)</li> <li>position_enforced (robot_dart::Robot)</li> <li>position_lower_limits (robot_dart::Robot)</li> <li>position_upper_limits (robot_dart::Robot)</li> <li>positions (robot_dart::Robot)</li> <li>physics_freq (robot_dart::RobotDARTSimu)</li> <li>PDControl (robot_dart::control::PDControl)</li> <li>pd (robot_dart::control::PDControl)</li> <li>PolicyControl (robot_dart::control::PolicyControl)</li> <li>parameters (robot_dart::control::RobotControl)</li> <li>position (robot_dart::gui::magnum::Light)</li> <li>PhongMultiLight (robot_dart::gui::magnum::PhongMultiLight)</li> <li>Pendulum (robot_dart::robots::Pendulum)</li> <li>pose (robot_dart::sensor::Sensor)</li> </ul>"},{"location":"api/class_member_functions/#r","title":"r","text":"<ul> <li>Robot (robot_dart::Robot)</li> <li>reinit_controllers (robot_dart::Robot)</li> <li>remove_all_drawing_axis (robot_dart::Robot)</li> <li>remove_controller (robot_dart::Robot)</li> <li>reset (robot_dart::Robot, robot_dart::Scheduler, robot_dart::robots::A1, robot_dart::robots::Hexapod, robot_dart::robots::ICub, robot_dart::robots::Talos, robot_dart::robots::Tiago)</li> <li>reset_commands (robot_dart::Robot)</li> <li>restitution_coeff (robot_dart::Robot)</li> <li>RobotDARTSimu (robot_dart::RobotDARTSimu)</li> <li>remove_all_collision_masks (robot_dart::RobotDARTSimu)</li> <li>remove_collision_masks (robot_dart::RobotDARTSimu)</li> <li>remove_robot (robot_dart::RobotDARTSimu, robot_dart::simu::GUIData)</li> <li>remove_sensor (robot_dart::RobotDARTSimu)</li> <li>remove_sensors (robot_dart::RobotDARTSimu)</li> <li>robot (robot_dart::RobotDARTSimu, robot_dart::control::RobotControl)</li> <li>robot_index (robot_dart::RobotDARTSimu)</li> <li>robots (robot_dart::RobotDARTSimu)</li> <li>run (robot_dart::RobotDARTSimu)</li> <li>RobotPool (robot_dart::RobotPool)</li> <li>real_time (robot_dart::Scheduler)</li> <li>real_time_factor (robot_dart::Scheduler)</li> <li>remove_from_map (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>RobotControl (robot_dart::control::RobotControl)</li> <li>raw_depth_image (robot_dart::gui::Base, robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::sensor::Camera)</li> <li>refresh (robot_dart::gui::Base, robot_dart::gui::magnum::BaseGraphics, robot_dart::sensor::Sensor)</li> <li>record_video (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::sensor::Camera)</li> <li>render (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::GlfwApplication, robot_dart::gui::magnum::WindowlessGLApplication)</li> <li>render_shadows (robot_dart::gui::magnum::BaseApplication)</li> <li>record (robot_dart::gui::magnum::Camera)</li> <li>recording (robot_dart::gui::magnum::Camera)</li> <li>recording_depth (robot_dart::gui::magnum::Camera)</li> <li>root_object (robot_dart::gui::magnum::Camera)</li> <li>remove_text (robot_dart::simu::GUIData)</li> </ul>"},{"location":"api/class_member_functions/#s","title":"s","text":"<ul> <li>secondary_friction_coeff (robot_dart::Robot)</li> <li>self_colliding (robot_dart::Robot)</li> <li>set_acceleration_lower_limits (robot_dart::Robot)</li> <li>set_acceleration_upper_limits (robot_dart::Robot)</li> <li>set_accelerations (robot_dart::Robot)</li> <li>set_actuator_type (robot_dart::Robot, robot_dart::robots::Tiago)</li> <li>set_actuator_types (robot_dart::Robot, robot_dart::robots::Tiago)</li> <li>set_base_pose (robot_dart::Robot)</li> <li>set_body_mass (robot_dart::Robot)</li> <li>set_body_name (robot_dart::Robot)</li> <li>set_cast_shadows (robot_dart::Robot)</li> <li>set_color_mode (robot_dart::Robot)</li> <li>set_commands (robot_dart::Robot)</li> <li>set_coulomb_coeffs (robot_dart::Robot)</li> <li>set_damping_coeffs (robot_dart::Robot)</li> <li>set_draw_axis (robot_dart::Robot)</li> <li>set_external_force (robot_dart::Robot)</li> <li>set_external_torque (robot_dart::Robot)</li> <li>set_force_lower_limits (robot_dart::Robot)</li> <li>set_force_upper_limits (robot_dart::Robot)</li> <li>set_forces (robot_dart::Robot)</li> <li>set_friction_coeff (robot_dart::Robot)</li> <li>set_friction_coeffs (robot_dart::Robot)</li> <li>set_friction_dir (robot_dart::Robot)</li> <li>set_ghost (robot_dart::Robot)</li> <li>set_joint_name (robot_dart::Robot)</li> <li>set_mimic (robot_dart::Robot)</li> <li>set_position_enforced (robot_dart::Robot)</li> <li>set_position_lower_limits (robot_dart::Robot)</li> <li>set_position_upper_limits (robot_dart::Robot)</li> <li>set_positions (robot_dart::Robot)</li> <li>set_restitution_coeff (robot_dart::Robot)</li> <li>set_restitution_coeffs (robot_dart::Robot)</li> <li>set_secondary_friction_coeff (robot_dart::Robot)</li> <li>set_secondary_friction_coeffs (robot_dart::Robot)</li> <li>set_self_collision (robot_dart::Robot)</li> <li>set_spring_stiffnesses (robot_dart::Robot)</li> <li>set_velocities (robot_dart::Robot)</li> <li>set_velocity_lower_limits (robot_dart::Robot)</li> <li>set_velocity_upper_limits (robot_dart::Robot)</li> <li>skeleton (robot_dart::Robot)</li> <li>spring_stiffnesses (robot_dart::Robot)</li> <li>schedule (robot_dart::RobotDARTSimu, robot_dart::Scheduler)</li> <li>scheduler (robot_dart::RobotDARTSimu)</li> <li>sensor (robot_dart::RobotDARTSimu)</li> <li>sensors (robot_dart::RobotDARTSimu)</li> <li>set_collision_detector (robot_dart::RobotDARTSimu)</li> <li>set_collision_masks (robot_dart::RobotDARTSimu)</li> <li>set_control_freq (robot_dart::RobotDARTSimu)</li> <li>set_graphics (robot_dart::RobotDARTSimu)</li> <li>set_graphics_freq (robot_dart::RobotDARTSimu)</li> <li>set_gravity (robot_dart::RobotDARTSimu)</li> <li>set_text_panel (robot_dart::RobotDARTSimu)</li> <li>set_timestep (robot_dart::RobotDARTSimu)</li> <li>status_bar_text (robot_dart::RobotDARTSimu)</li> <li>step (robot_dart::RobotDARTSimu, robot_dart::Scheduler)</li> <li>step_world (robot_dart::RobotDARTSimu)</li> <li>stop_sim (robot_dart::RobotDARTSimu)</li> <li>Scheduler (robot_dart::Scheduler)</li> <li>set_sync (robot_dart::Scheduler)</li> <li>sync (robot_dart::Scheduler)</li> <li>set_pd (robot_dart::control::PDControl)</li> <li>set_use_angular_errors (robot_dart::control::PDControl)</li> <li>set_h_params (robot_dart::control::PolicyControl)</li> <li>set_parameters (robot_dart::control::RobotControl)</li> <li>set_robot (robot_dart::control::RobotControl)</li> <li>set_weight (robot_dart::control::RobotControl)</li> <li>SimpleControl (robot_dart::control::SimpleControl)</li> <li>set_enable (robot_dart::gui::Base, robot_dart::gui::magnum::BaseGraphics)</li> <li>set_fps (robot_dart::gui::Base, robot_dart::gui::magnum::BaseGraphics)</li> <li>set_render_period (robot_dart::gui::Base)</li> <li>set_simu (robot_dart::gui::Base, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::Graphics, robot_dart::gui::magnum::WindowlessGraphics, robot_dart::sensor::Sensor)</li> <li>simu (robot_dart::gui::Base, robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject, robot_dart::sensor::Sensor)</li> <li>scene (robot_dart::gui::magnum::BaseApplication)</li> <li>shadowed (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>set_materials (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject)</li> <li>set_meshes (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject)</li> <li>set_scalings (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject)</li> <li>shape (robot_dart::gui::magnum::CubeMapShadowedColorObject, robot_dart::gui::magnum::CubeMapShadowedObject, robot_dart::gui::magnum::DrawableObject, robot_dart::gui::magnum::ShadowedColorObject, robot_dart::gui::magnum::ShadowedObject)</li> <li>set_color_shader (robot_dart::gui::magnum::DrawableObject)</li> <li>set_soft_bodies (robot_dart::gui::magnum::DrawableObject)</li> <li>set_texture_shader (robot_dart::gui::magnum::DrawableObject)</li> <li>set_transparent (robot_dart::gui::magnum::DrawableObject)</li> <li>set_max_contexts (robot_dart::gui::magnum::GlobalData)</li> <li>ShadowedColorObject (robot_dart::gui::magnum::ShadowedColorObject)</li> <li>ShadowedObject (robot_dart::gui::magnum::ShadowedObject)</li> <li>set_camera_params (robot_dart::gui::magnum::Camera)</li> <li>set_far_plane (robot_dart::gui::magnum::Camera, robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight)</li> <li>set_fov (robot_dart::gui::magnum::Camera)</li> <li>set_near_plane (robot_dart::gui::magnum::Camera)</li> <li>set_speed (robot_dart::gui::magnum::Camera)</li> <li>set_viewport (robot_dart::gui::magnum::Camera)</li> <li>speed (robot_dart::gui::magnum::Camera)</li> <li>strafe (robot_dart::gui::magnum::Camera)</li> <li>set_light_index (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor)</li> <li>set_light_position (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor)</li> <li>set_material (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::Light, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>set_shadow_matrices (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor)</li> <li>set_transformation_matrix (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>set_attenuation (robot_dart::gui::magnum::Light)</li> <li>set_casts_shadows (robot_dart::gui::magnum::Light)</li> <li>set_position (robot_dart::gui::magnum::Light)</li> <li>set_shadow_matrix (robot_dart::gui::magnum::Light)</li> <li>set_spot_cut_off (robot_dart::gui::magnum::Light)</li> <li>set_spot_direction (robot_dart::gui::magnum::Light)</li> <li>set_spot_exponent (robot_dart::gui::magnum::Light)</li> <li>set_transformed_position (robot_dart::gui::magnum::Light)</li> <li>set_transformed_spot_direction 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(robot_dart::gui::magnum::PhongMultiLight)</li> <li>set_light (robot_dart::gui::magnum::PhongMultiLight)</li> <li>set_normal_matrix (robot_dart::gui::magnum::PhongMultiLight)</li> <li>set_projection_matrix (robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>set_specular_strength (robot_dart::gui::magnum::PhongMultiLight)</li> <li>set_transparent_shadows (robot_dart::gui::magnum::PhongMultiLight)</li> <li>ShadowMap (robot_dart::gui::magnum::ShadowMap)</li> <li>ShadowMapColor (robot_dart::gui::magnum::ShadowMapColor)</li> <li>Sensor (robot_dart::sensor::Sensor)</li> <li>set_frequency (robot_dart::sensor::Sensor)</li> <li>set_pose (robot_dart::sensor::Sensor)</li> </ul>"},{"location":"api/class_member_functions/#t","title":"t","text":"<ul> <li>text_panel_text (robot_dart::RobotDARTSimu)</li> <li>timestep (robot_dart::RobotDARTSimu)</li> <li>transparent_shadows (robot_dart::gui::magnum::BaseApplication, 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(robot_dart::gui::DepthImage, robot_dart::gui::GrayscaleImage, robot_dart::gui::Image, robot_dart::gui::magnum::GraphicsConfiguration)</li> </ul>"},{"location":"api/class_member_variables/#i","title":"i","text":"<ul> <li>is_ghost (robot_dart::simu::GUIData::RobotData)</li> </ul>"},{"location":"api/class_member_variables/#m","title":"m","text":"<ul> <li>max_lights (robot_dart::gui::magnum::GraphicsConfiguration)</li> </ul>"},{"location":"api/class_member_variables/#r","title":"r","text":"<ul> <li>robot_axes (robot_dart::simu::GUIData)</li> <li>robot_data (robot_dart::simu::GUIData)</li> </ul>"},{"location":"api/class_member_variables/#s","title":"s","text":"<ul> <li>shadow_map_size (robot_dart::gui::magnum::GraphicsConfiguration)</li> <li>shadowed (robot_dart::gui::magnum::GraphicsConfiguration, robot_dart::gui::magnum::ObjectStruct)</li> <li>specular_strength (robot_dart::gui::magnum::GraphicsConfiguration)</li> <li>shadowed_color (robot_dart::gui::magnum::ObjectStruct)</li> <li>shadow_color_framebuffer (robot_dart::gui::magnum::ShadowData)</li> <li>shadow_framebuffer (robot_dart::gui::magnum::ShadowData)</li> </ul>"},{"location":"api/class_member_variables/#t","title":"t","text":"<ul> <li>text_indices (robot_dart::gui::magnum::DebugDrawData)</li> <li>text_shader (robot_dart::gui::magnum::DebugDrawData)</li> <li>text_vertices (robot_dart::gui::magnum::DebugDrawData)</li> <li>title (robot_dart::gui::magnum::GraphicsConfiguration)</li> <li>transparent_shadows (robot_dart::gui::magnum::GraphicsConfiguration)</li> <li>text_drawings (robot_dart::simu::GUIData)</li> <li>text (robot_dart::simu::TextData)</li> <li>transformation (robot_dart::simu::TextData)</li> </ul>"},{"location":"api/class_member_variables/#w","title":"w","text":"<ul> <li>width (robot_dart::gui::DepthImage, robot_dart::gui::GrayscaleImage, robot_dart::gui::Image, robot_dart::gui::magnum::GraphicsConfiguration)</li> </ul>"},{"location":"api/class_member_variables/#_","title":"_","text":"<ul> 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robot_dart::gui::magnum::DrawableObject)</li> <li>_configuration (robot_dart::gui::magnum::BaseApplication, robot_dart::gui::magnum::BaseGraphics)</li> <li>_cubemap_color_drawables (robot_dart::gui::magnum::BaseApplication)</li> <li>_cubemap_color_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_cubemap_drawables (robot_dart::gui::magnum::BaseApplication)</li> <li>_cubemap_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_cubemap_texture_color_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_cubemap_texture_shader (robot_dart::gui::magnum::BaseApplication)</li> <li>_dart_world (robot_dart::gui::magnum::BaseApplication)</li> <li>_done (robot_dart::gui::magnum::BaseApplication)</li> <li>_drawable_objects (robot_dart::gui::magnum::BaseApplication)</li> <li>_drawables (robot_dart::gui::magnum::BaseApplication)</li> <li>_font (robot_dart::gui::magnum::BaseApplication)</li> <li>_font_manager (robot_dart::gui::magnum::BaseApplication)</li> <li>_glyph_cache 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robot_dart::gui::magnum::WindowlessGLApplication, robot_dart::gui::magnum::sensor::Camera)</li> <li>_draw_main_camera (robot_dart::gui::magnum::GlfwApplication, robot_dart::gui::magnum::WindowlessGLApplication)</li> <li>_speed (robot_dart::gui::magnum::GlfwApplication, robot_dart::gui::magnum::Camera)</li> <li>_speed_move (robot_dart::gui::magnum::GlfwApplication)</li> <li>_speed_strafe (robot_dart::gui::magnum::GlfwApplication)</li> <li>_context_mutex (robot_dart::gui::magnum::GlobalData)</li> <li>_gl_contexts (robot_dart::gui::magnum::GlobalData)</li> <li>_max_contexts (robot_dart::gui::magnum::GlobalData)</li> <li>_used (robot_dart::gui::magnum::GlobalData)</li> <li>_color (robot_dart::gui::magnum::WindowlessGLApplication, robot_dart::gui::magnum::sensor::Camera)</li> <li>_depth (robot_dart::gui::magnum::WindowlessGLApplication, robot_dart::gui::magnum::sensor::Camera)</li> <li>_format (robot_dart::gui::magnum::WindowlessGLApplication, robot_dart::gui::magnum::sensor::Camera)</li> 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<li>_shadow_matrices_uniform (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor)</li> <li>_transformation_matrix_uniform (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>_cube_map_textures_location (robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight)</li> <li>_attenuation (robot_dart::gui::magnum::Light)</li> <li>_material (robot_dart::gui::magnum::Light)</li> <li>_position (robot_dart::gui::magnum::Light)</li> <li>_shadow_transform (robot_dart::gui::magnum::Light)</li> <li>_spot_cut_off (robot_dart::gui::magnum::Light)</li> <li>_spot_direction (robot_dart::gui::magnum::Light)</li> <li>_spot_exponent (robot_dart::gui::magnum::Light)</li> <li>_transformed_position (robot_dart::gui::magnum::Light)</li> <li>_transformed_spot_direction (robot_dart::gui::magnum::Light)</li> <li>_ambient 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<li>_frequency (robot_dart::robots::Talos, robot_dart::sensor::Sensor)</li> <li>_ft_wrist_left (robot_dart::robots::Talos)</li> <li>_ft_wrist_right (robot_dart::robots::Talos)</li> <li>_torques (robot_dart::robots::Talos, robot_dart::sensor::Torque)</li> <li>_direction (robot_dart::sensor::ForceTorque)</li> <li>_wrench (robot_dart::sensor::ForceTorque)</li> <li>_angular_pos (robot_dart::sensor::IMU)</li> <li>_angular_vel (robot_dart::sensor::IMU)</li> <li>_config (robot_dart::sensor::IMU)</li> <li>_linear_accel (robot_dart::sensor::IMU)</li> <li>_attached_tf (robot_dart::sensor::Sensor)</li> <li>_attached_to_body (robot_dart::sensor::Sensor)</li> <li>_attached_to_joint (robot_dart::sensor::Sensor)</li> <li>_attaching_to_body (robot_dart::sensor::Sensor)</li> <li>_attaching_to_joint (robot_dart::sensor::Sensor)</li> <li>_body_attached (robot_dart::sensor::Sensor)</li> <li>_joint_attached (robot_dart::sensor::Sensor)</li> <li>_world_pose (robot_dart::sensor::Sensor)</li> </ul>"},{"location":"api/class_member_typedefs/","title":"Class Member Typedefs","text":""},{"location":"api/class_member_typedefs/#c","title":"c","text":"<ul> <li>clock_t (robot_dart::Scheduler)</li> </ul>"},{"location":"api/class_member_typedefs/#d","title":"d","text":"<ul> <li>DartCollisionConstPtr (robot_dart::collision_filter::BitmaskContactFilter)</li> <li>DartShapeConstPtr (robot_dart::collision_filter::BitmaskContactFilter)</li> </ul>"},{"location":"api/class_member_typedefs/#f","title":"f","text":"<ul> <li>Flags (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> </ul>"},{"location":"api/class_member_typedefs/#n","title":"n","text":"<ul> <li>Normal (robot_dart::gui::magnum::PhongMultiLight)</li> </ul>"},{"location":"api/class_member_typedefs/#p","title":"p","text":"<ul> <li>Position (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> </ul>"},{"location":"api/class_member_typedefs/#r","title":"r","text":"<ul> <li>robot_t (robot_dart::RobotDARTSimu)</li> <li>robot_creator_t (robot_dart::RobotPool)</li> </ul>"},{"location":"api/class_member_typedefs/#t","title":"t","text":"<ul> <li>TextureCoordinates (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, robot_dart::gui::magnum::ShadowMapColor)</li> <li>torque_map_t (robot_dart::robots::Talos)</li> </ul>"},{"location":"api/class_member_enums/","title":"Class Member Enums","text":""},{"location":"api/class_member_enums/#f","title":"f","text":"<ul> <li>Flag (robot_dart::gui::magnum::CubeMap, robot_dart::gui::magnum::CubeMapColor, robot_dart::gui::magnum::PhongMultiLight, robot_dart::gui::magnum::ShadowMap, 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</ul>"},{"location":"api/namespace_members/#d","title":"d","text":"<ul> <li>dof_data (robot_dart::detail)</li> <li>depth_array_from_image (robot_dart::gui::magnum::gs)</li> <li>depth_from_image (robot_dart::gui::magnum::gs)</li> </ul>"},{"location":"api/namespace_members/#g","title":"g","text":"<ul> <li>gs (robot_dart::gui::magnum::gs)</li> </ul>"},{"location":"api/namespace_members/#m","title":"m","text":"<ul> <li>make_tf (robot_dart)</li> <li>make_vector (robot_dart)</li> <li>make_application (robot_dart::gui::magnum)</li> </ul>"},{"location":"api/namespace_members/#o","title":"o","text":"<ul> <li>Object3D (robot_dart::gui::magnum)</li> </ul>"},{"location":"api/namespace_members/#p","title":"p","text":"<ul> <li>point_cloud_from_depth_array (robot_dart::gui)</li> </ul>"},{"location":"api/namespace_members/#r","title":"r","text":"<ul> <li>rgb_from_image (robot_dart::gui::magnum::gs)</li> </ul>"},{"location":"api/namespace_members/#s","title":"s","text":"<ul> <li>set_dof_data (robot_dart::detail)</li> <li>Scene3D (robot_dart::gui::magnum)</li> <li>search_path (robot_dart::gui::magnum::gs)</li> <li>save_png_image (robot_dart::gui)</li> </ul>"},{"location":"api/namespace_member_functions/","title":"Namespace Member Functions","text":""},{"location":"api/namespace_member_functions/#a","title":"a","text":"<ul> <li>add_dof_data (robot_dart::detail)</li> </ul>"},{"location":"api/namespace_member_functions/#c","title":"c","text":"<ul> <li>createCompatibilityShader (Magnum::Shaders::Implementation)</li> <li>convert_rgb_to_grayscale (robot_dart::gui)</li> <li>create_directional_light (robot_dart::gui::magnum::gs)</li> <li>create_point_light (robot_dart::gui::magnum::gs)</li> <li>create_spot_light (robot_dart::gui::magnum::gs)</li> </ul>"},{"location":"api/namespace_member_functions/#d","title":"d","text":"<ul> <li>dof_data (robot_dart::detail)</li> <li>depth_array_from_image (robot_dart::gui::magnum::gs)</li> <li>depth_from_image (robot_dart::gui::magnum::gs)</li> </ul>"},{"location":"api/namespace_member_functions/#m","title":"m","text":"<ul> <li>make_tf (robot_dart)</li> <li>make_vector (robot_dart)</li> <li>make_application (robot_dart::gui::magnum)</li> </ul>"},{"location":"api/namespace_member_functions/#p","title":"p","text":"<ul> <li>point_cloud_from_depth_array (robot_dart::gui)</li> </ul>"},{"location":"api/namespace_member_functions/#r","title":"r","text":"<ul> <li>rgb_from_image (robot_dart::gui::magnum::gs)</li> </ul>"},{"location":"api/namespace_member_functions/#s","title":"s","text":"<ul> <li>set_dof_data (robot_dart::detail)</li> <li>search_path (robot_dart::gui::magnum::gs)</li> <li>save_png_image (robot_dart::gui)</li> </ul>"},{"location":"api/namespace_member_variables/","title":"Namespace Member Variables","text":""},{"location":"api/namespace_member_variables/#b","title":"b","text":"<ul> <li>body_node_get_friction_coeff (robot_dart)</li> <li>body_node_get_restitution_coeff (robot_dart)</li> <li>body_node_set_friction_coeff (robot_dart)</li> <li>body_node_set_restitution_coeff (robot_dart)</li> </ul>"},{"location":"api/namespace_member_typedefs/","title":"Namespace Member Typedefs","text":""},{"location":"api/namespace_member_typedefs/#c","title":"c","text":"<ul> <li>Camera3D (robot_dart::gui::magnum)</li> </ul>"},{"location":"api/namespace_member_typedefs/#o","title":"o","text":"<ul> <li>Object3D (robot_dart::gui::magnum)</li> </ul>"},{"location":"api/namespace_member_typedefs/#s","title":"s","text":"<ul> <li>Scene3D (robot_dart::gui::magnum)</li> </ul>"},{"location":"api/namespace_member_enums/","title":"Namespace Member Enums","text":""},{"location":"api/namespace_member_enums/#g","title":"g","text":"<ul> <li>gs (robot_dart::gui::magnum::gs)</li> </ul>"},{"location":"api/functions/","title":"Functions","text":""},{"location":"api/functions/#r","title":"r","text":"<ul> <li>robot_dart_initialize_magnum_resources (base_graphics.hpp)</li> </ul>"},{"location":"api/functions/#s","title":"s","text":"<ul> <li>stbi_flip_vertically_on_write (stb_image_write.h)</li> <li>stbi_write_bmp (stb_image_write.h)</li> <li>stbi_write_bmp_to_func (stb_image_write.h)</li> <li>stbi_write_hdr (stb_image_write.h)</li> <li>stbi_write_hdr_to_func (stb_image_write.h)</li> <li>stbi_write_jpg (stb_image_write.h)</li> <li>stbi_write_jpg_to_func (stb_image_write.h)</li> <li>stbi_write_png (stb_image_write.h)</li> <li>stbi_write_png_to_func (stb_image_write.h)</li> <li>stbi_write_tga (stb_image_write.h)</li> <li>stbi_write_tga_to_func (stb_image_write.h)</li> </ul>"},{"location":"api/macros/","title":"Macros","text":""},{"location":"api/macros/#g","title":"g","text":"<ul> <li>get_gl_context (base_application.hpp)</li> <li>get_gl_context_with_sleep (base_application.hpp)</li> </ul>"},{"location":"api/macros/#m","title":"m","text":"<ul> <li>M_PIf (utils.hpp)</li> </ul>"},{"location":"api/macros/#r","title":"r","text":"<ul> <li>release_gl_context (base_application.hpp)</li> <li>ROBOT_DART_ASSERT (utils.hpp)</li> <li>ROBOT_DART_EXCEPTION_ASSERT (utils.hpp)</li> <li>ROBOT_DART_EXCEPTION_INTERNAL_ASSERT (utils.hpp)</li> <li>ROBOT_DART_INTERNAL_ASSERT (utils.hpp)</li> <li>ROBOT_DART_SHOW_WARNINGS (utils.hpp)</li> <li>ROBOT_DART_UNUSED_VARIABLE (utils.hpp)</li> <li>ROBOT_DART_WARNING (utils.hpp)</li> </ul>"},{"location":"api/macros/#s","title":"s","text":"<ul> <li>STB_IMAGE_WRITE_IMPLEMENTATION (helper.cpp)</li> <li>STBIWDEF (stb_image_write.h)</li> </ul>"},{"location":"api/variables/","title":"Variables","text":""},{"location":"api/variables/#s","title":"s","text":"<ul> <li>stbi_write_force_png_filter (stb_image_write.h)</li> <li>stbi_write_func (stb_image_write.h)</li> <li>stbi_write_png_compression_level (stb_image_write.h)</li> <li>stbi_write_tga_with_rle (stb_image_write.h)</li> </ul>"},{"location":"api/links/","title":"Links","text":"<ul> <li>Related Pages</li> <li>Modules</li> <li>Class List</li> <li>Namespace ListNamespace List</li> <li>Namespace Members</li> <li>Namespace Member Functions</li> <li>Namespace Member Variables</li> <li>Namespace Member Typedefs</li> <li>Namespace Member Enumerations</li> <li>Class Index</li> <li>Class Hierarchy</li> <li>Class Members</li> <li>Class Member Functions</li> <li>Class Member Variables</li> <li>Class Member Typedefs</li> <li>Class Member Enumerations</li> <li>Files</li> <li>File Variables</li> <li>File Functions</li> <li>File Macros</li> </ul>"}]}
\ No newline at end of file
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